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CN-117053021-B - Underground air bag plugging robot

CN117053021BCN 117053021 BCN117053021 BCN 117053021BCN-117053021-B

Abstract

The invention discloses an underground airbag plugging robot which comprises a traveling device and a multi-chamber airbag arranged at the back of the traveling device, wherein the traveling device comprises a traveling trunk and an airbag connecting device arranged on the traveling trunk, the airbag connecting device comprises a connecting shell and a pin removing assembly, concave parts are arranged on two sides of the middle of the connecting shell, a convex part is formed between the two concave parts, a front shell and a rear shell are connected with the convex parts, a plurality of pin removing assemblies are arranged in the two concave parts, telescopic rods are arranged at the opposite ends of the pin removing assemblies and the front shell and the rear shell, a hanging ring on the multi-chamber airbag is sleeved on the telescopic rods before pipeline plugging operation, and the multi-chamber airbag is separated from the traveling device during pipeline plugging operation. The underground air bag plugging robot disclosed by the invention enables the air bag plugging not to be limited by the well depth.

Inventors

  • ZHONG HUI
  • ZHAO XIULIN
  • SUN QIANG
  • YU ZHENZHONG
  • YANG ZEHAN
  • WANG WEI
  • YANG JING

Assignees

  • 合肥哈工智灵智能科技有限公司

Dates

Publication Date
20260512
Application Date
20230828

Claims (9)

  1. 1. The underground airbag plugging robot is characterized by comprising a traveling device (100), a multi-chamber airbag (3400) positioned at the back of the traveling device (100) and a dredging device (200) positioned at the front end of the traveling device (100), wherein the traveling device (100) carries the multi-chamber airbag (3400) and the dredging device (200) into a drain pipe; The walking device (100) comprises a walking trunk (110) and an air bag connecting device (120) positioned on the walking trunk (110), wherein the air bag connecting device (120) comprises a connecting shell (121) and a pin removing assembly (126), concave parts (122) are arranged on two sides of the middle part of the connecting shell (121), a convex part (123) is formed between the two concave parts (122), a front shell (124) and a rear shell (125) which are connected with the convex parts (123), a plurality of pin removing assemblies (126) are positioned in the two concave parts (122), and telescopic rods (1261) are arranged at the opposite ends of the front shell (124) and the rear shell (125); The air bag connecting device (120) further comprises a roller assembly (127), the roller assembly (127) is positioned between the pin removal assembly (126) and the convex part (123), and when the multi-chamber air bag (3400) is separated from the running gear (100), the roller assembly (127) and the multi-chamber air bag (3400) are in rolling friction; Before the pipeline plugging operation, the hanging ring (301) on the multi-chamber air bag (3400) is sleeved on the telescopic rod (1261), and the multi-chamber air bag (3400) is separated from the running gear (100) during the pipeline plugging operation; The bottom of the walking trunk (110) is provided with an accommodating space, a mud pump (240) of the dredging device (200) is positioned in the accommodating space and fixedly connected with the walking trunk (110), a front shell (124) is provided with a sewage inlet (1241), a rear shell (125) is provided with a sewage outlet (1251), the sewage inlet (1241) is communicated with the inside of the convex part (123) and the sewage outlet (1251) to form a mud discharging channel, a mud discharging opening (241) of the mud pump (240) is connected with a drain pipe (242), and the drain pipe (242) penetrates through the mud discharging channel to discharge sludge out of the drain pipe.
  2. 2. The downhole airbag plugging robot of claim 1, wherein the multi-chamber airbag (3400) comprises two independent airbag chambers (300) connected in sequence, and a transition chamber (400) is arranged between the two independent airbag chambers (300), wherein each independent airbag chamber (300) comprises a cylinder (310), a front plug (320) and a rear plug (330), the front plug (320) and the rear plug (330) are respectively connected with two ends of the cylinder (310), the multi-chamber airbag (3400) further comprises a sealing receiving disc (340) and an air nozzle (360), the sealing receiving disc (340) is detachably connected with the front plug (320), the sealing receiving disc (340) is provided with a through air nozzle (350), the through air nozzle (350) is connected with the air nozzle (360) through the connecting pipe (370), and the independent airbag chambers (300) and the transition chamber (400) are connected with the airbag charging and discharging device (500) through the air nozzle (350) and the air nozzle (360).
  3. 3. The downhole airbag plugging robot according to claim 2, wherein the sealing joint disc (340) comprises an inner joint disc (341) and an outer joint disc (342), the inner joint disc (341) and the outer joint disc (342) are detachably connected and clamped and buckled with the pre-plugging (320), the clamping and buckling surfaces of the inner joint disc (341) and the outer joint disc (342) are provided with matched circumferential concave-convex ring grooves (3412), and the through air nozzle (350) is fixedly connected with the inner joint disc (341).
  4. 4. The downhole balloon plugging robot according to claim 3, wherein an axial middle crease (311) and a radial crease (312) and an axial outer crease (313) are arranged on the multi-chamber balloon (3400), wherein the axial middle crease (311) is positioned between the central axis of the multi-chamber balloon (3400) and the outer edge of the multi-chamber balloon (3400), the axial outer crease (313) is positioned at the outer edge of the multi-chamber balloon (3400), the radial crease (312) is positioned on the independent balloon cabin (300) at the tail part, and the axial middle crease (311) and the axial outer crease (313) are folded towards the central axis of the multi-chamber balloon (3400) according to the crease directions of the axial middle crease (311) and the axial outer crease (313).
  5. 5. The downhole airbag plugging robot of claim 4, wherein plugging radial folds (3230) are arranged on the front plug (320) and the rear plug (330), the plugging radial folds (3230) are respectively positioned at the middle positions of the front plug (320) and the rear plug (330), the length of the plugging radial folds (3230) is smaller than the diameter of the cylinder (310), and the folding direction of the plugging radial folds (3230) is the inward concave direction of the front plug (320) and the rear plug (330) of each independent airbag cabin (300) to the cylinder (310).
  6. 6. The downhole balloon plugging robot according to claim 5, wherein the deformation according to the direction set by the crease is performed when the multi-chamber balloon (3400) is deflated, comprising the individual balloon chambers (300) being deflated, being folded according to the axial middle crease (311) toward the central axis of the multi-chamber balloon (3400), while the front plug (320) and the rear plug (330) of each individual balloon chamber (300) are inwardly recessed toward the cylinder (310) according to the folding direction of the plugging radial crease (3230), and the connection tube (370) located in the transition chamber (400) is stretched, and the connection tube (370) located in the individual balloon chamber (300) directly connected to the balloon inflation/deflation device (500) is shrunk.
  7. 7. The downhole airbag plugging robot of claim 6, wherein the independent airbag chambers (300) and the transition chamber (400) are in a non-equidistant three-chamber arrangement, the independent airbag chambers (300) at both ends are large chambers, and the transition chamber (400) is a small chamber.
  8. 8. The downhole balloon occlusion robot of claim 7, wherein the sequential inflation of the multi-chamber balloon (3400) is in the sequential connection of the independent balloon chamber (300) and the transition chamber (400).
  9. 9. The downhole balloon occlusion robot of claim 8, wherein the sequence of venting the multi-chamber balloon (3400) is to first vent the individual balloon chambers (300) and then to vent the transition chambers (400).

Description

Underground air bag plugging robot Technical Field The invention relates to the technical field of pipeline plugging, in particular to an underground air bag plugging robot. Background At present, the operation of dredging, detection, repair, water closing test and the like of the drainage pipeline all need an air bag to block the pipeline opening. The plugging air bag is a hollow product processed by rubber or pvc sandwich mesh cloth material through a bonding process, and is plugged by filling compressed air and tensioning on the wall of a drainage pipeline, so that the plugging air bag is the most commonly used pipeline plugging tool. The common air bags are of a single cabin structure, a large amount of sediment, household garbage, construction garbage and other objects exist in the complex drainage pipeline environment, and the air bags are easily leaked or even burst due to external force factors such as materials and processing, so that the blocking failure is caused, and the safety of constructors and equipment is seriously influenced. The irregular shape and the size of the air bag after the air bag is exhausted are inconvenient for the frogman to carry, and the air bag is not suitable for carrying and constructing a robot. At present, a vertical shaft with the depth of less than four meters is plugged into a transverse wellhead by a worker by using a probe rod standing on a ground wellhead, and basically, a frogman descends to perform air bag plugging operation in the vertical shaft with the depth of more than four meters. After a frogman descends the well, firstly, building rubbish and sediment in the plugging area are cleaned by two hands, then, an uphole person puts the air bag into the well, the frogman pushes the air bag into the plugging area of the drain pipeline mouth, the frogman returns to the well, and the air compressor inflates the air bag to realize plugging. Because the drainage pipeline is filled with sewage and contains a large amount of combustible, explosive and toxic gases, personal casualties often occur. In the prior art, the patent publication No. CN115978341A is an invention patent, which is a vehicle-mounted air bag plugging device, a vehicle body is combined with the air bag plugging device, the vehicle body is only required to be parked at a wellhead through a ledge telescopic assembly, the air bag plugging device is placed in a vertical shaft through the ledge telescopic assembly, and the air bag plugging device places an air bag in a transverse shaft to plug a pipeline. But the vehicle-mounted air bag plugging device is only applicable to occasions with convenient traffic and wide space, and can not pass through a roadway for some wellheads positioned in narrow roadways, and even the vehicle-mounted air bag plugging device is also limited in the length of the telescopic component of the ledge, and is also limited in the depth of a well. Disclosure of Invention The invention aims to solve the technical problems of providing an air bag plugging device which does not limit the well depth and is convenient to carry and improving the reliability of air bag plugging safety operation. In order to solve the technical problems, the invention provides the following technical scheme: a downhole air bag plugging robot, a traveling device 100 and a multi-chamber air bag 3400 positioned at the back of the traveling device 100; The walking device 100 comprises a walking trunk 110 and an air bag connecting device 120 positioned on the walking trunk 110, wherein the air bag connecting device 120 comprises a connecting shell 121 and a pin removing assembly 126, concave parts 122 are arranged on two sides of the middle part of the connecting shell 121, a convex part 123 is formed between the two concave parts 122, a front shell 124 and a rear shell 125 which are connected with the convex parts 123, a plurality of pin removing assemblies 126 are positioned in the two concave parts 122, and telescopic rods 1261 are arranged on the opposite ends of the front shell 124 and the rear shell 125; before the pipe plugging operation, the hanging ring 301 on the multi-chamber air bag 3400 is sleeved on the telescopic rod 1261, and during the pipe plugging operation, the multi-chamber air bag 3400 is separated from the running gear 100. The walking device has the advantages that the walking device carries the multi-chamber air bag to go into the well, so that the air bag plugging operation is not limited by the well depth, the robot is small in size and light in weight, and is suitable for a well head in a place with a small space or a place with inconvenient traffic, and if a roadway and a tree stand are arranged. The robot does not need to be equipped with a special automobile, and can be constructed and carried by common transportation means such as tricycles or two persons. And the design of multiple cabins solves the problem that a single cabin leaks due to reasons, and the residual air bags ca