Double-drive stable anchor pipeline plugging robot

Abstract

The invention discloses a double-drive stable anchor pipeline plugging robot, and belongs to the field of pipeline plugging high-end intelligent equipment. The device comprises a drainage speed regulating mechanism, a universal ball head hinge mechanism, a brake positioning mechanism and a rubber sealing mechanism. An adopted drainage speed adjusting mechanism can enable oil gas to penetrate through an inner channel of the plugging robot by pulling down a drainage plate, the pressure difference between the front portion and the rear portion of the plugging robot is reduced, and therefore the operation speed of the plugging robot is adjusted, and meanwhile the pressure of the drained oil gas can be utilized to enable friction to be generated between a braking rubber sheet and the pipe wall of the oil gas pipeline to achieve second-stage speed reduction; the pipeline plugging robot accurately stops at the position where plugging operation is needed, the adopted brake positioning mechanism can keep the stability of the slip during anchoring, and the problem that the normal movement of the pipeline plugging robot during returning is hindered due to the fact that the slip naturally droops when anchoring is relieved can be effectively prevented; the sealing rubber is tightly attached to the inner wall of the pipeline to effectively block the pipeline, and the sealing rubber is convenient to replace after being damaged.

Description

Technical Field

[0001] The present invention relates to the field of high-end intelligent equipment for pipeline plugging, and particularly to a dual-drive and stable-anchor pipeline plugging robot. Background Art

[0002] Pipeline plugging technology is an essential key technology in fields such as petroleum, natural gas, and chemical industry, mainly used for pipeline maintenance, renovation, and emergency treatment. Traditional pipeline plugging methods mainly rely on manual operation or mechanical plugging devices, which have problems such as low efficiency, poor safety, and insufficient adaptability. In recent years, with the development of robot technology and intelligent control technology, dual-drive and stable-anchor pipeline plugging robots have gradually become a research hotspot in the industry. Such robots can achieve automated and intelligent pipeline plugging operations by integrating high-precision sensors, intelligent control systems, and multi-functional rubber sealing mechanisms.

[0003] Through investigation, there are many problems with existing plugging robots, mainly as follows:

[0004] 1. It is impossible to control the movement speed of the plugging robot inside the pipeline, and it is easy to occur the situation that the movement speed of the plugging robot is too fast and out of control.

[0005] 2. Due to the action of oil, it runs passively, and the plugging robot cannot accurately stop at the plugging operation position completely, resulting in displacement deviation and affecting the later repair operation.

[0006] 3. Using a connecting rod to connect with the main body of the plugging device cannot prevent the slip of the slip-on, and the method of using a screw to connect and extrude the bowl to push out the slip-on will cause plastic deformation of the screw, resulting in the slip-on not being able to rebound smoothly and affecting the work of the plugging robot.

[0007] 4. The plugging structure of existing pipeline plugging robots is complex, and later maintenance requires professional personnel to operate, increasing the difficulty and cost of use.

[0008] Therefore, in order to effectively solve the deficiencies of existing plugging robots during the working process, it is urgent to invent a new type of plugging robot to solve the situation that the movement speed of the plugging robot is too fast and out of control during the working process. It is necessary to flexibly and quickly adjust the running speed of the plugging robot to solve the problem that it cannot accurately stop at the plugging operation position completely, enhance the anchoring function of the plugging robot to solve the problem that the slip-on cannot rebound smoothly, and simplify the rubber sealing mechanism to solve the problem of difficult later maintenance, so as to achieve the purpose of safely and efficiently completing the pipeline plugging operation. Summary of the Invention

[0009] The object of the present invention is to overcome the deficiencies of the prior art and provide a double-drive stable-anchoring pipeline plugging robot. By using a flow-discharging plate, a chute adjusting rod, a supporting rod, a lifting rod, etc. in cooperation, the function of changing the pressure difference of the plugging robot to control the running speed of the robot is realized. By using a braking rubber sheet fixing rod, a mounting sleeve, a braking rubber sheet, a plugging block, a limiting rod, etc. in cooperation, the function of secondary braking during the deceleration and braking process of the plugging robot and being able to accurately stop at the plugging position is realized. By using an anchoring box body, a movable slip, a slip connecting rod, a slip limiting rod, etc. in cooperation, the problem that the slip naturally sags or the screw produces plastic deformation to hinder the movement of the plugging robot is solved. By using a movable extrusion block, rubber, and a rotating extrusion block, the function that the rubber closely fits the inner wall of the pipeline to plug oil and gas and is convenient for replacement after the sealing rubber is damaged is realized.

[0010] The object of the present invention is achieved by the following technical solutions: A double-drive stable-anchoring pipeline plugging robot, characterized in that it includes a flow-discharging speed-regulating mechanism, a universal ball head hinge mechanism, a braking positioning mechanism, and a rubber sealing mechanism;

[0011] The said flow-discharging speed-regulating mechanism is connected to the said braking positioning mechanism through the said universal ball head hinge mechanism, and the said braking positioning mechanism is connected to the said rubber sealing mechanism through the said universal ball head hinge mechanism;

[0012] The said flow-discharging speed-regulating mechanism is provided with a collision-preventing head, a flow-discharging plate, an isolating pig, a connecting pipe, a braking rubber sheet fixing rod, a pushing spring, a mounting sleeve I, a mounting sleeve II, a braking rubber sheet, a mounting sleeve III, a connecting base, an internal fixing plate, a chute adjusting rod, a plugging block, a telescopic motor, a telescopic motor rod, a limiting rod, a deceleration support rod, a supporting rod, a lifting rod. The said isolating pig is connected to the said connecting pipe through a thread, the said connecting pipe is fixed by the said limiting rod, the said pushing spring is sleeved on the deceleration support rod, the said mounting sleeve I is sleeved on the said deceleration support rod and is located on the right side of the said pushing spring, the said mounting sleeve II and the said mounting sleeve III are fixedly installed on the said deceleration support rod, and the said deceleration support rod is fixedly installed inside the said connecting base; the said internal fixing plate is fixedly installed inside the said collision-preventing head through a thread, the said chute adjusting rod is fixedly installed on the said connecting base through a thread, the said telescopic motor base is fixedly connected to the said chute adjusting rod through a thread, the said telescopic motor rod is cooperatively connected with the said telescopic motor and is fixedly installed on the said supporting rod, and the said supporting rod cooperates with the said chute adjusting rod;

[0013] The said universal ball head hinge mechanism is provided with a ball hinge head and a ball hinge seat. The left side of the said ball hinge head is fixedly connected to the said connecting base through a thread, and the right side is cooperated with the said ball hinge seat;

[0014] The described braking and positioning mechanism is provided with a motor fixing plate, an anchoring box cover I, an anchoring box body, a movable jaw, an anchoring box cover II, a rotating motor, a rotating motor inner rod, a jaw connecting rod, a jaw limiting rod, a closing plate, and a rotating disk. The left side of the motor fixing plate is fixedly connected to the ball hinge head by a thread, and the right side is fixedly connected to the anchoring box cover I by a thread. The anchoring box cover I is fixedly connected to the anchoring box body by a thread. The anchoring box body is fixedly connected to the anchoring box cover II by a thread. The anchoring box cover II is fixedly connected to the closing plate by a thread. The rotating motor is fixedly installed inside the motor fixing plate by a thread, and the rotating motor inner rod is matched with the rotating motor.

[0015] The described rubber sealing mechanism is provided with a movable extrusion block, rubber, a rotating extrusion block, a lead screw motor, a lead screw, and a plugging outer shell. The left side of the movable extrusion block is fixedly connected to the ball hinge head by a thread, and the right side is matched with the plugging outer shell. The rubber is matched with the plugging outer shell. The rotating extrusion block is fixedly installed on the plugging outer shell by a thread. The lead screw motor is fixedly installed on the movable extrusion block by a thread, and the right side is matched with the lead screw hole on the upper surface of the rotating extrusion block.

[0016] Furthermore, the flow discharge plate is provided with a front end connection hole, a rear end connection hole, and a partition plate. The braking rubber sheet is provided with a first connection hole, a second connection hole, a third connection hole, and an arc-shaped rubber sheet. The chute adjusting rod is provided with a fixed installation hole, a chute, and a motor fixing hole. The supporting rod is provided with a dragging hole, a dragging rod, a dragging chassis, an installation hole, and a chute. The lifting rod is provided with a flow discharge plate connection hole and a supporting rod connection hole. The front end connection hole is connected to the flow discharge plate connection hole. The rear end connection hole is connected to the dragging hole. The installation sleeve I is connected to the braking rubber sheet fixing rod through the first connection hole and then connected to the braking rubber sheet. The installation sleeve II is connected to the braking rubber sheet fixing rod through the second connection hole and then connected to the braking rubber sheet. The installation sleeve III is connected to the braking rubber sheet fixing rod through the third connection hole and then connected to the braking rubber sheet. The fixed installation hole is fixed to the internal fixing plate. The dragging rod is matched with the chute. The motor fixing hole is fixed to the telescopic motor base.

[0017] Furthermore, the anchor box is provided with a cava limit rod hole, a motor rotation matching hole, and a cava connecting rod matching hole. The cava connecting rod is provided with a moving hole. The rotating disk is provided with a rotation moving hole and a motor rod engaging hole. The cava limit rod is connected through the cava limit rod hole, the moving hole and the rotation moving hole. The rotating motor inner rod is connected with the motor rod engaging hole through the motor rotation matching hole, and the cava connecting rod is matched through the cava connecting rod matching hole.

[0018] The working process of the dual-drive stable anchor pipeline plugging robot of the present invention comprises the following steps:

[0019] S1: Speed ​​regulation work:

[0020] S11: The telescopic motor starts to work, controls the telescopic motor rod to extend, drives the support rod to slide on the slide slot adjustment rod, thereby drives the lifting rod to move downward, causes the eight leakage plates to move downward, causes oil and gas to flow into the internal leakage and pressure reduction channel of the sealing robot to reduce the pressure difference;

[0021] S12: Oil and gas flow into the internal channel of the leakage speed regulating module of the plugging robot. The pressure of the oil and gas pushes the plugging block to move forward, so that the plugging block slowly moves forward out of the internal channel, and the oil and gas flow out, reducing the pressure difference before and after the plugging, so that the moving speed of the plugging machine is reduced by one level;

[0022] S13: Oil and gas push the plugging block forward to squeeze the spring to move the installation sleeve I forward, driving the brake rubber sheet fixing rod to move upward, while driving the brake rubber sheet to generate friction with the oil and gas pipeline wall to achieve the second-level deceleration of the plugging robot, so that the plugging robot slowly stops at the position where the plugging operation is required;

[0023] S2: Anchoring and plugging work:

[0024] S21: The rotating motor controls the inner rod of the rotating motor and the meshing rotating disk to rotate, thereby driving the slip limit rod to rotate on the rotating moving hole of the meshing rotating disk, driving the slip connecting rod matched on the slip limit rod to move upward so that the slip is anchored on the inner wall of the oil and gas pipeline, and the entire plugging robot stops moving;

[0025] S22: The screw motor controls the screw to rotate and drives the moving extrusion block to move forward to squeeze the rubber to expand and achieve complete sealing of the oil and gas pipeline;

[0026] S3: Unanchoring work:

[0027] S31: The screw motor controls the screw to rotate and drives the movable extrusion block to move backward so that the rubber returns to its original state and releases the seal of the oil and gas pipeline;

[0028] S32: The rotary motor controls the rotation of the inner rod and the engaged rotary disk in the rotary motor, thereby driving the slip joint stop rod to rotate on the rotary movement hole of the engaged rotary disk, and driving the slip joint connecting rod fitted on the slip joint stop rod to move downward, so that the slip joint disengages from the inner wall of the oil and gas pipeline, and the entire plugging robot starts to move;

[0029] S33: The telescopic motor works to control the retraction of the telescopic motor rod, driving the support rod to slide on the chute adjusting rod, thereby driving the lifting rod to move upward, and moving the 8 flow discharge plates upward to block the inflow of oil and gas into the interior of the plugging robot, increasing the pressure difference of the plugging robot.

[0030] The beneficial effects of the present invention are as follows:

[0031] 1. By adopting a flow discharge speed regulation mechanism, the movement speed of the robot is controlled by adjusting the pressure difference between the front and rear of the plugging robot, effectively solving the problem that the plugging robot is not easy to control due to too fast speed.

[0032] 2. By adopting a two-stage deceleration mechanism, the braking rubber sheet is pushed by the oil and gas pressure of the flow discharge to rub against the pipe wall to achieve secondary deceleration and can stop quickly, improving the movement control accuracy of the robot in the pipeline.

[0033] 3. By adopting the braking and positioning mechanism, the slip joint connecting rod is driven by the rotation of the rotary disk to move the slip joint for anchoring, solving the problem that the existing braking and positioning mechanism hinders the movement of the plugging robot due to the natural drooping of the slip joint or the plastic deformation of the screw during de-anchoring.

[0034] 4. By adopting the rubber sealing mechanism, the rubber of the sealing mechanism of the plugging robot is closely attached to the inner wall of the pipeline, which can not only ensure effective plugging of oil and gas, but also facilitate quick replacement after the sealing rubber is damaged, greatly reducing the cost. Description of the Drawings

[0035] Figure 1 is a schematic diagram of the appearance and mechanism layout of the present invention;

[0036] Figure 2 is a schematic diagram of the semi-sectional structure of the present invention;

[0037] Figure 3 Schematic diagram of the relative positions of the components of the flow discharge speed regulation mechanism;

[0038] Figure 4 Schematic diagram of the part characteristics of the flow discharge plate;

[0039] Figure 5 Schematic diagram of the part characteristics of the braking rubber;

[0040] Figure 6 Schematic diagram of the part characteristics of the chute adjusting rod;

[0041] Figure 7Schematic diagram of the characteristics of the support rod part;

[0042] Figure 8 Schematic diagram of the characteristics of the lifting rod part;

[0043] Figure 9 Schematic diagram of the relative positions of the components of the braking and positioning mechanism;

[0044] Figure 10 Schematic diagram of the characteristics of the anchoring box part;

[0045] Figure 11 Schematic diagram of the characteristics of the slip joint connecting rod part;

[0046] Figure 12 Schematic diagram of the characteristics of the rotating disk part;

[0047] In the figure, 1. Flow discharge speed regulation mechanism; 101. Anti-collision head; 102. Flow discharge plate; 102-1. Front-end connection hole; 102-2. Rear-end connection hole; 102-3. Partition board; 103. Isolation pig; 104. Connecting pipe; 105. Braking rubber sheet fixing rod; 106. Push spring; 107. Mounting sleeve I; 108. Mounting sleeve II; 109. Braking rubber sheet; 109-1. First connection hole; 109-2. Second connection hole; 109-3. Third connection hole; 109-4. Arc-shaped rubber sheet; 110. Mounting sleeve III; 111. Connection base; 112. Internal fixing plate; 113. Slide groove adjusting rod; 113-1. Fixed mounting hole; 113-2. Slide groove; 113-3. Motor fixing hole; 114. Plugging block; 115. Telescopic motor; 116. Telescopic motor rod; 117. Limit rod; 118. Deceleration support rod; 119. Support rod; 119-1. Dragging hole; 119-2. Dragging rod; 119-3. Dragging chassis; 119-4. Mounting hole; 119-5. Slide groove; 120. Lifting rod; 120-1. Flow discharge plate connection hole; 120-2. Support rod connection hole; 2. Universal ball joint mechanism; 201. Ball joint head; 202. Ball joint seat; 3. Braking and positioning mechanism; 301. Motor fixing plate; 302. Anchoring box cover I; 303. Anchoring box body; 303-1. Slip joint limiting rod hole; 303-2. Motor rotation fitting hole; 303-3. Slip joint connecting rod fitting hole; 304. Movable slip joint; 305. Anchoring box cover II; 306. Rotating motor; 307. Inner rod of rotating motor; 308. Slip joint connecting rod; 308-1. Moving hole; 309. Slip joint limiting rod; 310. Closing plate; 311. Rotating disk; 311-1. Rotating moving hole; 311-2. Motor rod meshing hole; 4. Rubber sealing mechanism; 401. Moving extrusion block; 402. Rubber; 403. Rotating extrusion block; 404. Lead screw motor; 405. Lead screw; 406. Plugging outer shell. Detailed implementation method

[0048] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of them. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0049] In the description of the present invention, it should be noted that the directions or positional relationships indicated by terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings. This is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0050] In the description of the present invention, it should be noted that unless otherwise clearly specified and limited, the terms "installation", "connection", and "coupling" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0051] In addition, the technical features involved in different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0052] As Figures 1-12 shown, a double-drive and stable-anchor pipeline plugging robot includes a flow-discharging speed-regulating mechanism 1, a universal ball head hinge mechanism 2, a braking and positioning mechanism 3, and a rubber sealing mechanism 4;

[0053] The flow-discharging speed-regulating mechanism 1 is connected to the braking and positioning mechanism 3 through the universal ball head hinge mechanism 2, and the braking and positioning mechanism 3 is connected to the rubber sealing mechanism 4 through the universal ball head hinge mechanism 2;

[0054] The described flow-discharging speed-regulating mechanism 1 is provided with a collision-proof head 101, a flow-discharging plate 102, an isolation pig 103, a connecting pipe 104, a fixed rod 105 for braking rubber sheets, a pushing spring 106, a mounting sleeve I 107, a mounting sleeve II 108, a braking rubber sheet 109, a mounting sleeve III 110, a connecting base 111, an internal fixing plate 112, a chute adjusting rod 113, a plugging block 114, a telescopic motor 115, a telescopic motor rod 116, a limiting rod 117, a deceleration support rod 118, a support rod 119, and a lifting rod 120. The isolation pig 103 is connected to the connecting pipe 104 by threads. The connecting pipe 104 is fixed by the limiting rod 117. The pushing spring 106 is sleeved on the deceleration support rod 118. The mounting sleeve I 107 is sleeved on the deceleration support rod 118 and is located on the right side of the pushing spring 106. The mounting sleeve II 108 and the mounting sleeve III 110 are fixedly installed on the deceleration support rod 118. The deceleration support rod 118 is fixedly installed inside the connecting base 111. The internal fixing plate 112 is fixedly installed inside the collision-proof head 101 by threads. The chute adjusting rod 113 is fixedly installed on the connecting base 111 by threads. The telescopic motor base 115 is fixedly connected to the chute adjusting rod 113 by threads. The telescopic motor rod 116 is cooperatively connected with the telescopic motor 115 and is fixedly installed on the support rod 119. The support rod 119 cooperates with the chute adjusting rod 113.

[0055] The described universal ball-joint hinge mechanism 2 is provided with a ball joint head 201 and a ball joint seat 202. The left side of the ball joint head 201 is fixedly connected to the connecting base 111 by threads and the right side is cooperatively connected with the ball joint seat 202.

[0056] The described braking and positioning mechanism 3 is provided with a motor fixing plate 301, an anchoring box cover I 302, an anchoring box body 303, a moving jaw 304, an anchoring box cover II 305, a rotating motor 306, a rotating motor inner rod 307, a jaw connecting rod 308, a jaw limiting rod 309, a closing plate 310, and a rotating disc 311. The left side of the motor fixing plate 301 is fixedly connected to the ball joint head 201 by threads and the right side is fixedly connected to the anchoring box cover I 302 by threads. The anchoring box cover I 302 is fixedly connected to the anchoring box body 303 by threads. The anchoring box body 303 is fixedly connected to the anchoring box cover II 305 by threads. The anchoring box cover II 305 is fixedly connected to the closing plate 310 by threads. The rotating motor 306 is fixedly installed inside the motor fixing plate 301 by threads. The rotating motor inner rod 307 cooperates with the rotating motor 306.

[0057] The rubber sealing mechanism 4 is provided with a moving extrusion block 401, rubber 402, a rotating extrusion block 403, a lead screw motor 404, a lead screw 405, and a plugging outer shell 406. The left side of the moving extrusion block 401 is fixedly connected to the ball hinge head 201 through a thread, and the right side is matched with the plugging outer shell 406. The rubber 402 is matched with the plugging outer shell 406. The rotating extrusion block 403 is fixedly installed on the plugging outer shell 406 through a thread. The lead screw motor 404 is fixedly installed on the moving extrusion block 401 through a thread, and the right side is matched with the lead screw hole on the upper surface of the rotating extrusion block 403.

[0058] The flow discharge plate 102 is provided with a front end connection hole 102-1, a rear end connection hole 102-2, and a partition plate 102-3. The braking rubber sheet 109 is provided with a first connection hole 109-1, a second connection hole 109-2, a third connection hole 109-3, and an arc-shaped rubber sheet 109-4. The chute adjusting rod 113 is provided with a fixed installation hole 113-1, a chute 113-2, and a motor fixing hole 113-3. The support rod 119 is provided with a dragging hole 119-1, a dragging rod 119-2, a dragging chassis 119-3, an installation hole 119-4, and a chute 119-5. The lifting rod 120 is provided with a flow discharge plate connection hole 120-1 and a support rod connection hole 120-2. The front end connection hole 102-1 is connected to the flow discharge plate connection hole 120-1. The rear end connection hole 102-2 is connected to the dragging hole 119-1. The installation sleeve I 107 is connected to the braking rubber sheet fixing rod 105 through the first connection hole 109-1 and then connected to the braking rubber sheet 109. The installation sleeve II 108 is connected to the braking rubber sheet fixing rod 105 through the second connection hole 109-2 and then connected to the braking rubber sheet 109. The installation sleeve III 110 is connected to the braking rubber sheet fixing rod 105 through the third connection hole 109-3 and then connected to the braking rubber sheet 109. The fixed installation hole 113-1 is fixed to the internal fixing plate 112. The dragging rod 119-2 is matched with the chute 113-2. The motor fixing hole 113-3 is fixed to the telescopic motor base 115.

[0059] The described anchoring box body 303 is provided with a slip limit rod hole 303-1, a motor rotation mating hole 303-2, and a slip connecting rod mating hole 303-3. The slip connecting rod 308 is provided with a moving hole 308-1. The rotating disk 311 is provided with a rotating moving hole 311-1 and a motor rod meshing hole 311-2. The slip limit rod 309 is connected through the slip limit rod hole 303-1, the moving hole 308-1, and the rotating moving hole 311-1. The rotating motor inner rod 307 is connected to the motor rod meshing hole 311-2 through the motor rotation mating hole (303-2). The slip connecting rod 308 is mated through the slip connecting rod mating hole 303-3.

[0060] The working process of the dual-drive stable-anchoring pipeline plugging robot of the present invention includes the following steps:

[0061] S1: Speed regulation work:

[0062] S11: The telescopic motor 115 starts to work, controls the telescopic motor rod 116 to extend, drives the support rod 119 to slide on the chute adjusting rod 113, thereby driving the lifting rod 120 to move downward, causing the 8 flow-discharging plates 102 to move downward, enabling the oil and gas to flow into the internal flow-discharging and pressure-reducing channel of the plugging robot to reduce the pressure difference;

[0063] S12: The oil and gas flow into the internal channel of the flow-discharging and speed-regulating module of the plugging robot. The pressure of the oil and gas pushes the plugging block 114 forward, causing the plugging block to slowly move out of the internal channel forward, enabling the oil and gas to flow out, thereby reducing the pressure difference before and after plugging. Thus, the moving speed of the plugging robot realizes the first-level speed reduction;

[0064] S13: The oil and gas push the plugging block 114 forward to squeeze the push spring 106, causing the mounting sleeve I 107 to move forward, driving the brake rubber sheet fixing rod 105 to move upward, and at the same time driving the brake rubber sheet 109 to rub against the inner wall of the oil and gas pipeline to realize the second-level speed reduction of the plugging robot, so that the plugging robot slowly docks at the position where plugging operation is required;

[0065] S2: Anchoring and plugging work:

[0066] S21: The rotating motor 306 controls the rotation of the rotating motor inner rod 307 and the engaged rotating disk 311, thereby driving the slip limit rod 309 to rotate on the rotating moving hole 311-1 of the engaged rotating disk 311, driving the slip connecting rod 308 fitted on the slip limit rod 309 to move upward, causing the slip 304 to anchor on the inner wall of the oil and gas pipeline, and stopping the entire plugging robot;

[0067] S22: The lead screw motor 404 controls the rotation of the lead screw 405 to drive the moving extrusion block 401 to move forward and squeeze the rubber 402 to expand, realizing the complete sealing of the oil and gas pipeline;

[0068] S3: Unanchoring work:

[0069] S31: The screw motor 404 controls the screw 405 to rotate and drives the movable extrusion block 401 to move backward so that the rubber 402 returns to its original state and releases the seal of the oil and gas pipeline;

[0070] S32: The rotary motor 306 controls the inner rod 307 of the rotary motor to rotate with the meshing rotary disk 311, thereby driving the slip limiting rod 309 to rotate on the rotary moving hole 311-1 of the meshing rotary disk 311, driving the slip connecting rod 308 matched on the slip limiting rod 309 to move downward, so that the slip 304 is separated from the inner wall of the oil and gas pipeline, and the entire plugging robot starts to move;

[0071] S33: The telescopic motor 115 works to control the telescopic motor rod (116) to retract and drive the support rod 119 to slide on the slide slot adjustment rod 113, thereby driving the lifting rod 120 to move upward, causing the eight drain plates 102 to move upward to block the oil and gas from flowing into the interior of the blocking robot, thereby increasing the pressure difference of the blocking robot.

[0072] The above description is not intended to impose any form of limitation on the present invention. Although the present invention has been disclosed through the above embodiments, it is not intended to limit the present invention. Any technician familiar with the profession can make some changes or modifications to the same effective embodiments using the technical contents disclosed above without departing from the scope of the technical solution of the present invention. However, any simple modification, same change and modification made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention still falls within the scope of the technical solution of the present invention.

Claims

1. A dual-drive stable anchor pipeline plugging robot, characterized in that: It comprises a discharge flow speed regulating mechanism (1), a universal ball joint mechanism (2), a braking positioning mechanism (3), and a rubber sealing mechanism (4); The leakage flow speed regulating mechanism (1) is connected to the brake positioning mechanism (3) via the universal ball joint mechanism (2), and the brake positioning mechanism (3) is connected to the rubber sealing mechanism (4) via the universal ball joint mechanism (2); The discharge speed regulating mechanism (1) is provided with an anti-collision head (101), a discharge plate (102), an isolation pig (103), a connecting pipe (104), a brake rubber sheet fixing rod (105), a pushing spring (106), a mounting sleeve I (107), a mounting sleeve II (108), a brake rubber sheet (109), a mounting sleeve III (110), a connecting base (111), an internal fixing plate (112), a slide groove adjusting rod (113), a blocking block (114), a telescopic motor (115), a telescopic motor rod (116), a limiting rod (117), a deceleration support rod (118), a supporting rod (119), and a lifting rod (120). The isolation pig (103) is connected to the connecting pipe (104) by a thread, the connecting pipe (104) is fixed by the limiting rod (117), the pushing spring (106) is sleeved on the deceleration support rod (118), and the mounting sleeve (110) is provided with a plurality of locking members. The sleeve I (107) is sleeved on the deceleration support rod (118) and is located on the right side of the push spring (106); the mounting sleeve II (108) and the mounting sleeve III (110) are fixedly mounted on the deceleration support rod (118); the deceleration support rod (118) is fixedly mounted inside the connecting base (111); the internal fixing plate (112) is fixedly mounted inside the anti-collision head (101) by means of threads; the slide groove adjustment rod (113) is fixedly mounted on the connecting base (111) by means of threads; the telescopic motor seat (115) is fixedly connected to the slide groove adjustment rod (113) by means of threads; the telescopic motor rod (116) is matched with the telescopic motor (115) and fixedly mounted on the support rod (119); the support rod (119) matches with the slide groove adjustment rod (113); The universal ball joint mechanism (2) is provided with a ball joint head (201) and a ball joint seat (202); the left side of the ball joint head (201) is fixedly connected to the connecting base (111) via a thread, and the right side cooperates with the ball joint seat (202); The braking positioning mechanism (3) is provided with a motor fixing plate (301), an anchoring box cover I (302), an anchoring box body (303), a movable slip (304), an anchoring box cover II (305), a rotating motor (306), a rotating motor inner rod (307), a slip connecting rod (308), a slip limiting rod (309), a closing plate (310), and a rotating disk (311). The left side of the motor fixing plate (301) is fixedly connected to the ball joint head (201) by a thread, and the right side is fixedly connected to the anchoring box cover by a thread. I (302), the anchor box cover I (302) is fixedly connected to the anchor box body (303) by threads, the anchor box body (303) is fixedly connected to the anchor box cover II (305) by threads, the anchor box cover II (305) is fixedly connected to the closing plate (310) by threads, the rotating motor (306) is fixedly installed on the inner side of the motor fixing plate (301) by threads, and the rotating motor inner rod (307) cooperates with the rotating motor (306); The rubber sealing mechanism (4) is provided with a movable extrusion block (401), rubber (402), a rotating extrusion block (403), a screw motor (404), a screw (405), and a blocking shell (406). The left side of the movable extrusion block (401) is fixedly connected to the ball joint head (201) by a thread, and the right side cooperates with the blocking shell (406). The rubber (402) cooperates with the blocking shell (406). The rotating extrusion block (403) is fixedly installed on the blocking shell (406) by a thread. The screw motor (404) is fixed to the movable extrusion block (401) by a thread, and the right side cooperates with the screw hole on the rotating extrusion block (403).

2. A dual-drive stable anchor pipeline plugging robot according to claim 1, characterized in that: The discharge plate (102) is provided with a front connection hole (102-1), a rear connection hole (102-2), and a baffle plate (102-3); the brake rubber sheet (109) is provided with a first connection hole (109-1), a second connection hole (109-2), a third connection hole (109-3), and an arc-shaped rubber sheet (109-4); the slide groove adjustment rod (113) is provided with a fixed installation hole (113-1), a slide groove (113-2), a motor fixing hole (113-3), and a plurality of fixed holes (113-1) and a plurality of fixed holes (113-2) of the motor. -3), the support rod (119) is provided with a drag hole (119-1), a drag rod (119-2), a drag chassis (119-3), a mounting hole (119-4), and a slide groove (119-5), the lifting rod (120) is provided with a drain plate connection hole (120-1), a support rod connection hole (120-2), the front end connection hole (102-1) is connected to the drain plate connection hole (120-1), and the rear end connection hole (102-2) is connected to the drain plate connection hole (120-1). The mounting sleeve I (107) is connected to the brake rubber sheet fixing rod (105) through the first connecting hole (109-1) and is thereby connected to the brake rubber sheet (109); the mounting sleeve II (108) is connected to the brake rubber sheet fixing rod (105) through the second connecting hole (109-2) and is thereby connected to the brake rubber sheet (109); the mounting sleeve III (110) is connected to the brake rubber sheet fixing rod (105) through the third connecting hole (109-3) and is thereby connected to the brake rubber sheet (109); the fixed mounting hole (113-1) is fixed to the internal fixing plate (112); the drag rod (119-2) cooperates with the slide groove (113-2); and the motor fixing hole (113-3) is fixed to the telescopic motor seat (115).

3. The dual-drive stable anchor pipeline plugging robot according to claim 1, characterized in that: The anchor box (303) is provided with a slip limiting rod hole (303-1), a motor rotation matching hole (303-2), and a slip connecting rod matching hole (303-3); the slip connecting rod (308) is provided with a moving hole (308-1); the rotating disk (311) is provided with a rotation moving hole (311-1) and a motor rod engaging hole (311-2); the slip limiting rod (309) is connected through the slip limiting rod hole (303-1), the moving hole (308-1) and the rotation moving hole (311-1); the rotating motor inner rod (307) is connected with the motor rod engaging hole (311-2) through the motor rotation matching hole (303-2); and the slip connecting rod (308) is matched through the slip connecting rod matching hole (303-3).

4. The dual-drive stable anchor pipeline plugging robot according to claim 1, characterized in that: The working process includes the following steps: S1: Speed ​​regulation work: S11: the telescopic motor (115) starts to work and controls the telescopic motor rod (116) to extend, driving the support rod (119) to slide on the slide slot adjustment rod (113), thereby driving the lifting rod (120) to move downward, causing the eight leakage plates (102) to move downward, allowing oil and gas to flow into the leakage and pressure reduction channel inside the robot to reduce the pressure difference; S12: Oil and gas flow into the internal channel of the leakage speed regulating module of the plugging robot, and the pressure of the oil and gas pushes the plugging block (114) to move forward, so that the plugging block slowly moves forward out of the internal channel, so that the oil and gas flow out and reduce the pressure difference before and after the plugging, thereby achieving a first-level speed reduction of the plugging machine movement speed; S13: The oil and gas push the blocking block (114) forward to squeeze the push spring (106), so that the installation sleeve I (107) moves forward, drives the brake rubber sheet fixing rod (105) to move upward, and at the same time drives the brake rubber sheet (109) to generate friction with the oil and gas pipeline wall to achieve the second-level deceleration of the blocking robot, so that the blocking robot slowly stops at the position where the blocking operation is required; S2: Anchoring and plugging work: S21: The rotating motor (306) controls the inner rod (307) of the rotating motor and the meshing rotating disk (311) to rotate, thereby driving the slip limiting rod (309) to rotate on the rotating moving hole (311-1) of the meshing rotating disk (311), driving the slip connecting rod (308) matched on the slip limiting rod (309) to move upward, so that the slip (304) is anchored on the inner wall of the oil and gas pipeline, and the entire plugging robot stops moving; S22: The screw motor (404) controls the screw (405) to rotate and drive the movable extrusion block (401) to move forward to squeeze the rubber (402) to expand and achieve complete sealing of the oil and gas pipeline; S3: Unanchoring work: S31: The screw motor (404) controls the screw (405) to rotate and drive the movable extrusion block (401) to move backward so that the rubber (402) returns to its original state and releases the seal on the oil and gas pipeline; S32: The rotating motor (306) controls the inner rod (307) of the rotating motor and the meshing rotating disk (311) to rotate, thereby driving the slip limiting rod (309) to rotate on the rotating moving hole (311-1) of the meshing rotating disk (311), driving the slip connecting rod (308) matched on the slip limiting rod (309) to move downward, so that the slip (304) is separated from the inner wall of the oil and gas pipeline, and the entire plugging robot starts to move; S33: The telescopic motor (115) works to control the telescopic motor rod (116) to retract and drive the support rod (119) to slide on the slide groove adjustment rod (113), thereby driving the lifting rod (120) to move upward, causing the eight drain plates (102) to move upward to block the oil and gas from flowing into the interior of the blocking robot and increase the pressure difference of the blocking robot.

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