Delivery device

Abstract

The present invention discloses a delivery device connected to a pipeline to be inspected and used to assist a pipeline robot in being lowered into the pipeline. The delivery device comprises a delivery body having a delivery space; a flexible anti-scratch cover positioned within the delivery space and capable of extending along the delivery body into the pipeline to be inspected; and a walking space for the pipeline robot to pass through to reach the interior of the pipeline to be inspected. The technical solution of the present invention is intended to enable the robot to be deployed into a pressurized pipeline and prevent cable damage.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline detection auxiliary equipment, and in particular to a launching device for launching a pipeline robot into a pipeline to be inspected. Background Art

[0002] With urban development, underground pipelines have become increasingly complex, making inspection and routine maintenance more difficult. Because pipelines are buried underground, pre-inspection becomes more difficult, and ruptures are often discovered only after they occur, resulting in severe economic losses and even serious casualties. Therefore, regular pipeline inspection and maintenance are essential to prevent problems before they occur and nip them in the bud. With the rapid development of modern technology, inspection equipment for confined or specific spaces is becoming increasingly automated and intelligent. For example, pipeline robots used for pipeline detection are connected via cables and equipped with photography and video modules and defect detection equipment. They penetrate deep into pipelines, transmit internal images and inspection data in real time, inspect the working conditions of the pipeline interior and inner walls, and display them to an external PC.

[0003] In the related prior art, the robot and the cables are easily damaged due to touching the delivery device or pipeline equipment during the lowering process. Summary of the Invention

[0004] The main purpose of the present invention is to provide a launching device, which is intended to launch a robot into a pressurized pipeline and prevent cable damage.

[0005] To achieve the above-mentioned purpose, the present invention provides a delivery device, which is connected to the pipeline to be inspected and is used to assist the pipeline robot in being lowered into the pipeline to be inspected. The delivery device includes:

[0006] A delivery subject, wherein the delivery subject has a delivery space;

[0007] A flexible anti-scratch cover is placed in the delivery space, and the flexible anti-scratch cover can extend into the interior of the object to be inspected along the extension direction of the delivery body; the flexible anti-scratch cover has a walking space for the pipeline robot to pass through the walking space to the interior of the pipeline to be inspected.

[0008] Optionally, the delivery body includes a first end cover, a second end cover, and a main body section connected between the first end cover and the second end cover, and the main body section has the delivery space.

[0009] Optionally, the delivery body includes a main body section, and the main body section extends from the first end cover to the second end cover along an extension direction.

[0010] Optionally, there are at least two main body segments; at least two of the main body segments have different extension directions and at least two of the main body segments are connected, so that the delivery space is curved.

[0011] Optionally, the delivery device further includes a cable sealing assembly, and the first end cover is sealedly connected to the cable sealing assembly; the second end cover is sealedly connected to the pipeline to be inspected.

[0012] Optionally, the delivery device further includes an operating member and a waterproof component; the waterproof component is connected to the delivery body so that the operating member extends from the outer side of the delivery body into the delivery space in a sealed manner to connect with the flexible anti-scratch cover, thereby providing force for the flexible anti-scratch cover to move in the delivery space.

[0013] Optionally, the delivery device further includes an operating assembly, which includes the operating member, a first roller and a fixing member; the first roller is configured with a groove, and the operating member is embedded in the groove; the first roller is rotatably connected to the fixing member; the fixing member is connected to the waterproof assembly.

[0014] Optionally, the delivery body includes a first opening, and the waterproof assembly includes a waterproof body with a second opening, a first seal, and a second seal with a third opening; the waterproof body is connected to the first opening through the first seal; the waterproof body is connected to the second opening through the second seal; the operating member extends into the delivery space through the third opening and is connected to the anti-scratch cover.

[0015] Optionally, the cable sealing assembly includes a third end cover, a fourth end cover and a locking pipe clamp; the third end cover (hydraulic pipe connection seat) is sealingly connected to the first end cover, and the fourth end cover and the third end cover are clamped and fixed by the locking pipe clamp.

[0016] Optionally, a first annular block is integrally extended from one end of the third end cover, and a second annular block is integrally extended from one end of the fourth end cover facing the fourth end cover, and the second annular block abuts against the first annular block.

[0017] The present invention employs a flexible, squeegee-style extension system within the delivery space of the delivery body. This extension is then placed into the pipeline before the robot is lowered for pressure testing. During lowering, the robot moves within the flexible squeegee's travel space. When the robot turns and enters the pipeline under inspection, the cable and / or robot make flexible contact with the squeegee, rather than rigid contact with the pipeline, preventing damage to the robot and / or cables. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0019] Figure 1 is a cross-sectional schematic diagram of a preferred delivery device of the present invention;

[0020] Figure 2 This is a schematic diagram of a preferred delivery device of the present invention from one perspective;

[0021] Figure 3 This is a schematic diagram of a preferred delivery device of the present invention from another perspective;

[0022] Figure 4 is a schematic diagram of another preferred delivery device of the present invention;

[0023] Figure 5 for Figure 1 A partial enlarged schematic diagram of the structure at point A in the middle;

[0024] Figure 6 It is a top view of the waterproof component and the control component;

[0025] Figure 7 is a three-dimensional schematic diagram of a cable sealing assembly;

[0026] Figure 8 is a cross-sectional view of a cable sealing assembly;

[0027] Figure 9 is a top view of the cable sealing assembly;

[0028] Figure 10 Schematic diagram of the pipeline robot being lowered.

[0029] Description of Figure Numbers:

[0030]

[0031] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings and in conjunction with the embodiments. DETAILED DESCRIPTION

[0032] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0033] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0034] In the present invention, unless otherwise specified or limited, the terms "connection" and "fixation" should be understood in a broad sense. For example, "fixation" can mean fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. Those skilled in the art will be able to understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0035] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the meaning of "and / or" appearing throughout the text includes three parallel schemes. Taking "A and / or B" as an example, it includes scheme A, or scheme B, or a scheme in which A and B are satisfied at the same time. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0036] Pipeline operations under pressure require sealing the work area, requiring the pipeline robot 700 to be lowered into the pipeline under pressure. Conventional methods involve connecting a delivery device to a pipeline accessory (such as a tee) and lowering the pipeline robot 700 into the pipeline. However, the robot is typically lowered to the tee. Due to the specific shape of the tee, the robot must make a sharp turn to enter the pipeline. This can easily damage the robot and its cables, potentially impacting detection accuracy and service life.

[0037] In order to solve the above problems, the present invention provides a delivery device, which is connected to the pipeline to be inspected 800 and is used to assist the pipeline robot 700 in being lowered into the pipeline to be inspected 800. Figure 1 As shown, the delivery device includes:

[0038] A delivery body 100, wherein the delivery body 100 has a delivery space 100a;

[0039] A flexible anti-scratch cover 200 is placed in the delivery space 100a, and the flexible anti-scratch cover 200 can extend along the extension direction of the delivery body 100 to the inside of the pipeline to be inspected 800; the flexible anti-scratch cover 200 has a walking space 200a, which is used for the pipeline robot 700 to pass through the walking space 200a to the inside of the pipeline to be inspected 800.

[0040] In the technical solution of the present invention, a flexible anti-scratch cover 200 is provided within the delivery space 100a of the delivery body 100, extending along the delivery space. Before lowering the pipeline robot 700 for pipeline pressure testing, the delivery device is connected to the pipeline to be inspected 800, and the flexible anti-scratch cover 200 is extended into the pipeline to be inspected 800. When the pipeline robot 700 is lowered, it moves within the walking space 200a of the flexible anti-scratch cover 200. When the pipeline robot 700 turns and enters the pipeline to be inspected, the cable and / or the pipeline robot 700 flexibly contacts the flexible anti-scratch cover 200 rather than rigidly contacts the pipeline, preventing damage to the robot and / or the cable.

[0041] It should be noted that the delivery body 100 is a hollow structure, and its hollow area is the delivery space 100a. The delivery body 100 should have a certain pressure bearing capacity, and the specific pressure bearing capacity design can be determined according to the actual pressure value of the pipeline; the delivery body 100 should be in a sealed environment during testing.

[0042] Furthermore, the flexible anti-scratch cover 200 is elastic. The outer wall of the flexible anti-scratch cover 200 does not contact the inner wall of the delivery body 100, that is, there is a certain gap between the two in the radial direction, which is conducive to the movement of the flexible anti-scratch cover 200 in the delivery space. The flexible anti-scratch cover 200 is also a hollow structure, and its hollow area is a walking space for lowering the pipeline robot 700; refer to Figure 1 As shown, the flexible anti-scratch cover 200 is relatively long in the direction of the delivery body to prevent the robot and cable from colliding with the inner wall of the delivery body. For example, the axial length of the flexible anti-scratch cover is 3 / 5 to 4 / 5 of the axial length of the delivery body 100. The flexible anti-scratch cover 200 can be made of a rubber material such as TPE rubber or TPU rubber.

[0043] As a further embodiment of the above embodiment, the delivery body 100 includes a first end cap 100b, a second end cap 100c, and a main body section 100d connected between the first and second end caps 100b, 100c. The main body section 100d defines the delivery space. Preferably, both the first and second end caps 100b, 100c can be configured as flanges. The main body section 100d is the working section of the delivery body 100 and is hollow, i.e., it defines the delivery space 100a. Specifically, the first and second end caps 100b, 100c can be welded to each end of the main body section.

[0044] Reference Figure 2 As shown in Figure 3, as a further embodiment of the above embodiment, the delivery body includes a main body section 100d extending along a single direction from the first end cap 100b to the second end cap 100c. That is, the first end cap 100b, the second end cap 100c, and the main body section 100d are concentric, and the axis of the main body section 100d is a straight line. This preferred delivery device is primarily used in simple working conditions.

[0045] In addition, under special working conditions, the main body section can have at least two to adapt to complex detection working conditions. Under complex detection working conditions, such as when there is a shielding member, it is difficult for a straight-line delivery device to be connected to the pipeline to be inspected. In order to avoid the shielding member, the present invention can make the delivery device curved, that is, referring to Figure 4As shown, there are at least two main body segments 100d; at least two of the main body segments 100d have different extension directions and at least two of the main body segments 100d are connected, so that the delivery space 100a is curved. In the prior art, if the delivery device is made to be curved, the pipeline robot and / or its cables will directly collide with the delivery device in the curved delivery space 100a, causing damage to it. However, in the technical solution of the present invention, a flexible anti-scratch cover 200 is provided in the delivery space 100a, and the pipeline robot and / or its cables will not directly contact the inner wall of the delivery device, so the delivery device is made to be curved, which is convenient for pipeline pressure detection under complex working conditions. Specifically, referring to Figure 4 As shown, the axes of the two main segments 100d are perpendicular to each other and are connected by an elbow joint. This allows the main segments to be connected by the transition segment, ensuring smooth cornering during lowering. However, the number of main segments 100d can exceed two, for example, three or four, or can be customized with different shapes to accommodate different inspection conditions.

[0046] As a further solution of the above embodiment, the delivery device also includes a cable sealing assembly 500, the first end cover 100b is sealedly connected to the cable sealing assembly 500; the second end cover 100c is sealedly connected to the pipeline to be inspected 800. Specifically, during operation, the valve at the pipeline tee is in a closed state, and the second end cover 100c is sealedly connected to the tee joint of the pipeline to be inspected 800; then the pipeline robot is lowered into the walking space 200a, the cable is extended out of the cable sealing assembly 500, and the first end cover 100b is sealedly connected to the cable sealing assembly 500. At this time, the delivery device is in a closed state, which can ensure the normal transportation pressure of the pipeline. Reference Figure 10 As shown, open the valve, lower the flexible anti-scratch cover 200 into the pipeline to be inspected 800, and then lower the pipeline robot into the pipeline to be inspected 800 by operating the cable 600. During operation, the internal situation can be observed through the pipeline robot's visual system (camera) and the position of the flexible anti-scratch cover can be adjusted in real time.

[0047] As a further embodiment of the above, the delivery device further includes an operating member 300a and a waterproof component 400; the waterproof component 400 is connected to the delivery body 100, so that the operating member 300a extends from the outer side of the delivery body 100 into the delivery space 100a in a sealed manner, thereby connecting with the flexible anti-scratch cover 200 and providing force for the flexible anti-scratch cover 200 to move within the delivery space 100a. Specifically, the operating member 300a can preferably be a pull cord, which can be flexible or rigid; refer to Figure 1By operating the operating member on the outside of the delivery device and applying a force away from the pipeline to the operating member, the flexible anti-scratch sleeve can be lowered into the pipeline; conversely, by applying a force away from the pipeline to the operating member, the flexible anti-scratch sleeve can be moved away from the pipeline. Figure 6 As shown, the flexible anti-scratch cover 200 defines a mating hole 200b. This mating hole is a through-hole through which the control member 300a is inserted axially from one end of the anti-scratch cover to the other. The inner wall of the mating hole should be roughened to create friction with the control member and prevent slipping within the mating hole. A dynamic seal is formed between the waterproof assembly 400 and the control member 300a.

[0048] As a further solution of the above embodiment, the dispensing device further includes an operating assembly 300, and the operating assembly 300 includes the operating member 300a, a first roller 300b, and a fixing member 300c. Specifically, the first roller 300b is configured with a groove, and the operating member is embedded in the groove. There are two first rollers 300b to ensure the centering of the operating member 300a and prevent excessive bending of the operating member 300a, as shown in Figure 5; the first roller 300b is rotatably connected to the fixing member 300c, that is, the fixing member 300c is configured with an axial hole, in which a bearing can be provided, and the bearing cooperates with the roller shaft of the first roller 300b, so that the first roller 300b can roll when the operating member has a pulling force; the fixing member 300c is connected to the waterproof assembly 400, for example, the two can be connected by studs, threads or welding.

[0049] As a further solution of the above embodiment, refer to Figure 5 As shown, the delivery body 100 includes a first opening (not numbered), the waterproof assembly 400 includes a waterproof body 400a having a second opening (not numbered), a first sealing member 400b, and a second sealing member 400c having a third opening; the waterproof body 400a is embedded in the first opening and connected to the waterproof body 400a based on the elastic deformation of the first sealing member; the second sealing member 400c is embedded in the second opening to be sealed and connected to the waterproof body 400a; the operating member 300a extends through the third opening into the delivery space 100a and is connected to the flexible anti-scratch cover 200. Specifically, referring to Figure 6 As shown, the waterproof body 400a has a first sealing groove arranged on its wall surface along its axial interval. The first sealing groove is used to install the first sealing member 400b. The first sealing member 400b can be an O-ring. When installed, the waterproof body 400a and the delivery body 100 are sealed and connected by the elastic deformation of the first sealing member 400b. Figure 5As shown, the second sealing member 400c comprises a sealing body and an elastic ring. The sealing body has second sealing grooves arranged axially and spaced apart on its wall surface for receiving the elastic ring. The elastic deformation of the elastic ring provides a seal and secure connection with the waterproof body 400a. The sealing body is hollow, with the hollow area being adapted to accommodate the operating member.

[0050] Furthermore, a blind hole is formed on the side of the fixing member 300c facing the waterproof assembly. The sealing body extends into this blind hole and is connected to the fixing member 300c based on the elastic deformation of the elastic ring. Preferably, the sealing body has a certain elasticity, but its elastic coefficient is smaller than that of the elastic ring, so that the operating member can extend within it.

[0051] Further, refer to Figure 5 As shown, the waterproof assembly further includes a second roller 400d, which is rotatably mounted on the waterproof body and located inside the delivery mechanism. In the present invention, two second rollers 400d are provided to ensure the centering of the control member 300a, maintaining a straight line when extending within the waterproof assembly, thereby reducing wear.

[0052] Further, refer to Figure 1 As shown, the delivery device of the present invention is equipped with at least two waterproof assemblies 400 and two control assemblies 300. The two waterproof assemblies and the two control assemblies are connected one to the other and located at opposite ends of the delivery device (one group near the first end cap, and one group near the second end cap). The two control assemblies 300 are equipped with the same control member 300a. In this manner, the flexible anti-scratch cover 200 can be lowered to a desired position by manipulation of the control member, without being affected by the pressure of the internal fluid.

[0053] Furthermore, in the present invention, the operating member 300a may be more than one or may be only one. Figure 1 As shown, there may be two operating members 300a, and the downward force of lowering the flexible anti-scratching sleeve is directed toward the pipeline.

[0054] As a further embodiment of the above embodiment, the cable sealing assembly 500 includes a third end cap 500a, a fourth end cap 500b, and a locking tube clamp 500c. The third end cap 500a is sealedly connected to the first end cap 100b, and the fourth end cap 500b is clamped and secured to the third end cap 500a via the locking tube clamp 500c. In a specific implementation, the third end cap 500a is sleeved onto one end of the delivery body 100 and is threadedly and sealedly connected to the first end cap 100b. Alternatively, the third end cap 500a and the first end cap 100b may each be configured with a matching flange structure. The fourth end cap 500b is snapped onto the third end cap 500a and clamped and secured via the locking tube clamp 500c, thereby tightly connecting the fourth end cap 500b to the third end cap.

[0055] Furthermore, a first annular block (not shown) is integrally extended from one end of the third end cover 500a, and a second annular block (not shown) is integrally extended from one end of the fourth end cover 500b facing the third end cover 500a, and the second annular block abuts against the first annular block; wherein, a locking groove (not shown) is provided on the inner side of the locking tube clamp 500c, and the second annular block and the first annular block are located in the locking groove and match the locking groove, so that the locking tube clamp can play a locking role.

[0056] As a further solution of the above embodiment, the pipeline robot 700 includes a cable 600 , and the fourth end cover 500 b has a cable waterproof sleeve 500 d for sealing and connecting the cable 600 .

[0057] During the operation of a preferred deployment device, after the second end cap 100c is securely and sealed to the tee of the pressurized inspection pipeline, the locking pipe clamp 500c is loosened to remove the fourth end cap 500b. After the pipeline robot 700 is deployed into the walking space within the flexible anti-scratch sleeve 200, the cable 600 is passed through the cable waterproof sleeve 500d, and the fourth end cap 500b is secured to the third end cap 500a. The gate valve is opened, and the anti-scratch sleeve is lowered into the pipeline to be inspected via the operating member 300a. The pipeline robot 700 is then gradually lowered into the pipeline to be inspected by manipulating the cable 600. This structure and deployment process not only maintains the sealing of the pressurized pipeline, but also prevents the robot from colliding with the pipeline and its accessories during lowering. This is especially true when the robot makes turns while passing through the tee. The flexible anti-scratch sleeve effectively protects the robot and cable, extending their service life and improving the stability and accuracy of data transmission.

[0058] The above descriptions are merely optional embodiments of the present invention and do not limit the patent scope of the present invention. All equivalent structural transformations made using the contents of the present description and drawings under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included in the patent protection scope of the present invention.

Claims

1. A delivery device, which is connected to the pipeline to be inspected and is used to assist the pipeline robot in being lowered into the pipeline to be inspected, characterized in that: The delivery device comprises: A delivery subject, wherein the delivery subject has a delivery space; A flexible anti-scratch cover is placed in the delivery space and can extend along the extension direction of the delivery body to the interior of the pipeline to be inspected; the flexible anti-scratch cover has a walking space for the pipeline robot to move through the walking space to the interior of the pipeline to be inspected; The outer wall of the flexible anti-scratch sleeve does not contact the inner wall of the delivery body, and there is a certain gap between the outer wall and the inner wall of the delivery body in the radial direction, so that the flexible anti-scratch sleeve can move in the delivery space; The delivery body includes a first end cover, a second end cover, and a main body section connected between the first end cover and the second end cover, and the main body section has the delivery space; The delivery device further includes two operating assemblies, which are located at opposite ends of the delivery device, one group of which is close to the first end cap, and the other group of which is close to the second end cap. The two operating assemblies are equipped with the same operating member, which is a pull rope. The operating member extends from the outer side of the delivery body into the delivery space to connect with the flexible anti-scratch cover, and is used to provide force for the flexible anti-scratch cover to move in the delivery space. The manipulation assembly includes a first roller and a fixing member; The first roller is configured with a groove, and the operating member is embedded in the groove; The first roller is rotatably connected to the fixing member.

2. The delivery device according to claim 1, wherein: The delivery body includes a body section, and the body section extends from the first end cover to the second end cover along an extension direction.

3. The delivery device according to claim 1, wherein: The delivery body includes at least two body segments; at least two body segments have different extension directions and at least two body segments are connected, so that the delivery space is curved.

4. The delivery device according to claim 1, wherein: The delivery device further comprises a cable sealing assembly, and the first end cover is sealingly connected to the cable sealing assembly; The second end cover is sealed and connected to the pipeline to be inspected.

5. The delivery device according to any one of claims 1 to 4, characterized in that: The delivery device also includes two waterproof components; the two waterproof components and the two operating components are connected one by one, the two waterproof components are connected to the delivery body, and the two waterproof components are respectively located at opposite ends of the delivery device, wherein one group is close to the first end cover and the other group is close to the second end cover.

6. The delivery device according to claim 5, wherein: The fixing piece is connected to the waterproof component.

7. The delivery device according to claim 5, wherein: The delivery body includes a first opening, and the waterproof assembly includes a waterproof body with a second opening, a first sealing member, and a second sealing member with a third opening; The waterproof body is embedded in the first opening and connected to the waterproof body based on the elastic deformation of the first sealing member; The second sealing member is embedded in the second opening to be sealed and connected to the waterproof body; The operating member extends into the delivery space through the third opening and is connected to the flexible anti-scratch sleeve.

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