A device and method for retrieving a pipeline robot in a closed-circuit television system from being trapped

Abstract

The present invention discloses a CCTV pipeline robot escape and recovery device and recovery method. The device includes a platform assembly and an airbag jacking system. The airbag jacking system includes an air pump, an air pipe, an air connection port, and an inflatable airbag. The platform assembly includes an airbag carrying platform, a lever fixing block, an upper clamping plate, a lower baffle, a gear, and a torsion spring. Two lever fixing blocks are welded to each side of the airbag carrying platform. An upper clamping plate and a lower clamping plate are connected to the two lever fixing blocks on the same side. A gear is connected to each end of each steel rod, and the gears on the upper clamping plate and the lower clamping plate are meshed in pairs. The torsion spring is sleeved on the upper clamping plate. The present invention uses airbag inflation to lift the robot out of a collapsed pit, avoiding the safety risks of open excavation and confined space operations, saving construction time and costs, and improving the efficiency of CCTV pipeline inspection.

Description

Technical Field

[0001] The present invention belongs to the technical field of drainage pipe network operation and maintenance, and particularly relates to a CCTV pipeline robot escape and recovery device and a recovery method. Background Technique

[0002] At present, the drainage pipe network system faces two major challenges. One is that the scale of drainage pipes has grown disorderly with the rapid expansion of urbanization, resulting in a large number of built pipelines being intricate and difficult to operate and maintain. The other is that the pipelines have been laid for a long time, and under the influence of factors such as surrounding geological changes and illegal operation and use, defects such as deformation, disconnection, and rupture gradually occur, seriously affecting the normal operation of the pipelines. In order to master the state of the pipe network system and ensure the smooth drainage of the city, it is necessary to regularly detect the drainage pipes, and the pipeline closed-circuit television detection system (CCTV) is the most widely used detection technology at present. However, in the actual operation process, the robot often falls into the pits formed by pipeline collapses and cannot escape by its own power or the external towing rope. To recover the robot, it is necessary to excavate above the falling point to the bottom elevation of the pit to take it out, which greatly increases the time cost and engineering cost, and there are great safety risks during the operation process.

[0003] In order to improve the above operation efficiency, save construction costs, and reduce safety risks during the process, it is necessary to invent a device and method that can assist the CCTV pipeline robot to escape from the collapse and complete the recovery. Summary of the Invention

[0004] The purpose of the present invention is to propose a CCTV pipeline robot escape and recovery device for the deficiencies of the prior art. Through this method, when the CCTV pipeline robot falls into the pipeline collapse point, the rapid recovery of the CCTV pipeline robot can be realized, avoiding the safety risks of open excavation and confined space operation, saving construction time and costs, and improving the CCTV pipeline detection efficiency.

[0005] The technical purpose of the present invention is achieved through the following technical solutions: a CCTV pipeline robot escape and recovery device, comprising a platform component for installing the CCTV pipeline robot and an airbag jacking system connected to the lower part of the platform component, the airbag jacking system comprising an air pump, an air pipe, an air connection port and an airbag, the air pump is connected to the airbag via the air pipe and the air connection port; the platform component comprises an airbag carrying platform, a baffle fixing block, an upper splint, a lower baffle, a gear and a torsion spring, two sides of the airbag carrying platform are welded on each side A baffle fixing block, an upper splint and a lower baffle are connected to the two baffle fixing blocks on the same side, the upper splint and the lower baffle both include a steel rod rotatably connected to the baffle fixing block and a bent baffle connected to the steel rod, each of the two ends of the steel rod is connected to a gear, and the gears on the upper splint and the lower baffle are engaged in pairs, the torsion spring is sleeved on the steel rod on the upper splint, and is located between the bent baffle and the baffle fixing block, the torsion spring is used to generate torque after rotation to clamp the CCTV pipeline robot.

[0006] Preferably, the airbag carrying platform is a thin-shell cubic structure with a hollow bottom, and is made of stainless steel. An inflation tube insertion hole is provided on the side of the airbag carrying platform.

[0007] Preferably, the width of the bent baffle of the upper splint is 3-5 cm, and the width of the bent baffle of the lower baffle is 8-10 cm.

[0008] Another object of the present invention is to provide a method for recovering a CCTV pipeline robot, using the aforementioned CCTV pipeline robot recovering device, which specifically includes the following steps:

[0009] S1: Install the CCTV pipeline robot. In the initial installation state, the upper clamping plate is clamped to the side of the CCTV pipeline robot by the torsion spring 10, so that the airbag carrying platform is tightly fitted with the lower part of the CCTV pipeline robot. The lower baffle is constrained by the gear to fix the inflatable airbag, so that the inflatable airbag is in a folded state inside the airbag carrying platform. The inflatable airbag is connected to the inflation pump through the inflation connection port and the inflation tube, so that the CCTV pipeline robot escape recovery device and the CCTV pipeline robot move synchronously in the pipeline;

[0010] S2: When the CCTV pipeline robot falls into a collapsed point in the pipeline and cannot leave the pit by its own power or external dragging, the air pump is turned on to inflate the airbag, lifting the airbag carrying platform and the CCTV pipeline robot. At the same time, the lower baffle is pushed open, and the upper clamping plate is driven to open through gear engagement, completing the separation of the CCTV pipeline robot from the airbag carrying platform. The CCTV pipeline robot's posture in the pipeline is then observed through the CCTV pipeline robot's camera. When it reaches the bottom elevation of the pipe, the traction rope is dragged or the robot is operated to complete the recovery of the CCTV pipeline robot.

[0011] S3 When the CCTV pipeline robot completes the recovery, turn off the air pump, deflate the inflatable airbag, pull the inflatable tube to recover the CCTV pipeline robot's escape and recovery device, fold the inflatable airbag back into place and use it again.

[0012] Compared with the prior art, the present invention has the following beneficial effects:

[0013] 1. The present invention provides a CCTV pipeline robot escape and recovery device and recovery method, which uses airbag inflation to lift the robot out of the collapsed pit, avoiding the safety risks of open excavation and confined space operations, saving construction time and costs, and improving CCTV pipeline inspection efficiency.

[0014] 2. The present invention provides a CCTV pipeline robot escape and recovery device and recovery method. The device is flat and lightweight, installed close to the lower part of the robot, and can move simultaneously with the robot without affecting the normal operation of the robot in the pipeline.

[0015] 3. The present invention provides a CCTV pipeline robot escape and recovery device and recovery method. The device is easy to operate. When activated, the operator only needs to turn on the air pump to automatically complete the steps of supporting and disengaging. It has a simple structure, is easy to install, and has high working reliability.

[0016] 4. The present invention provides a CCTV pipeline robot escape and recovery device and recovery method. The device can be recovered and reused multiple times, has a low cost of use, and will not cause secondary defects due to pipeline blockage due to inability to recover. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the connection status of an embodiment of the present invention.

[0018] Figure 2 It is a schematic diagram of the three-dimensional structure of a CCTV pipeline robot escape and recovery device in one embodiment of the present invention.

[0019] Figure 3 It is a schematic diagram of the main structure of the CCTV pipeline robot escape and recovery device in one embodiment of the present invention.

[0020] Figure 4 It is a top view structural schematic diagram of a CCTV pipeline robot escape and recovery device in an embodiment of the present invention.

[0021] Figure 5 It is a state schematic diagram after the inflatable airbag is inflated in an embodiment of the present invention.

[0022] Figure 6 It is an implementation state schematic diagram of an embodiment of the present invention.

[0023] In the figure: 1. Inflation pump, 2. Inflation pipe, 3. Inflation connection port, 4. Inflatable airbag, 5. Airbag carrying platform, 6. Baffle fixing block, 7. Upper clamping plate, 8. Lower baffle, 9. Gear, 10. Torsion spring, 11. CCTV pipeline robot. Specific implementation manners

[0024] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0025] Refer to the appended Figure 1 - appended Figure 5 As a preferred embodiment of the present invention, this embodiment provides a CCTV pipeline robot escape and recovery device, including a platform component for installing the CCTV pipeline robot 11 and an airbag jacking system connected to the lower part of the platform component. The airbag jacking system includes an inflation pump 1, an inflation pipe 2, an inflation connection port 3, and an inflatable airbag 4. The inflation pump 1 is connected to the inflatable airbag 4 through the inflation pipe 2 and the inflation connection port 3; the platform component includes an airbag carrying platform 5, a baffle fixing block 6, an upper clamping plate 7, a lower baffle 8, a gear 9, and a torsion spring 10. Two baffle fixing blocks 6 are welded on each of the two sides of the airbag carrying platform 5. An upper clamping plate 7 and a lower baffle 8 are connected to the two baffle fixing blocks 6 on the same side. The upper clamping plate 7 and the lower baffle 8 each include a steel rod rotatably connected to the baffle fixing block 6 and a bent baffle connected to the steel rod. A gear 9 is connected to both ends of each steel rod, and the gears 9 on the upper clamping plate 7 and the lower baffle 8 are meshed in pairs. The torsion spring 10 is sleeved on the steel rod of the upper clamping plate 7 and is located between the bent baffle and the baffle fixing block 6. The torsion spring 10 is used to form a torque after rotation to clamp the CCTV pipeline robot 11.

[0026] In the above embodiments, the inflation pump 1 is preferably an electric inflation pump for convenient carrying and use. During pipeline inspection, it is placed on the wellhead and operated by the operator. The inflation pipe 2 is a PVC hose; the inflation connection port 3 is a stainless steel quick-connect joint; the inflation airbag 4 is made of rubber and is adhesively fixed inside the airbag carrying platform 5 after being folded. The inflation pump 1 is connected to the inflation airbag 4 through the inflation pipe 2 and the inflation connection port 3. During operation, the inflation pump 1 is operated to supply air to the inflation airbag 4, causing the airbag to expand and support the CCTV pipeline robot 11.

[0027] In the above embodiments, the width of the bent baffle is 3 cm and it is located at the 1 / 3 position on both sides of the steel rod. The upper clamping plate 7 is fixed in the upper hole of the baffle fixing block; the width of the bent baffle of the lower baffle 8 is 10 cm.

[0028] In some embodiments, the airbag carrying platform 5 is a thin-shell cube structure with a hollow bottom, made of stainless steel, and an inflation pipe penetration hole is provided on the side surface of the airbag carrying platform 5.

[0029] In some preferred embodiments, the width of the bent baffle of the upper clamping plate 7 is 3 - 5 cm, and the width of the bent baffle of the lower baffle 8 is 8 - 10 cm.

[0030] As another embodiment of the present invention, this embodiment provides a method for rescuing and recovering a CCTV pipeline robot, which specifically includes the following steps:

[0031] S1 Install the CCTV pipeline robot. Refer to the appendix Figure 1 , in the initial installation state, the upper clamping plate 7 clamps the side of the CCTV pipeline robot under the action of the torsion spring 10, the airbag carrying platform 5 is closely attached to the lower part of the CCTV pipeline robot, and the lower baffle 8 is restricted by the gear 9 to fix the inflation airbag 4, so that the inflation airbag 4 is in a folded state inside the airbag carrying platform 5. Connect the inflation airbag 4 to the inflation pump 1 through the inflation connection port 3 and the inflation pipe 2, so that the CCTV pipeline robot rescue and recovery device and the CCTV pipeline robot move synchronously in the pipeline;

[0032] S2 When the CCTV pipeline robot falls into a pipeline collapse point and cannot leave the pit by its own power and external dragging, refer to the appendix Figure 5 and the appendix Figure 6 , turn on the inflation pump 1 to inflate the inflation airbag 4, lift the airbag carrying platform 5 and the CCTV pipeline robot, and at the same time push the lower baffle 8 to open, drive the upper clamping plate 7 to open through the engagement of the gear 9, complete the separation of the CCTV pipeline robot from the airbag carrying platform 5, and then observe the attitude of the CCTV pipeline robot in the pipeline through the camera of the CCTV pipeline robot. When it is lifted to the bottom elevation of the pipe, drag the towing rope or operate the robot to complete the rescue and recovery of the CCTV pipeline robot;

[0033] S3 When the CCTV pipeline robot completes the recovery, the air pump 1 is turned off, the air bag 4 is deflated, the air bag 4 is pulled out of the air bag and the CCTV pipeline robot is recovered by the recovery device, and the air bag 4 is folded back into place and used again.

[0034] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not limiting. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the purpose and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A CCTV pipeline robot escape and recovery device, characterized in that The invention comprises a platform assembly for mounting a CCTV pipeline robot and an airbag supporting system connected to the lower part of the platform assembly, wherein the airbag supporting system comprises an air pump (1), an air pipe (2), an air connection port (3) and an airbag (4), wherein the air pump (1) is connected to the airbag (4) via the air pipe (2) and the air connection port (3); the platform assembly comprises an airbag carrying platform (5), a baffle fixing block (6), an upper clamping plate (7), a lower baffle (8), a gear (9) and a torsion spring (10), wherein two baffle fixing blocks (6) are welded on each of the two side surfaces of the airbag carrying platform (5), and the two baffle fixing blocks on the same side are welded on the two side surfaces of the airbag carrying platform (5). An upper clamping plate (7) and a lower baffle (8) are connected to the block (6), and the upper clamping plate (7) and the lower baffle (8) both include a steel rod rotatably connected to the baffle fixing block (6) and a bent baffle connected to the steel rod. Both ends of each steel rod are connected to a gear (9), and the gears (9) on the upper clamping plate (7) and the lower baffle (8) are engaged in pairs. The torsion spring (10) is sleeved on the steel rod on the upper clamping plate (7) and is located between the bent baffle and the baffle fixing block (6). The torsion spring (10) is used to generate torque after rotation to clamp the CCTV pipeline robot.

2. The escape and recovery device for a CCTV pipeline robot according to claim 1, characterized in that: The airbag carrying platform (5) is a thin shell cubic structure with a hollow bottom, and is made of stainless steel. An inflation tube insertion hole is provided on the side of the airbag carrying platform (5).

3. The CCTV pipeline robot escape and recovery device according to claim 1, characterized in that: The width of the bending baffle of the upper splint (7) is 3-5 cm, and the width of the bending baffle of the lower baffle (8) is 8-10 cm.

4. A method for recovering a CCTV pipeline robot, characterized in that: The use of the CCTV pipeline robot escape and recovery device according to any one of claims 1 to 3 specifically comprises the following steps: S1 installs the CCTV pipeline robot. In the initial installation state, the upper clamping plate (7) is clamped to the side of the CCTV pipeline robot under the action of the torsion spring (10), so that the airbag carrying platform (5) is closely fitted with the lower part of the CCTV pipeline robot, and the lower baffle (8) is constrained by the gear (9) to fix the inflatable airbag (4), so that the inflatable airbag (4) is in a folded state inside the airbag carrying platform (5), and the inflatable airbag (4) is connected to the inflation pump (1) through the inflation connection port (3) and the inflation tube (2), so that the CCTV pipeline robot escape recovery device and the CCTV pipeline robot move synchronously in the pipeline; S2 When the CCTV pipeline robot falls into the collapsed point of the pipeline and cannot leave the pit by its own power or external dragging, the air pump (1) is turned on to inflate the airbag (4), and the airbag carrying platform (5) and the CCTV pipeline robot are lifted up. At the same time, the lower baffle (8) is pushed open, and the upper clamping plate (7) is driven to open through the engagement of the gear (9), so as to complete the separation of the CCTV pipeline robot from the airbag carrying platform (5). Then, the CCTV pipeline robot's camera is used to observe the posture of the CCTV pipeline robot in the pipeline. When the robot reaches the bottom elevation of the pipe, the traction rope is dragged or the robot is operated to complete the recovery of the CCTV pipeline robot. S3 When the CCTV pipeline robot completes the recovery, the air pump (1) is turned off, the air bag (4) is deflated, the air bag is pulled out of the air bag tube to recover the CCTV pipeline robot, and the air bag (4) is folded back into place and used again.

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