Pipe network underwater plugging robot

Abstract

The invention relates to a pipe network underwater plugging robot, which belongs to the technical field of pipeline operation and comprises a movable mounting trolley, a supporting rod piece group, a rotating assembly, a conveying assembly and a pushing assembly, the conveying assembly and the rotating assembly are both installed on the movable installation trolley, the conveying assembly is used for driving the supporting rod piece set to move in the direction of stretching into the well bottom, and the rotating assembly is used for driving the supporting rod piece set and the conveying assembly to rotate synchronously. The pushing assembly is installed on the supporting rod piece set and connected with a fixing plate, the fixing plate is detachably connected with an installation plate through an installation assembly, a blocking air bag is installed on the installation plate, and the height of the installation plate is larger than the diameter of a pipe opening. The pushing assembly can drive the fixing plate to move in the pipe opening direction so that the blocking air bag can stretch into the pipe opening. The device has the advantages that the plugging air bag can be separated from equipment after plugging is completed, meanwhile, the air bag is still kept in the plugging state, a worker can conduct underground operation without going down to a well, and meanwhile the plugging effect is improved.

Description

Technical Field

[0001] The present application relates to the technical field of pipeline operation, and in particular to an underwater pipe network plugging robot. Background Art

[0002] In the traditional underwater operation process, pipeline interception is an indispensable link, especially in the maintenance and emergency repair of municipal pipelines. The usual practice is to send frogmen down the well, send the airbag to the pipe mouth, and then use the inflation device on the shore to inflate the airbag, and use the friction between the airbag and the pipe wall to achieve pipeline interception. However, this method faces great safety risks, especially in the environment of turbulent water, the life safety of frogmen is threatened. When frogmen operate airbags underwater, there are also cases of operating errors, which may cause the airbags to fail to be effectively blocked or scratched.

[0003] In order to reduce the danger of the operation, some solutions have adopted equipment to replace manual work for automatic plugging of airbags. For example, the patent with the announcement number CN221483010U discloses an unmanned well-diving sonar visualization plugging device, and the patent with the announcement number CN114935062A discloses a municipal pipeline airbag automatic plugging system and method. These technical solutions have solved the danger of manual well-diving to a certain extent and reduced the difficulty and risk of the operation.

[0004] However, the existing automated plugging equipment cannot be effectively separated from the airbag after completing the airbag plugging. The equipment must be fixed at the wellhead or pipe mouth, which directly affects the work space and safety of subsequent workers going down the well. This not only limits the workers' operational flexibility, but may also hinder the smooth progress of complex maintenance operations; and if multiple pipe mouths need to be plugged at the same time, multiple devices need to be set up at the corresponding pipe mouths, which has low equipment utilization efficiency.

[0005] In addition, airbags are usually used to block the downstream of branch pipes, and rely on the friction between the airbag and the pipe wall to maintain the position after blocking. However, when the water pressure is too high, the airbag is easily pushed and displaced, resulting in plugging failure. Summary of the invention

[0006] In order to achieve that the blocking airbag can be separated from the equipment after blocking is completed while the airbag still maintains the blocking state, so that workers can carry out underground operations without going down the well, and at the same time improve the blocking effect and improve the utilization rate of equipment, the present application provides a pipeline underwater blocking robot.

[0007] The underwater pipe network plugging robot provided in this application adopts the following technical solution: A pipe network underwater plugging robot comprises a movable mounting trolley, a supporting rod assembly, a rotating assembly, a conveying assembly and a pushing assembly; The conveying assembly and the rotating assembly are both mounted on the movable mounting trolley, the conveying assembly is used to drive the supporting rod assembly to descend or ascend toward the bottom of the well in the height direction, and the rotating assembly is used to drive the supporting rod assembly and the conveying assembly to rotate axially synchronously; The pushing assembly is mounted on the supporting rod assembly, the pushing assembly is connected to a fixing plate, the fixing plate is detachably connected to a mounting plate through a mounting assembly, a blocking airbag is mounted on the mounting plate, and the height of the mounting plate is greater than the diameter of the pipe orifice; The pushing assembly can drive the fixing plate to move along the direction of the pipe opening, so that the blocking airbag extends into the pipe opening.

[0008] By adopting the above technical solution, the coordinated work of the conveying component, the rotating component and the pushing component can automatically send the plugging airbag to the bottom of the well and align it with the pipeline opening, reducing the danger and complexity of manual downhole operations; The detachable design of the fixing plate and the mounting plate allows the plugging airbag to be installed to separate the fixing plate and the mounting plate after the plugging is completed, so that the equipment can be evacuated, leaving space for workers to go down the well to work, while the airbag remains in the plugging state. After the operation is completed, the plugging airbag only needs to be emptied of gas, and the plugging airbag can be pulled out by manually pulling the tracheal traction rope of the plugging airbag, which greatly improves the flexibility and safety of subsequent operations; Moreover, during construction, the upstream of the branch pipe is blocked. Since the direction of the water flow impact is from upstream to downstream, the mounting plate will be pressed tightly against the pipe mouth of the branch pipe under the action of the water flow pressure. At this time, the mounting plate, as a supporting structure, fits firmly with the pipe mouth, and the mounting plate is connected to the blocking airbag, which effectively prevents the blocking airbag from shifting due to excessive water pressure and improves the reliability of the blocking.

[0009] Optionally, the blocking airbag is connected with a retractable rope, a damping seat is provided on the mounting plate, the retractable rope is connected with a damping plug, and when the blocking airbag is in a contracted state, the damping plug is fully inserted into the damping seat, and the retractable rope tightens the blocking airbag.

[0010] By adopting the above technical solution, when the plugging airbag is in an uninflated state, the plugging airbag can be kept in a tightened state through the combination of the retractable rope and the damping plug to prevent it from spreading during the process of going down the well. Since the plugging airbag is tightly gathered, it will not be scratched or stuck due to contact with the pipe wall or the well wall during transportation, ensuring the stability and safety of the airbag going down the well and avoiding possible equipment damage or transportation obstacles.

[0011] During the process of going down the well, by maintaining the tightened state, the airbag can stably move in a compact volume and precise direction, thus ensuring that the airbag can accurately align with the pipe opening when it reaches the target position. Since the airbag remains tightened, the airbag position will not deviate or interfere with other structures during movement, greatly improving the accuracy of the plugging operation.

[0012] When the airbag is inflated to a certain degree, the damping plug will automatically detach from the damping seat, and there is no need for manual operation to untie the rope, further improving the degree of automation of the blocking device.

[0013] Optionally, the mounting assembly includes a connecting seat, the connecting seat is arranged on the mounting plate, the fixing plate is provided with a connecting groove, the connecting seat passes through the connecting groove, at least two oppositely arranged latches are slidably connected in the connecting seat, one end of the latch can extend out of the connecting seat and abut against the fixing plate, opposite ends of the two latches are connected to a clamping plate, the clamping plate and the connecting seat are connected by a spring, and the clamping plate and the latch are integrally formed; The connecting seat is rotatably connected to a limit rotating plate, a fixed shaft of the limit rotating plate is provided with a torsion spring for driving the limit rotating plate to flip, and a ring-shaped traction rope is sleeved on the limit rotating plate; When the latch extends out of the connecting seat, the spring is in a compressed state, and the two abutting plates clamp the limit rotating plate together.

[0014] By adopting the above technical solution, according to the pressure monitoring device on the shore, when the airbag starts to inflate to the specified pressure, the inflation stops, and then the ring-shaped traction rope is manually pulled on the shore, and the ring-shaped traction rope pulls the limit rotating plate to flip, causing the latch to detach from the fixed plate. In this process, the installation plate and the fixed plate are automatically separated, so that the movable installation trolley can be quickly evacuated after the plugging is completed. The operation is convenient and the work efficiency is improved.

[0015] After the installation plate is separated from the fixed plate, the movable installation trolley can be removed, freeing up the wellhead space and providing sufficient working space for workers to go down the well. Through this automatic separation design, the equipment will not hinder the workers' operation of going down the well, making it convenient for workers to go down the well.

[0016] Optionally, the connecting seat is provided with a positioning rod, and the positioning rod is located between the two clamping plates. When the limit rotating plate is separated from the clamping plate, the clamping plate abuts against the positioning rod, and the latch is separated from the fixed plate. When the torsion spring is in a natural state, the limit rotating plate is in a horizontal state.

[0017] By adopting the above technical solution, the positioning rod is used to ensure that the two abutting plates drive their respective latches to retreat the same distance, ensuring that the two latches can be separated from the fixed plate, avoiding the situation where one latch is not retreated enough and still abuts against the fixed plate, thereby ensuring that the fixed plate and the mounting plate can be separated smoothly and simultaneously, preventing the situation where the latch is stuck and causes separation failure, and improving the reliability and stability of the entire separation process; The limit rotating plate is in a horizontal state, which ensures that the fixed plate will not be disturbed during the translation and retraction process, and smoothly completes the separation from the mounting plate, avoiding the limit rotating plate accidentally hitting the fixed plate and causing obstruction, thereby improving the smoothness of the entire operation.

[0018] Optionally, the rotating assembly includes a first rotating disk, the first rotating disk is rotatably connected to the movable mounting trolley, an outer gear ring is coaxially mounted on the first rotating disk, a first motor is mounted on the movable mounting trolley, the first motor is connected to a first gear, and the first gear is meshed with the outer gear ring; The movable mounting trolley is also rotatably connected to a second turntable, the second turntable is coaxially arranged with the first turntable, the first turntable is connected to the second turntable, the supporting rod group passes through the first turntable and the second turntable, and the conveying assembly is installed on the first turntable and the second turntable.

[0019] By adopting the above technical solution, the outer gear ring meshes with the first gear driven by the first motor to realize the rotation of the first turntable, and the rotation of the first turntable is transmitted to the second turntable through this connection structure, so that the two turntables move synchronously. The synchronous rotation design of the first turntable and the second turntable improves the overall stability, ensuring that the support rod group of the entire structure will not be offset or tilted when rotating, and ensuring that the airbag will not be misplaced or deviated during the rotation process. At the same time, the support rod group can be adjusted in angle as needed, which increases the flexibility of operation, enables the equipment to adapt to the angle requirements of different pipeline openings, and improves the adaptability of the plugging operation.

[0020] Optionally, a scale plate is rotatably connected to the top of the movable mounting trolley, the scale plate is coaxially arranged with the first rotating disk, the first rotating disk, the second rotating disk and the scale plate are synchronously rotated via a connecting column, an indicating arrow is arranged on the scale plate, a first encoder is installed on the first motor, a proximity switch for controlling the resetting of the first motor is installed in the movable mounting trolley, and the first rotating disk is connected to a trigger plate; The first turntable, the second turntable and the scale plate are all provided with clearance holes, the support rod assembly is slidably arranged on the first turntable and the second turntable through the clearance holes, and the linear actuator of the pushing assembly can pass through all the clearance holes, so that the fixed plate is positioned at a height higher than the bottom of the movable mounting trolley.

[0021] By adopting the above technical solution, the first encoder can provide accurate feedback on the rotation angle, thereby achieving precise control of the rotation of the support rod group and the angle of the blocking airbag, further improving the degree of automation.

[0022] And because the first encoder may have feedback deviation, the operator can clearly observe the rotation angle of the support rod group through the intuitive display of the dial, so as to accurately fine-tune the angle, ensure that the angle of the sealing airbag in the pipeline is accurate, and further improve the accuracy of the rotation angle of the sealing airbag.

[0023] When the scale plate is rotated to the point where the indicating arrow is aligned with the zero scale, the trigger plate is facing the first motor of the proximity switch and stops operating, thereby enabling the first rotating plate to drive the supporting rod assembly to accurately return to zero and reset.

[0024] Through the clearance holes, the support rod assembly can be slidably arranged between the first rotating disk, the second rotating disk and the scale disk, ensuring that the support rod assembly can not only rotate with these rotating disks, but also slide in the up and down directions; Moreover, the linear actuator of the push assembly can also pass through all the clearance holes, so that the height of the fixed plate and the installation plate before lowering is higher than the bottom of the movable installation trolley, so that the movable installation trolley can drive the fixed plate and the installation plate to move freely; thus, after the fixed plate is lowered into the well, it can be completely separated from the wellhead when it is recovered, without the need for additional equipment to lift or move the equipment, which improves the convenience of the overall operation; The design of the multi-purpose hole in this application reduces the need for multiple independent holes, making the device more compact and integrated.

[0025] Optionally, the conveying assembly includes a tensioning driving wheel group and a tensioning driven wheel group, the tensioning driving wheel group and the tensioning driven wheel group are both installed on the rotating assembly, the tensioning driving wheel group and the tensioning driven wheel group correspond one to one, the rods of the support rod group correspond one to one to the tensioning driving wheel group, the rods of the support rod group pass through the corresponding tensioning driving wheel group and the tensioning driven wheel group, and the rotation of the tensioning driving wheel group is controlled by a driving member.

[0026] By adopting the above technical solution, the support rod group can maintain a stable tension state during operation, avoiding unnecessary shaking or deviation of the rods due to gravity or other external forces, thereby improving the accuracy of the conveying process.

[0027] Optionally, the support rod assembly includes two sets of moving rods, the moving rod pairs pass through the corresponding tensioning driving wheel assembly and the tensioning driven wheel assembly, the two tensioning driving wheel assemblies correspond to each other one by one and realize synchronous rotation through a linkage shaft; The driving member includes a second motor, which is mounted on the rotating assembly and is connected to a second gear. Each tensioning wheel of the tensioning driving wheel group is coaxially connected to a third gear, and two adjacent third gears are meshed with each other, and one of the third gears is meshed with the second gear. A second encoder is installed on a tensioning wheel of the tensioning driving wheel group, and a detection rod is installed at the bottom of the moving rod, and the bottom of the detection rod is not higher than the bottom of the fixed plate.

[0028] By adopting the above technical solution, two sets of moving rods pass through the tensioning driving wheel set and the tensioning driven wheel set: the synchronous rotation of the two tensioning driving wheel sets is achieved through the connecting shaft, ensuring the synchronization of the two sets of moving rods; The addition of the second encoder can monitor the displacement of the support rod group in real time, provide accurate displacement feedback, realize precise control of the conveying process of the support rod group, ensure that the plugging airbag can be accurately aligned with the pipe mouth, and combined with the design of the detection rod, the well depth can be measured.

[0029] Optionally, the pushing assembly includes a linear actuator, which is mounted on the two moving rods, and the linear actuator is connected to a cross bar, and both ends of the cross bar are respectively slidably connected to the two moving rods, and both ends of the cross bar are hinged with a first rocker rod, and the two first rocker rods are hinged with a sliding block, and the sliding block is slidably connected to the fixed plate, and the two sliding blocks are connected through a moving plate, and the two detection rods are slidably connected and hinged with a second rocker rod, the second rocker rod is hinged to the fixed plate, and the first rocker rod is hinged to the second rocker rod on the same side as the first rocker rod.

[0030] By adopting the above technical solution, the linear actuator drives the crossbar to move up and down, which can change the angle between the first swing arm and the second swing arm, and realize that the first swing arm and the second swing arm push the fixed plate to move horizontally, so that the mounting plate can be pressed against the pipe opening, and the blocking airbag can extend into the pipe opening for blocking. The design of the moving plate ensures the consistency of the rotation of the first swing arm and the second swing arm on both sides, ensuring that the fixed plate can move horizontally smoothly.

[0031] Optionally, a panoramic sonar and an infrared camera are installed at one end of the support rod group extending into the bottom of the well.

[0032] By adopting the above technical solution, the panoramic sonar is installed at the bottom of the well supporting the rod group, which can emit sound waves and receive the echo signals of the sound waves. By analyzing the time difference and intensity of the echo, a 3D model of the structure in the well is generated. The infrared camera is used to supplement the visual information, especially in the well with insufficient light. It can generate thermal images or visible light images in low-light environment by capturing infrared light. Combined with the well depth measured by the detection rod, a 3D image of the well can be obtained and directly generated and displayed in the cloud, which is convenient for surveyors or engineers to quickly grasp the situation in the well.

[0033] In summary, the present application includes at least one of the following beneficial technical effects: 1. The coordinated work of the conveying component, the rotating component and the pushing component can automatically deliver the plugging airbag to the bottom of the well and align it with the pipeline opening, reducing the danger and complexity of manual downhole operations.

[0034] 2. The detachable design of the fixed plate and the mounting plate allows the blocking airbag to be installed to separate the fixed plate and the mounting plate after the blocking is completed, so that the equipment can be evacuated, leaving space for workers to go down the well to work. At the same time, the airbag remains in a blocked state. After the operation is completed, the blocking airbag only needs to be emptied and the blocking airbag can be pulled out by manually pulling the tracheal traction rope of the blocking airbag, which greatly improves the flexibility and safety of subsequent operations.

[0035] 3. During construction, the upstream of the branch pipe is blocked. Since the direction of the water flow impact is from upstream to downstream, the mounting plate will be pressed tightly against the pipe mouth of the branch pipe under the action of the water flow pressure. At this time, the mounting plate, as a supporting structure, fits firmly with the pipe mouth, and the mounting plate is connected to the blocking airbag, which effectively prevents the blocking airbag from shifting due to excessive water pressure and improves the reliability of the blocking.

[0036] 4. Through the combination of the retractable rope and the damping plug, the plugging airbag can be kept in a tightened state to prevent it from dispersing during the downhole process. The airbag can move stably in a compact volume and precise direction, thereby ensuring that the airbag can accurately align with the pipe opening when it reaches the target position; when the airbag is inflated to a certain degree, the damping plug will automatically detach from the damping seat, and there is no need for manual operation to untie the rope, further improving the degree of automation of the plugging equipment.

[0037] 5. According to the pressure monitoring device on the shore, when the airbag starts to inflate to the specified pressure, it stops inflating, and then the ring-shaped traction rope is manually pulled on the shore, and the ring-shaped traction rope pulls the limit turn plate to flip, causing the latch to detach from the fixed plate. In this process, the installation plate and the fixed plate are automatically separated, so that the movable installation trolley can be quickly evacuated after the plugging is completed, which is convenient to operate and improves work efficiency.

[0038] 6. The first encoder can provide accurate feedback on the rotation angle, thereby achieving precise control of the rotation of the support rod group and the angle of the plugging airbag, further improving the degree of automation. In addition, since the first encoder may have feedback deviations, the operator can clearly observe the rotation angle of the support rod group through the intuitive display of the dial, thereby accurately fine-tuning the angle to ensure that the angle of the plugging airbag in the pipeline is accurate, further improving the accuracy of the rotation angle of the plugging airbag.

[0039] 7. Through the clearance holes, the support rod assembly can be slidably set between the first turntable, the second turntable and the scale plate, and the linear actuator can also pass through all the clearance holes, so that the fixed plate can be smoothly recovered into the movable installation trolley during the sliding process. The design of the clearance hole with multiple uses reduces the need for multiple independent holes, making the equipment more compact and integrated.

[0040] 8. The addition of the second encoder can monitor the displacement of the support rod group in real time, provide accurate displacement feedback, realize precise control of the conveying process of the support rod group, ensure that the plugging airbag can be accurately aligned with the pipe mouth, and combined with the design of the detection rod, the well depth can be measured.

[0041] 9. Combining panoramic sonar, infrared camera and detection rod, a 3D image of the well can be obtained and directly generated and displayed in the cloud, making it convenient for surveyors or engineers to quickly understand the situation in the well. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the present application.

[0043] Figure 2 It is a schematic diagram of the structure of the rotating assembly used to embody the embodiment of the present application.

[0044] Figure 3 It is a structural schematic diagram used to reflect the conveying component in an embodiment of the present application.

[0045] Figure 4 It is a structural schematic diagram of an embodiment of the present application for reflecting a pushing component.

[0046] Figure 5 It is a structural schematic diagram used to reflect the installation component, the fixing plate and the installation plate in the embodiment of the present application.

[0047] Figure 6 It is a structural schematic diagram used to reflect the tightened state of the airbag in an embodiment of the present application.

[0048] Figure 7 It is a structural schematic diagram used to reflect the inflation state of the airbag in an embodiment of the present application.

[0049] Figure 8 yes Figure 5 Enlarged schematic diagram of part A.

[0050] Explanation of the reference numerals: 1. movable mounting trolley; 11. indication arrow; 12. wire reel; 13. flip hinge; 14. extension rod; 15. moving wheel; 2. support rod assembly; 21. moving rod; 22. detection rod; 3. rotating assembly; 31. first turntable; 32. second turntable; 33. dial; 34. connecting column; 35. first motor; 36. first gear; 37. first encoder; 38. outer gear ring; 39. clearance hole; 310. proximity switch; 311. trigger plate; 4. conveying assembly; 41. tensioning driving wheel assembly; 42. tensioning driven wheel assembly; 43. connecting shaft; 44. driving member; 441. second motor; 442. second gear; 443. third gear wheel; 45, second encoder; 5, panoramic sonar; 6, infrared camera; 7, pushing assembly; 71, linear actuator; 72, cross bar; 73, first slide; 74, first swing arm; 75, second slide; 76, second swing arm; 77, rotating shaft; 78, sliding block; 79, roller; 710, moving plate; 81, fixed plate; 811, connecting groove; 82, mounting plate; 83, blocking airbag; 84, inflatable tube; 85, damping seat; 86, damping plug; 87, retracting rope; 9, mounting assembly; 91, connecting seat; 92, latch; 93, tightening plate; 94, spring; 95, positioning rod; 96, fixed shaft; 97, limit rotating plate; 98, torsion spring; 99, ring-mouth traction rope. DETAILED DESCRIPTION

[0051] The following is combined with Figure 1-8 This application is described in further detail.

[0052] An embodiment of the present application discloses an underwater pipe network plugging robot.

[0053] like Figure 1 and Figure 2 The underwater pipe network plugging robot includes a movable installation trolley 1 and a supporting rod group 2. A rotating assembly 3 is installed in the movable installation trolley 1. The rotating assembly 3 includes a first turntable 31, a second turntable 32 and a scale plate 33. The scale plate 33 is rotatably connected to the top of the movable installation trolley 1. The first turntable 31 and the second turntable 32 are both rotatably connected in the movable installation trolley 1. The first turntable 31 is located between the second turntable 32 and the scale plate 33. The scale plate 33, the first turntable 31 and the second turntable 32 are coaxially arranged. The second turntable 32 and the scale plate 33 are connected by two connecting columns 34, and the connecting column 34 passes through the first turntable 31. An indicating arrow 11 for observing the deflection angle of the scale plate 33 is engraved on the top of the movable installation trolley 1.

[0054] A first motor 35 is installed in the movable mounting trolley 1 , and the first motor 35 is coaxially connected with a first gear 36 and a first encoder 37 . An outer gear ring 38 is coaxially installed on the first turntable 31 , and the outer gear ring 38 meshes with the first gear 36 .

[0055] The first rotating disk 31, the second rotating disk 32 and the scale disk 33 are all provided with clearance holes 39, which are composed of two small-diameter circular holes, one large-diameter circular hole and two strip holes. The large-diameter circular hole is coaxial with the scale disk 33, the first rotating disk 31 and the second rotating disk 32. The two small-diameter circular holes are symmetrically arranged about the center of the large-diameter circular hole. The two strip holes are each connected to a small-diameter circular hole, and the two strip holes are both connected to the large-diameter circular hole. The longitudinal center line of the strip hole passes through the center of the small-diameter circular hole and the large-diameter circular hole.

[0056] like Figure 2 and Figure 3 A proximity switch 310 for controlling the first motor 35 to stop driving is installed on the movable mounting trolley 1, and a trigger plate 311 is installed at the bottom of the first turntable 31. When the trigger plate 311 is aligned with the proximity switch 310, the indication arrow 11 points to the zero scale of the dial 33.

[0057] like Figure 2 and Figure 3 The first rotating disk 31 and the second rotating disk 32 are provided with a conveying assembly 4, and the conveying assembly 4 includes a tensioning driving wheel set 41 and two tensioning driven wheel sets 42. The two tensioning driving wheel sets 41 are installed on the first rotating disk 31, and the two tensioning driven wheel sets 42 are installed on the second rotating disk 32; The two tensioning driving wheel groups 41 are arranged opposite to each other, and the two tensioning driven wheel groups 42 are arranged opposite to each other. The two tensioning wheels of the tensioning driving wheel group 41 are arranged symmetrically about the center line of the length direction of the strip hole, and the two tensioning wheels of the tensioning driven wheel group 42 are arranged symmetrically about the center line of the length direction of the strip hole. The tensioning wheel of the tensioning driving wheel set 41 is a toothed tensioning wheel, and the tensioning wheel of the tensioning driven wheel set 42 is a rubber-coated tensioning wheel. The tensioning wheel in each tensioning driving wheel set 41 is connected to the opposite tensioning wheel in another tensioning driving wheel set 41 through a linkage shaft 43. The first rotating disk 31 is also equipped with a driving member 44 for driving the tensioning driving wheel set 41 to rotate; The driving member 44 includes a second motor 441, which is installed on the first turntable 31. The second motor 441 is connected to the second gear 442. Each tensioning wheel of the tensioning driving wheel group 41 is coaxially connected to the third gear 443. Two adjacent third gears 443 are meshed with each other, one of the third gears 443 is meshed with the second gear 442, and one of the tensioning wheels of the tensioning driving wheel group 41 is installed with a second encoder 45.

[0058] like Figure 1 and Figure 4The supporting rod assembly 2 includes two sets of moving rods 21, which are composed of multiple rods plugged together. According to the depth requirements of the well, a new rod can be added to the uppermost end of the moving rod 21 to extend the detection depth. The moving rod 21 passes through the small-diameter circular hole of the clearance hole 39 of the scale plate 33, the tensioning driving wheel assembly 41, the small-diameter circular hole of the clearance hole 39 of the first rotating disk 31, the tensioning driven wheel assembly 42 and the small-diameter circular hole of the clearance hole 39 of the second rotating disk 32 in sequence, and finally extends from the bottom of the movable mounting trolley 1. The moving rod 21 is provided with a tooth groove (not shown in the figure) that meshes with the toothed tensioning wheel to ensure accurate transportation of the moving rod 21.

[0059] like Figure 4 and Figure 5 , a detection rod 22 is installed at the bottom of the moving rod 21, and a panoramic sonar 5 and an infrared camera 6 are installed between the two moving rods 21 through a plate. The two moving rods 21 are also installed with a push assembly 7, and the push assembly 7 includes a linear actuator 71. In the embodiment of the present application, the linear actuator 71 is an electric push rod. In other embodiments, the linear actuator 71 can also be a cylinder / hydraulic cylinder. The linear actuator 71 is connected to a cross bar 72. Both the cross bar 72 and the linear actuator 71 can pass through the clearance hole 39. Both ends of the cross bar 72 are connected to a first slide 73. The two first slides 73 are respectively sleeved on the bottom of the two moving rods 21. The two first slides 73 are connected by a rod, and the two first slides 73 are connected to a first swing rod 74. The end of the detection rod 22 close to the moving rod 21 is sleeved with a second slide 75, and the second slide 75 is hinged with a second swing rod 76. The first swing rod 74 and the second swing rod 76 on the same side are cross-arranged, and the first swing rod 74 and the second swing rod 76 are hinged at the intersection. The two second swing rods 76 are hinged with a fixed plate 81, and the ends of the two second swing rods 76 away from the detection rod 22 are coaxially connected with a rotating shaft 77. The ends of the two first swing rods 74 away from the detection rod 22 are both hinged with a sliding block 78, and the sliding block 78 is rotatably connected with a roller 79, and the roller 79 is rollingly arranged on the fixed plate 81, and the two sliding blocks 78 are connected through the moving plate 710.

[0060] like Figure 5 , Figure 6 and Figure 7The fixing plate 81 is detachably connected to the mounting plate 82 through two mounting components 9, the mounting plate 82 is connected to the blocking airbag 83, and the mounting plate 82 is also connected to an inflation tube 84 for inflating the blocking airbag 83. The height of the mounting plate 82 is greater than the diameter of the tube mouth, and four damping seats 85 are installed on the mounting plate 82, two damping seats 85 are located above the blocking airbag 83, and the other two damping seats 85 are located below the blocking airbag 83, and each damping seat 85 is plugged with a damping plug 86, and the damping plugs 86 above the blocking airbag 83 correspond to the damping plugs 86 below the blocking airbag 83 one by one, and the two opposing damping plugs 86 are commonly connected with a retraction rope 87, which bypasses the blocking airbag 83 and is fixed to the side of the blocking airbag 83 away from the mounting plate 82, and when the blocking airbag 83 is in a tightened state, the retraction rope 87 tightens the blocking airbag 83.

[0061] like Figure 1 A reel 12 is rotatably connected to the movable mounting trolley 1 , and the wires of the linear actuator 71 and the panoramic sonar 5 are wound around the reel 12 .

[0062] like Figure 6 , Figure 7 and Figure 8 The mounting assembly 9 includes a connecting seat 91, the connecting seat 91 is bolted on the mounting plate 82, a connecting groove 811 is provided on the fixing plate 81, the connecting seat 91 is adapted to the connecting groove 811, and one side of the connecting seat 91 extends out of the connecting groove 811, and two oppositely arranged latches 92 are slidably connected in the connecting seat 91, the two latches 92 are horizontally arranged, one end of the latch 92 can extend out of the connecting seat 91 and abut against the side of the fixing plate 81 away from the mounting plate 82, and the opposite ends of the two latches 92 are connected to a clamping plate 93, and a spring 94 is sleeved on the latch 92, one end of the spring 94 is fixed to the connecting seat 91, and the other end of the spring 94 is fixed to the clamping plate 93, the clamping plate 93 and the latch 92 are integrally formed, and the spring 94, the latch 92 and the clamping plate 93 form a spring pin structure. The top of the connecting seat 91 is threadedly connected with a positioning rod 95 , which extends into the connecting seat 91 and is centrally arranged. When the abutting plate 93 abuts against the positioning rod 95 , the latch pin 92 is completely extended into the connecting seat 91 and separated from the fixing plate 81 .

[0063] A fixed shaft 96 is also installed at the bottom of one side of the connecting seat 91 extending out of the fixing plate 81, and a limited rotating plate 97 is rotatably arranged on the fixed shaft 96. A torsion spring 98 is sleeved on the fixed shaft 96, and one end of the torsion spring 98 is fixed to the connecting seat 91, and the other end of the torsion spring 98 is fixed to the limited rotating plate 97. When the limited rotating plate 97 is turned over and enters the connecting seat 91, the two abutting plates 93 clamp the limited rotating plate 97 together, and at this time, the latch 92 extends out of the connecting seat 91 and abuts against the fixing plate 81. When the torsion spring 98 is in a natural state, the limited rotating plate 97 is turned out of the connecting seat 91, and the limited rotating plate 97 is in a horizontal state.

[0064] A ring-shaped traction rope 99 is sleeved on the limit rotating plate 97, the limit rotating plate 97 extends into the connecting seat 91 and is clamped by two abutting plates 93, and the latch 92 abuts against the fixing plate 81; During the inflation process of the plugging airbag 83, the damping plug 86 is separated from the damping seat 85. According to the pressure monitoring device on the shore, when the plugging airbag 83 is inflated to the specified pressure, the inflation is stopped. Then, the ring-shaped traction rope 99 is manually pulled on the shore, so that the ring-shaped traction rope 99 drives the limit rotating plate 97 to flip and extend out of the connecting seat 91, so that the latch 92 extends into the connecting seat 91 and separates from the fixed plate 81. Then, the ring of the ring-shaped traction rope 99 is separated from the limit rotating plate 97 and completely recovered to the shore. The limit rotating plate 97 is in a horizontal state under the action of the torsion spring 98, and the fixed plate 81 can be taken out of the well, while the plugging airbag 83 and the mounting plate 82 can continue to perform the plugging work. It should be noted that the distance between the movable plate 710 and the fixed plate 81 is greater than the distance from the end of the limit rotating plate 97 away from the fixed shaft 96 to the fixed plate 81 when it is in a horizontal state.

[0065] The bottom of the movable mounting trolley 1 is also connected to two extension rods 14 through a flip hinge 13, and the ends of the extension rods 14 are rotatably connected to moving wheels 15. The end of the movable mounting trolley 1 away from the flip hinge 13 is also hinged to two moving wheels 15.

[0066] The implementation principle of the embodiment of the present application is as follows: when performing underwater plugging of the pipe network, the movable installation trolley 1 moves to the upstream wellhead of the branch pipe to be cut off, at which time the linear actuator 71 is in the maximum extension state, that is, the first swing arm 74 and the second swing arm 76 are in the minimum angle state, and the fixed plate 81 and the mounting plate 82 are pushed to the farthest point from the linear actuator 71. At this time, the fixed plate 81, the mounting plate 82 and the detection rod 22 are in the highest position and will not hit the ground, and the trolley can move freely; When the movable installation trolley 1 moves to align with the wellhead, the second motor 441 is started to rotate the tension driving wheel group 41, driving the moving rod 21, the fixing plate 81 and the mounting plate 82 to extend into the well. When the mounting plate 82 is lowered to below the second rotating disk 32, the second motor 441 stops, the linear actuator 71 is retracted, and the fixing plate 81 and the mounting plate 82 are retracted to the position closest to the linear actuator 71. Then the second motor 441 is started again until the bottom of the detection rod 22 reaches the bottom of the well, and the well depth can be obtained according to the data of the second encoder 45. When the moving rod 21 descends, the first motor 35 is started to make the first turntable 31, the second turntable 32 and the scale plate 33 rotate synchronously, so that the moving rod 21 drives the infrared camera 6 to scan in a circle. Combined with the panoramic sonar 5 and the well depth data, a 3D image of the well can be obtained and directly generated and displayed on the cloud, which is convenient for surveyors or engineers to quickly grasp the situation in the well and find the exact position of the branch pipe to be cut off.

[0067] Then, by controlling the first motor 35 and the second motor 441 to start, combined with the data of the dial 33, the first encoder 37 and the second encoder 45, the moving rod 21 drives the blocking airbag 83 to accurately align with the branch pipe opening, and then the linear actuator 71 is started. The linear actuator 71 pushes the cross bar 72 to move downward, so that the first swing arm 74 and the second swing arm 76 swing at the same time, thereby pushing the fixing plate 81 and the mounting plate 82 to move, so that the blocking airbag 83 extends into the branch pipe opening.

[0068] Then the plugging airbag 83 is inflated to plug the pipe opening. When the plugging airbag 83 is inflated to a certain degree, the retracting rope 87 drives the damping plug 86 to separate from the damping seat 85. When the plugging airbag 83 reaches the specified inflation value, the ring-shaped traction rope 99 is manually pulled on the shore, so that the ring-shaped traction rope 99 pulls the limit rotating plate 97 to rotate, so that the latch 92 extends into the connecting seat 91, thereby separating the fixing plate 81 and the mounting plate 82. After the plugging airbag 83 completely blocks the branch pipe opening, the linear actuator 71 drives the fixing plate 81 to separate from the mounting plate 82, and then the second motor 441 drives the moving rod 21 to move upward, so that the fixing plate 81 is recovered into the movable mounting trolley 1, and then the movable mounting trolley 1 is evacuated from the wellhead, and the workers can go down to the well to work.

[0069] After the operation is completed, the plugging airbag 83 can be deflated directly through the inflation tube 84, and then a recovery rope is attached to the inflation tube 84 so that the plugging airbag 83 and the mounting plate 82 can be pulled out of the well for secondary use.

[0070] The coordinated work of the conveying component 4, the rotating component 3 and the pushing component 7 can automatically deliver the plugging airbag 83 to the bottom of the well and align it with the pipeline opening, reducing the danger and complexity of manual downhole operations; The detachable design of the fixing plate 81 and the mounting plate 82 allows the blocking airbag 83 to be separated from the fixing plate 81 and the mounting plate 82 by the mounting assembly 9 after the blocking is completed, so that the equipment can be evacuated, leaving space for workers to work down the well, while the airbag remains in a blocked state. After the work is completed, the blocking airbag 83 only needs to be emptied of gas, and the blocking airbag 83 can be pulled out by manually pulling the tracheal traction rope of the blocking airbag 83, which greatly improves the flexibility and safety of subsequent operations; Moreover, during construction, the upstream of the branch pipe is blocked. Since the direction of the water flow impact is from upstream to downstream, the mounting plate 82 will be pressed tightly against the pipe mouth of the branch pipe under the action of the water flow pressure. At this time, the mounting plate 82, as a supporting structure, is firmly attached to the pipe mouth, and the mounting plate 82 is connected to the blocking airbag 83, thereby effectively preventing the blocking airbag 83 from shifting due to excessive water pressure, thereby improving the reliability of the blocking.

[0071] In addition, in other embodiments, the support rod group 2 can also be a single rod, and the rotating component 3 can also be independently driven to rotate by a motor and a double gear. The single rod is connected to the gear flat key, and the conveying component 4 can also be a single rod with a rack installed on it, driven by a motor, gear and rack.

[0072] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A pipe network underwater plugging robot, characterized in that: It comprises a movable mounting trolley (1), a supporting rod assembly (2), a rotating assembly (3), a conveying assembly (4) and a pushing assembly (7); The conveying assembly (4) and the rotating assembly (3) are both mounted on the movable mounting trolley (1); the conveying assembly (4) is used to drive the supporting rod assembly (2) to descend or ascend toward the bottom of the well in the height direction; and the rotating assembly (3) is used to drive the supporting rod assembly (2) and the conveying assembly (4) to rotate axially synchronously; The pushing assembly (7) is mounted at the lower end of the supporting rod assembly (2), the pushing assembly (7) is connected to a fixing plate (81), the fixing plate (81) is detachably connected to a mounting plate (82) via a mounting assembly (9), a blocking airbag (83) is mounted on the mounting plate (82), and the height of the mounting plate (82) is greater than the diameter of the pipe opening; The pushing assembly (7) can drive the fixing plate (81) to move along the direction of the pipe opening, so that the blocking airbag (83) extends into the pipe opening.

2. The underwater pipe network plugging robot according to claim 1, characterized in that: The blocking airbag (83) is connected to a retractable rope (87), a damping seat (85) is provided on the mounting plate (82), the retractable rope (87) is connected to a damping plug (86), and when the blocking airbag (83) is in a contracted state, the damping plug (86) is completely inserted into the damping seat (85), and the retractable rope (87) tightens the blocking airbag (83).

3. The underwater pipe network plugging robot according to claim 1, characterized in that: The mounting assembly (9) comprises a connecting seat (91), the connecting seat (91) being arranged on the mounting plate (82), the fixing plate (81) being provided with a connecting groove (811), the connecting seat (91) passing through the connecting groove (811), at least two oppositely arranged latches (92) being slidably connected in the connecting seat (91), one end of the latches (92) being able to extend out of the connecting seat (91) and abut against the fixing plate (81), the opposite ends of the two latches (92) being connected to a clamping plate (93), the clamping plate (93) and the connecting seat (91) being connected via a spring (94), and the clamping plate (93) and the latches (92) being integrally formed; The connecting seat (91) is rotatably connected to a limit rotating plate (97); a fixed shaft (96) of the limit rotating plate (97) is provided with a torsion spring (98) for driving the limit rotating plate (97) to flip; and a ring-shaped traction rope (99) is sleeved on the limit rotating plate (97); When the latch pin (92) extends out of the connecting seat (91), the spring (94) is in a compressed state, and the two abutting plates (93) jointly clamp the limit rotating plate (97).

4. The underwater pipe network plugging robot according to claim 3, characterized in that: The connecting seat (91) is provided with a positioning rod (95), and the positioning rod (95) is located between the two clamping plates (93). When the limit rotating plate (97) is separated from the clamping plate (93), the clamping plate (93) is in contact with the positioning rod (95), and the latch (92) is separated from the fixing plate (81). When the torsion spring (98) is in a natural state, the limit rotating plate (97) is in a horizontal state.

5. The underwater pipe network plugging robot according to claim 1, characterized in that: The rotating assembly (3) comprises a first rotating disk (31), the first rotating disk (31) is rotatably connected to the movable mounting trolley (1), the first rotating disk (31) is coaxially mounted with an outer gear ring (38), the movable mounting trolley (1) is mounted with a first motor (35), the first motor (35) is connected with a first gear (36), and the first gear (36) is meshed with the outer gear ring (38); The movable mounting trolley (1) is also rotatably connected to a second turntable (32), the second turntable (32) is coaxially arranged with the first turntable (31), the first turntable (31) is connected to the second turntable (32), the support rod group (2) passes through the first turntable (31) and the second turntable (32), and the conveying assembly (4) is installed on the first turntable (31) and the second turntable (32).

6. The underwater pipe network plugging robot according to claim 5, characterized in that: The top of the movable mounting trolley (1) is rotatably connected with a scale plate (33), the scale plate (33) is coaxially arranged with the first rotating disk (31), the first rotating disk (31), the second rotating disk (32) and the scale plate (33) are synchronously rotated via a connecting column (34), an indicating arrow (11) is arranged on the scale plate (33), a first encoder (37) is installed on the first motor (35), a proximity switch (310) for controlling the resetting of the first motor (35) is installed in the movable mounting trolley (1), and the first rotating disk (31) is connected with a trigger plate (311); The first turntable (31), the second turntable (32) and the scale plate (33) are all provided with clearance holes (39), the support rod assembly (2) is slidably arranged on the first turntable (31) and the second turntable (32) through the clearance holes (39), and the linear actuator of the pushing assembly (7) can pass through all the clearance holes (39), so that the fixed plate (81) is positioned at a height higher than the bottom of the movable mounting trolley (1).

7. The underwater pipe network plugging robot according to claim 1, characterized in that: The conveying assembly (4) comprises a tensioning driving wheel group (41) and a tensioning driven wheel group (42), the tensioning driving wheel group (41) and the tensioning driven wheel group (42) are both mounted on the rotating assembly (3), the tensioning driving wheel group (41) and the tensioning driven wheel group (42) correspond one to one, the rods of the supporting rod group (2) correspond one to one to the tensioning driving wheel group (41), the rods of the supporting rod group (2) pass through the corresponding tensioning driving wheel group (41) and the tensioning driven wheel group (42), and the rotation of the tensioning driving wheel group (41) is controlled by a driving member (44).

8. The underwater pipe network plugging robot according to claim 7, characterized in that: The support rod assembly (2) comprises two sets of moving rods (21), the moving rods (21) pass through the corresponding tensioning driving wheel assembly (41) and the tensioning driven wheel assembly (42), the two tensioning driving wheel assemblies (41) correspond to each other one by one and realize synchronous rotation through a linkage shaft (43); The driving member (44) comprises a second motor (441), the second motor (441) is mounted on the rotating assembly (3), the second motor (441) is connected to a second gear (442), each tensioning wheel of the tensioning driving wheel group (41) is coaxially connected to a third gear (443), two adjacent third gears (443) are meshed with each other, one of the third gears (443) is meshed with the second gear (442), a tensioning wheel of one of the tensioning driving wheel groups (41) is installed with a second encoder (45), and a detection rod (22) is installed at the bottom of the moving rod (21), and the bottom of the detection rod (22) is not higher than the bottom of the fixed plate (81).

9. The underwater pipe network plugging robot according to claim 8, characterized in that: The pushing assembly (7) comprises a linear actuator (71), which is mounted on the two moving rods (21). The linear actuator (71) is connected to a cross rod (72), and the two ends of the cross rod (72) are respectively slidably connected to the two moving rods (21). The two ends of the cross rod (72) are hinged with a first rocker (74), and the two first rockers (74) are hinged with a sliding block (78). The sliding block (78) is slidably connected to the fixed plate (81). The two sliding blocks (78) are connected through a moving plate (710). The two detection rods (22) are slidably connected and hinged with a second rocker (76), and the second rocker (76) is hinged to the fixed plate (81). The first rocker (74) is hinged to the second rocker (76) on the same side thereof.

10. The underwater pipe network plugging robot according to claim 1, characterized in that: A panoramic sonar (5) and an infrared camera (6) are installed at one end of the support rod group (2) extending into the bottom of the well.

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