A plugging device and method for pipeline leaks

Abstract

This invention relates to the field of pipeline leakage technology, specifically to a pipeline leakage sealing device and method. It includes a connecting frame with an inverted U-shaped connecting plate rotatably mounted at the lower middle part of the frame. The pipeline is located within the connecting plate, and both ends of the connecting plate are fixed with first electric push rods. Locking seats are fixed to the telescopic ends of the first electric push rods. A sealing cavity is formed between the locking seats and the outer edge of the pipeline. An airbag is fixed within each locking seat. A cable tie is fitted around the outer side of the pipeline portion within the sealing cavity, with one end of the cable tie passing through a perforation at the other end. Ear plates are fixed to both ends of the cable tie, and a double-ended electric push rod is positioned between the two ear plates. This invention employs a structure where the airbag is fixed inside the cable tie and filled with sealant. The sealant is squeezed out from the outlets at both ends of the airbag and enters the sealing cavity. Combined with the inflation and expansion of the airbags, which reduces the volume of the sealing cavity, the sealant can fully cover and wet the leak area, forming multiple sealing barriers.

Description

Technical Field

[0001] This invention relates to the field of pipeline leakage technology, specifically to a pipeline leakage sealing device and method. Background Technology

[0002] Pipelines play an irreplaceable role in the energy and chemical industries as vital carriers for transporting oil, natural gas, and chemical media. However, during long-term operation, pipelines inevitably experience leaks due to factors such as corrosion, external damage, weld defects, and material aging. Pipeline leaks not only cause loss of transported media and environmental pollution but can also trigger serious safety accidents such as fires and explosions. Therefore, timely and effective detection and sealing of pipeline leaks are crucial for ensuring the safe operation of pipelines.

[0003] Currently, pipeline leak repair methods mainly include welding repair after shutting down and venting, clamp-based adhesive sealing, and the use of mechanical plugs. Traditional welding repair requires interrupting media transport, has a long operation cycle, high economic costs, and poses a significant risk of hot work for pipelines transporting flammable and explosive media. While existing clamp-based adhesive sealing technology can achieve pressurized sealing to some extent, it usually relies on manual experience to locate the leak. The installation, alignment, and tightening of the clamps require a large amount of manpower, resulting in low automation and difficulty in meeting the needs of rapid response. In addition, existing sealing devices often struggle to accurately control the relative position of the sealing material and the leak point when sealing the pipeline exterior, especially when the leak point is located at the joint or end of the sealing capsule, which can easily lead to incomplete sealing or sealing failure. Furthermore, most existing devices lack the ability to move autonomously on the pipeline and simultaneously detect leaks, separating the detection and sealing operations, resulting in low overall operational efficiency and difficulty in adapting to the rapid response requirements of complex operating conditions.

[0004] Therefore, it is necessary to design a device that can move autonomously on the pipeline, automatically detect leaks, accurately locate them, and effectively seal them. Summary of the Invention

[0005] The main objective of this invention is to provide a sealing device and method that can automatically seal leaks in pipelines.

[0006] To achieve the above objectives, the technical solution provided by this invention is as follows:

[0007] A pipe leakage sealing device includes a connecting frame, with an inverted U-shaped connecting plate rotatably mounted at the lower middle part of the connecting frame. A pipe is located within the connecting plate. First electric push rods are fixed to both ends of the connecting plate, and locking seats are fixed to the telescopic ends of the first electric push rods. After the two locking seats are mated, they make sealing contact with the outer edge of the pipe, forming a sealing cavity between the locking seats and the outer edge of the pipe. An airbag is fixed inside each locking seat. A cable tie is fitted over the outer side of the pipe portion within the sealing cavity, with one end of the cable tie passing through a perforation at the other end. Both ends are fixed with ear plates, and a double-ended electric push rod is set between the two ear plates. The two ends of the double-ended electric push rod are respectively inserted into the holes of the two ear plates. A bladder is fixed inside the cable tie, and the bladder is filled with sealant. Multiple outlet holes are opened at both ends of the bladder. An arc-shaped hole is opened at the upper end of the locking seat. After the locking seats are connected, the two arc-shaped holes form an insertion hole. A second electric push rod is fixed in the middle of the upper end of the connecting plate. The second electric push rod is set vertically, and the telescopic rod of the second electric push rod passes through the insertion hole and is fixedly connected to the double-ended electric push rod.

[0008] Specifically, the locking seat has an arc-shaped groove, and sealing gaskets are fixed on the locking seats on both sides of the arc-shaped groove. After the two locking seats are connected, the locking seats are in sealed contact with the outer edge of the pipe through the sealing gaskets. The arc-shaped grooves of the two locking seats form an injection cavity. The upper end of the locking seat protrudes upward to form a protrusion, and an upper cavity is formed inside the protrusion. The two upper cavities form a rectangular cavity, which is connected to the injection cavity. The two ends of the cable tie are located in the rectangular cavity. The airbag is fixed in the arc-shaped groove and is connected to the air nozzle on the locking seat on one side.

[0009] Specifically, multiple drive wheels are evenly distributed at both ends of the connecting frame. A detector is detachably and fixedly connected to the connecting frame. The detector is ring-shaped and includes two semi-circular detection units. The detection units are detachably and fixedly connected to the connecting frame. After the two detection units are docked, they form a detector and are sleeved on the outside of the pipe. The detector, controller, first electric push rod, second electric push rod and double-ended electric push rod are electrically connected.

[0010] Specifically, each of the two telescopic ends of the double-ended electric actuator is concentrically fixed with a plug. The diameter of the plug is smaller than the diameter of the telescopic rod of the double-ended electric actuator, and the plug is inserted into the hole in the ear plate.

[0011] Specifically, a light rod is fixed on the locking seat, and the light rod is slidably connected to the connecting plate.

[0012] Specifically, a fixing block is fixed at the upper middle part of the connecting plate, and an arc-shaped mounting groove is opened on the fixing block. The mounting groove is concentric with the pipe. An arc-shaped plate is fixed on the connecting frame. The arc-shaped plate is concentric with the pipe and is slidably engaged in the mounting groove. A motor is fixed on the fixing block. The motor is electrically connected to the controller. A gear is concentrically fixed on the output shaft of the motor. An arc-shaped rack is fixed on the arc-shaped plate. The rack is concentric with the pipe and meshes with the gear.

[0013] Specifically, a handle is fixed to the upper end of the connecting frame.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0015] 1. The connecting frame moves automatically along the pipeline axis via the drive wheel, and works with the ring detector to detect pipeline leaks in real time, realizing automatic search and location of pipeline leaks without the need for manual inspection along the pipeline, which significantly improves the efficiency and automation of leak detection.

[0016] 2. After the detector detects a leak, the controller can control the drive wheel to continue rotating a set number of times, so that the locking seat moves precisely to the position corresponding to the leak. At the same time, the first electric push rod drives the two locking seats to dock and form a sealing cavity, realizing the rapid axial alignment of the sealing device with the leak and shortening the response time from detection to sealing.

[0017] 3. The structure adopts a method of fixing the bladder inside the cable tie and filling the bladder with sealant. When the cable tie is tightened by the double-ended electric push rod, the bladder is squeezed and deformed and fits tightly against the outer edge of the pipe. At the same time, the sealant is squeezed out from the outlet holes at both ends of the bladder and enters the sealing cavity. With the inflation and expansion of the airbag, the volume of the sealing cavity is reduced, so that the sealant can fully cover and wet the leak area, forming multiple sealing barriers, which effectively improves the reliability and durability of the sealing.

[0018] 4. By setting a rotary adjustment mechanism consisting of a motor, gears and an arc rack between the connecting plate and the connecting frame, when the detector detects that the leak point corresponds exactly to the end of the cable tie, it can drive the connecting plate and locking seat to rotate around the pipe axis, so that the leak point and the end of the cable tie are misaligned in the circumferential direction. This avoids the sealing failure caused by the leak point being located in the weak area of ​​the bladder splicing, and ensures that the bladder effectively covers the leak point and applies pressure evenly.

[0019] 5. After the sealing operation is completed, the plug is separated from the ear plate by deflating the airbag, resetting the first electric push rod, and retracting the double-ended electric push rod. Then, the second electric push rod drives the double-ended electric push rod to move upward and disengage, so that the device can quickly detach from the sealing part and continue to move along the pipeline. This realizes the automated closed-loop control of the sealing operation, reducing the labor intensity and operation risk of the operators. Attached Figure Description

[0020] Figure 1 This is a schematic diagram showing the installation of this device with piping.

[0021] Figure 2 This is a schematic diagram of the two locking seats after they are connected.

[0022] Figure 3 This is a schematic diagram showing the two locking seats in sealing contact with the outer edge of the pipe.

[0023] Figure 4 This is a schematic diagram of the internal structure after the two locking seats are connected.

[0024] Figure 5 for Figure 4 A magnified view of region A in the middle.

[0025] Figure 6 This is a diagram of a cable tie.

[0026] Figure 7 This is a front view of the internal structure after the two locking seats are mated.

[0027] Figure 8 This is a schematic diagram of the plug being inserted into the hole on the ear plate.

[0028] Figure 9 This is a top view of the two locking seats after they are joined together.

[0029] The components in the attached diagram are named as follows: 1. Pipe; 2. Connecting frame; 3. Handle; 4. Drive wheel; 5. Connecting plate; 6. First electric push rod; 7. Locking seat; 8. Airbag; 9. Sealing gasket; 10. Gear; 11. Mounting groove; 12. Rack; 13. Second electric push rod; 14. Roller strip; 15. Double-ended electric push rod; 16. Bag body; 17. Ear plate; 18. Arc plate; 19. Detector; 20. Air nozzle; 21. Smooth rod; 22. Fixing block; 23. Perforation; 24. Plug; 25. Socket; 26. Glue injection cavity; 27. Rectangular cavity; 28. Motor. Detailed Implementation

[0030] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0031] like Figures 1-9 As shown, a pipe leakage sealing device includes a connecting frame 2, and a handle 3 is fixed to the upper end of the connecting frame 2.

[0032] Multiple drive wheels 4 are evenly distributed at both ends of the connecting frame 2. When the connecting frame 2 is placed on the upper end of the pipe 1, the drive wheels 4 contact the outer edge of the pipe 1. When the drive wheels 4 are activated, the connecting frame 2 can move along the axial direction of the pipe 1 above the pipe 1.

[0033] A U-shaped connecting plate 5 is rotatably installed at the lower middle part of the connecting frame 2. The pipe 1 is located inside the connecting plate 5. Both ends of the connecting plate 5 are fixed with a first electric push rod 6, and a locking seat 7 is fixed on the telescopic end of the first electric push rod 6.

[0034] Furthermore, a guide rod 21 is fixed on the locking seat 7, and the guide rod 21 is slidably connected to the connecting plate 5.

[0035] After the two locking seats 7 are connected, the locking seats 7 make sealing contact with the outer edge of the pipe 1, and a sealing cavity is formed between the locking seats 7 and the outer edge of the pipe 1.

[0036] Furthermore, the locking seat 7 has an arc-shaped groove, and sealing gaskets 9 are fixed on the locking seats 7 on both sides of the arc-shaped groove. After the two locking seats 7 are connected, the locking seats 7 are in sealed contact with the outer edge of the pipe 1 through the sealing gaskets 9, and the arc-shaped grooves of the two locking seats 7 form a glue injection cavity 26.

[0037] The upper end of the locking seat 7 protrudes upward to form a protrusion, and an upper cavity is formed inside the protrusion. The two upper cavities form a rectangular cavity 27, which is connected to the glue injection cavity 26.

[0038] Each locking seat 7 has an airbag 8 fixed inside. The airbag 8 is fixed in the arc-shaped groove and is connected to the air nozzle 20 on one side of the locking seat 7.

[0039] A cable tie 14 is fitted on the outside of the pipe 1 part inside the sealing cavity. One end of the cable tie 14 passes through the perforation 23 on the other end. Both ends of the cable tie 14 are located in the rectangular cavity 27. Both ends of the cable tie 14 are fixed with ear plates 17. A double-ended electric push rod 15 is provided between the two ear plates 17. The two ends of the double-ended electric push rod 15 are respectively inserted into the holes of the two ear plates 17.

[0040] Specifically, each of the two telescopic ends of the double-ended electric actuator 15 is concentrically fixed with a plug 24. The diameter of the plug 24 is smaller than the diameter of the telescopic rod of the double-ended electric actuator 15, and the plug 24 is inserted into the hole of the ear plate 17. After the telescopic end of the double-ended electric actuator 15 retracts, the plug 24 can be withdrawn from the hole of the ear plate 17.

[0041] A bladder 16 is fixed inside the cable tie 14. The bladder 16 is filled with sealant, and multiple outlet holes are provided at both ends of the bladder 16.

[0042] The upper end of each locking seat 7 is provided with an arc-shaped hole, and after the locking seats 7 are connected, the two arc-shaped holes form an insertion hole 25.

[0043] A second electric push rod 13 is fixed at the middle of the upper end of the connecting plate 5. The second electric push rod 13 is set vertically, and the telescopic rod of the second electric push rod 13 passes through the insertion hole 25 and is fixedly connected to the double-ended electric push rod 15.

[0044] A detector 19 is detachably and fixedly connected to the connecting frame 2. The detector 19 is ring-shaped and includes two semi-circular detection units. The detection units are detachably and fixedly connected to the connecting frame 2. After the two detection units are docked, the detector 19 is formed and sleeved on the outside of the pipe 1.

[0045] The detector 19, controller, first electric push rod 6, second electric push rod 13 and double-ended electric push rod 15 are electrically connected.

[0046] A fixing block 22 is fixed to the upper middle part of the connecting plate 5. An arc-shaped mounting groove 11 is formed on the fixing block 22, concentric with the pipe 1. An arc-shaped plate 18 is fixed to the connecting frame 2, concentric with the pipe 1, and slidably engaged in the mounting groove 11. A motor 28 is fixed to the fixing block 22, electrically connected to the controller. A gear 10 is concentrically fixed to the output shaft of the motor 28. An arc-shaped rack 12 is fixed to the arc-shaped plate 18, concentric with the pipe 1, and meshes with the gear 10. After starting the motor 28, it drives the gear 10 to rotate. Under the meshing action of the gear 10 and rack 12, the connecting plate 5 can rotate around the axis of the pipe 1, thereby adjusting the position of the end of the cable tie 14 in the circumferential direction of the pipe 1.

[0047] During operation, the two detection units are assembled into detector 19, which is then fitted onto the outside of pipe 1. The detection unit is then fixedly connected to the connecting frame 2. The drive wheel 4 is activated, causing the connecting frame 2 to move along the axial direction of pipe 1 at the upper end of pipe 1, and detector 19 detects leaks on pipe 1.

[0048] When detector 19 detects a leak in pipe 1, the controller causes drive wheel 4 to continue rotating a set number of times and makes locking seat 7 correspond to the leak in pipe 1.

[0049] Simultaneously, the two first electric push rods 6 are activated, causing the two locking seats 7 to engage. At this time, the locking seats 7 are in sealed contact with the outer edge of the pipe 1 through the sealing gasket 9, and the leak point of the pipe 1 is located inside the sealing cavity.

[0050] The double-ended electric push rod 15 is activated, which tightens the cable tie 14 and makes the bladder 16 make sealing contact with the outer edge of the pipe 1. The bladder 16 can seal the leak on the pipe 1. During the tightening of the cable tie 14, the bladder 16 is squeezed, and the sealant inside the bladder 16 is squeezed out through the outlet and enters the sealing cavity.

[0051] The air bladder 8 is inflated by the air nozzle 20, thereby reducing the volume of the sealing cavity and ensuring that the sealant in the sealing cavity can cover the position corresponding to the leak point of the bladder 16 and the pipe 1.

[0052] After the sealant dries, it adheres and secures the cable tie 14 to the outside of the pipe 1. The air bladder 8 is then deflated via the air nozzle 20, causing it to retract. This then causes the two first electric push rods 6 to reset the locking seat 7.

[0053] Activate the double-ended electric actuator 15, causing the telescopic end of the double-ended electric actuator 15 to retract. After the telescopic end of the double-ended electric actuator 15 retracts, the plug 24 separates from the ear plate 17.

[0054] Start the second electric push rod 13, which will drive the double-ended electric push rod 15 upward, and then drive the drive wheel 4 to make the device continue to move on the pipe 1 or separate the device from the pipe 1.

[0055] When detecting a leak on pipe 1, when detector 19 detects that the leak on pipe 1 corresponds to the end of cable tie 14, the controller starts motor 28. Motor 28 drives gear 10 to rotate. Under the meshing action of gear 10 and rack 12, connecting plate 5 and two locking seats 7 inside connecting plate 5 can rotate outside pipe 1, thereby causing the leak on pipe 1 to be misaligned with the end of cable tie 14, ensuring that the bladder 16 can effectively seal the leak on pipe 1.

[0056] Specifically, each detection unit has an arc-shaped housing that fits the outer edge of pipe 1. When the detector 19 is fitted onto the outside of pipe 1, it maintains a uniform gap with the outer wall of pipe 1. The arc-shaped housing has mating flanges at both ends. Two detection units are connected by a hinge on one side and a quick-release latch on the other side to form a complete ring detector 19.

[0057] Multiple ultrasonic sensors are evenly distributed circumferentially on the inner side of the arc-shaped housing, forming a circumferential sensor array. Each ultrasonic sensor is coupled to the outer wall of pipe 1 through an acoustic coupling layer, which is a solid coupling pad filled between the ultrasonic sensor and the outer wall of pipe 1.

[0058] Each detection unit is equipped with an embedded signal acquisition module, which includes a preamplifier, filter, and analog-to-digital converter. The ultrasonic sensor is electrically connected to the signal acquisition module. The signal acquisition modules in two detection units communicate with each other through a docking interface and are electrically connected to the controller.

[0059] The detection unit has a connecting lug on its outer side, and a pin hole is provided on the connecting lug. The lower end of the connecting frame 2 is provided with a corresponding connecting seat. The connecting seat and the connecting lug are detachably fixedly connected by a pin or bolt, thereby fixing the detector 19 below the connecting frame 2 and moving synchronously with the connecting frame 2 along the axial direction of the pipe 1.

[0060] During operation, detector 19 moves axially along pipe 1 along with connecting frame 2. When a leak occurs in pipe 1, the leaking medium is ejected at high speed, generating ultrasonic signals. Multiple ultrasonic sensors in the circumferential sensor array calculate the circumferential angular position of the leak relative to detector 19 based on the time difference and amplitude difference of the received signals, as determined by the controller. Simultaneously, the axial position of the leak is determined based on the axial displacement encoded signal of detector 19 along with connecting frame 2.

[0061] The controller determines the location of the leak based on the circumferential angle of the leak point: if the circumferential angle of the leak point corresponds to the circumferential position of the sealing cavity of the locking seat 7, the controller controls the drive wheel 4 to continue rotating a set number of times, so that the locking seat 7 moves axially to the leak point.

[0062] If the circumferential angle of the leak point corresponds to the end of the cable tie 14, then the motor 28 is started, and the connecting plate 5 and the locking seat 7 are rotated around the axis of the pipe 1 by a set angle through the gear 10 and rack 12, so that the leak point of the pipe 1 is misaligned with the end of the cable tie 14, ensuring that the bag body 16 can effectively cover the leak point.

[0063] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A pipe leakage sealing device, comprising a connecting frame (2), characterized in that, A U-shaped connecting plate (5) is rotatably installed at the lower middle part of the connecting frame (2). The pipe (1) is located inside the connecting plate (5). Both ends of the connecting plate (5) are fixed with a first electric push rod (6). A locking seat (7) is fixed on the telescopic end of the first electric push rod (6). After the two locking seats (7) are connected, the locking seat (7) is in sealed contact with the outer edge of the pipe (1), and a sealing cavity is formed between the locking seat (7) and the outer edge of the pipe (1). An airbag (8) is fixed inside the locking seat (7). A cable tie (14) is sleeved on the outside of the pipe (1) part inside the sealing cavity. One end of the cable tie (14) passes through the perforation (23) on the other end. Ear plates (17) are fixed on both ends of the cable tie (14). A double-ended electric push rod (15) is provided between the two ear plates (17), and the two ends of the double-ended electric push rod (15) are respectively inserted into the holes of the two ear plates (17); a bag (16) is fixed inside the cable tie (14), the bag (16) is filled with sealant, and multiple outlet holes are opened at both ends of the bag (16); an arc-shaped hole is opened at the upper end of the locking seat (7), and the two arc-shaped holes form an insertion hole (25) after the locking seat (7) is connected; a second electric push rod (13) is fixed in the middle of the upper end of the connecting plate (5), the second electric push rod (13) is set vertically, and the telescopic rod of the second electric push rod (13) passes through the insertion hole (25) and is fixedly connected to the double-ended electric push rod (15).

2. The pipe leakage sealing device according to claim 1, characterized in that, The locking seat (7) has an arc-shaped groove. Sealing gaskets (9) are fixed on the locking seats (7) on both sides of the arc-shaped groove. After the two locking seats (7) are connected, the locking seats (7) are sealed to the outer edge of the pipe (1) through the sealing gaskets (9). The arc-shaped grooves of the two locking seats (7) form a glue injection cavity (26). The upper end of the locking seat (7) protrudes upward to form a protrusion. An upper cavity is formed inside the protrusion. The two upper cavities form a rectangular cavity (27). The rectangular cavity (27) is connected to the glue injection cavity (26). The two ends of the cable tie (14) are located in the rectangular cavity (27). The airbag (8) is fixed in the arc-shaped groove. The airbag (8) is connected to the air nozzle (20) on the locking seat (7) on one side.

3. The pipe leakage sealing device according to claim 1, characterized in that, Multiple drive wheels (4) are evenly distributed at both ends of the connecting frame (2). A detector (19) is detachably and fixedly connected to the connecting frame (2). The detector (19) is ring-shaped and includes two semi-circular detection units. The detection units are detachably and fixedly connected to the connecting frame (2). After the two detection units are docked, they form the detector (19) and are sleeved on the outside of the pipe (1). The detector (19), controller, first electric push rod (6), second electric push rod (13) and double-ended electric push rod (15) are electrically connected.

4. The pipe leakage sealing device according to claim 1, characterized in that, The two telescopic ends of the double-ended electric push rod (15) are each concentrically fixed with a plug (24). The diameter of the plug (24) is smaller than the diameter of the telescopic rod of the double-ended electric push rod (15). The plug (24) is inserted into the hole of the ear plate (17).

5. The pipe leakage sealing device according to claim 1, characterized in that, A light rod (21) is fixed on the locking seat (7), and the light rod (21) is slidably connected to the connecting plate (5).

6. The pipeline leakage sealing device according to claim 1, characterized in that, A fixing block (22) is fixed at the upper middle part of the connecting plate (5). An arc-shaped mounting groove (11) is provided on the fixing block (22). The mounting groove (11) is concentric with the pipe (1). An arc-shaped plate (18) is fixed on the connecting frame (2). The arc-shaped plate (18) is concentric with the pipe (1). The arc-shaped plate (18) is slidably engaged in the mounting groove (11). A motor (28) is fixed on the fixing block (22). The motor (28) is electrically connected to the controller. A gear (10) is concentrically fixed on the output shaft of the motor (28). An arc-shaped rack (12) is fixed on the arc-shaped plate (18). The rack (12) is concentric with the pipe (1). The rack (12) meshes with the gear (10).

7. The pipe leakage sealing device according to claim 1, characterized in that, A handle (3) is fixed to the upper end of the connecting frame (2).

8. A leak-sealing method based on the pipe leak-sealing device according to claim 1, characterized in that, Includes the following steps: S1, move the connecting bracket (2) and the connecting plate (5) so that the locking seat (7) corresponds to the leak point of the pipe (1); S2. Simultaneously activate the two first electric push rods (6) to make the two locking seats (7) dock together. At this time, the locking seat (7) is in sealed contact with the outer edge of the pipe (1), and the leak point of the pipe (1) is located in the sealing cavity. S3. Start the double-ended electric push rod (15) to tighten the cable tie (14) and make the bladder (16) seal against the outer edge of the pipe (1). The bladder (16) can seal the leak on the pipe (1). During the tightening of the cable tie (14), the bladder (16) is squeezed and the sealant inside the bladder (16) is squeezed out and enters the sealing cavity. S4. Inflate the airbag (8) and make the airbag (8) expand, and reduce the volume of the sealing cavity to ensure that the sealant can cover the position corresponding to the leak point of the bladder (16) and the pipe (1). S5. After the sealant dries, the sealant will bond and fix the cable tie (14) to the outside of the pipe (1), deflate the airbag (8) and restore the airbag (8), and then drive the two first electric push rods (6) to reset the locking seat (7). S6. Start the double-ended electric push rod (15) so that the telescopic end of the double-ended electric push rod (15) retracts and the telescopic end of the double-ended electric push rod (15) separates from the ear plate (17) after retraction. S7. Start the second electric push rod (13) so that the second electric push rod (13) drives the double-ended electric push rod (15) upward, and then the device is separated from the pipeline (1).

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