An underwater pipe maintenance device and a method of maintaining the same

Abstract

The application belongs to the technical field of underwater pipe maintenance equipment, and particularly relates to an underwater pipe maintenance device and a maintenance method thereof. The underwater pipe maintenance device comprises a base, a moving mechanism arranged on the four corners of the bottom of the base, a buffer mechanism arranged on the two sides of the base, two mechanical arms arranged on one side of the top of the base, a high-pressure spray head arranged at the tail end of each of the two mechanical arms, a first water pipe arranged in each of the two mechanical arms and in communication with the high-pressure spray head, a water pump arranged on the top of the base, a three-way pipe connected to the water outlet end of the water pump, the other two ends of the three-way pipe in communication with the two first water pipes respectively, a fixing block arranged on the bottom of the base, a first rotating shaft rotatably arranged on the outer wall of the fixing block, and a first mounting rod fixed to the two ends of the first rotating shaft. The mechanical arms of the robot can realize cleaning, dredging, obstacle cutting and repairing at the same time, and can effectively improve the maintenance efficiency and effect.

Description

Technical Field

[0001] This invention belongs to the technical field of underwater pipe maintenance equipment, specifically relating to an underwater pipe maintenance device and its maintenance method. Background Technology

[0002] In the cities where we live, drainage pipes are important infrastructure projects that transport and distribute industrial water and drinking water, as well as collect, transport and discharge industrial wastewater, domestic sewage and rainwater. During long-term use, drainage pipes need to be maintained to prevent them from being blocked by dirt and garbage, which would affect their use.

[0003] For example, Chinese patent CN 108043833 B, concerning a robot for cleaning the inner wall of municipal drainage pipes, includes two water storage tanks on the inner bottom wall of the regulating chamber. Each water storage tank has a water pump at its inner bottom, and each water pump has a water delivery pipe at its output end. Openings are provided on both side walls of the robot, and the end of each water delivery pipe away from the water pump extends through the opening to the outside of the robot and communicates with the nozzle. This invention, by adjusting the distance between the two scrapers, is suitable for drainage pipes of different diameters. The rotation of the scrapers removes impurities from the inner wall of the drainage pipe, and the up-and-down movement of the nozzle flushes the inner wall, making the removal of impurities more thorough. This avoids manual cleaning, resulting in high cleaning efficiency and convenient practicality.

[0004] The robots mentioned above have limited functionality and cannot utilize sewage or rainwater in drainage pipes. They also require the robots to carry water themselves to flush out dirt from the drainage pipes, which wastes water resources, increases the size of the robots, and makes them cumbersome to move. In addition, when encountering various types of dirt and blockages in the drainage pipes, they can only use scrapers and nozzles, which cannot crush them. This results in poor cleaning of the inner walls of the drainage pipes, reducing the efficiency and effectiveness of cleaning the drainage pipes. Summary of the Invention

[0005] The purpose of this invention is to provide a water pipe maintenance device and method that can simultaneously perform cleaning, dredging, obstacle cutting, and repair using a robot's robotic arm, thereby effectively improving maintenance efficiency and effectiveness.

[0006] The specific technical solution adopted by this invention is as follows:

[0007] A water pipe maintenance device includes a base, with moving mechanisms at the four corners of the base's bottom, buffer mechanisms on both sides of the base, and two robotic arms on one side of the top of the base. Each robotic arm has a high-pressure nozzle at its end, and a first water pipe connected to the high-pressure nozzle is installed inside each robotic arm. A water pump is mounted on the top of the base, with a T-junction pipe connected to its outlet. The other two ends of the T-junction pipe are connected to the two first water pipes respectively. A fixing block is located at the bottom of the base, and a rotating part runs through the outer wall of the fixing block. A first rotating shaft is installed, and a first mounting rod is fixed to both ends of the first rotating shaft. A torsion spring is provided on the outer wall of the first rotating shaft between the first mounting rod and the fixing block. Two rollers are provided between the outer walls of the two first mounting rods. A water suction head is provided on the outer wall of the two first mounting rods between the two rollers. A filter plate is provided on the inner wall of the water suction head. A second water pipe connected to a water pump is passed through the top of the water suction head. A repair component and a grinding component are provided at the end of one of the robotic arms, and a cutting mechanism is provided at the end of the other robotic arm.

[0008] Furthermore, a first motor is provided on the inner wall of the water suction head and above the filter plate, and the output shaft of the first motor extends to the bottom of the filter plate and a scraper is fixed thereon.

[0009] Furthermore, the repair assembly includes a material box on the top of the base, a spray head at the end of one of the robotic arms, a first material pipe connected to the spray head inside the robotic arm, a second material pipe connected to the other end of the first material pipe, a material pump connected to the bottom of the material box at the other end of the base, and a stirring device on the top of the material box.

[0010] Furthermore, the grinding assembly includes a second motor disposed on the outer wall of the end of one of the robotic arms, a rotating plate fixed to the output shaft of the second motor, a second rotating shaft rotatably mounted on the other end of the rotating plate, a grinding wheel fixed to the bottom end of the second rotating shaft, a first gear fixed to the top end of the second rotating shaft extending above the rotating plate, and a third motor disposed on the outer wall of the robotic arm and on one side of the second motor, the output shaft of the third motor being provided with a second gear meshing with the first gear.

[0011] Furthermore, the moving mechanism includes shock absorbers fixed at the four corners of the bottom of the base, a drive motor is provided at the bottom end of the shock absorber, and a drive wheel is provided on the output shaft of the drive motor.

[0012] Furthermore, a mounting rod is provided on one side of the base and between the two first lighting lamps. A camera is provided at one end of the mounting rod. A spherical transparent shell is sleeved on the outside of the camera, and the spherical transparent shell is threadedly connected to the mounting rod.

[0013] Based on the above technical solution, the present invention also provides a maintenance method for a water pipe maintenance device, comprising the following steps:

[0014] S1: Place the robot into the drain pipe and use a camera to record the inside of the drain pipe. By observing the external display screen, the staff can use 5G wireless technology to control the robot to move inside the drain pipe and turn on the first light.

[0015] S2: When you see dirt inside the drain pipe on the external display screen, start the water pump. The water pump uses the suction head to filter the sewage or rainwater in the drain pipe and discharge it through the second water pipe and the first water pipe from the high-pressure nozzle. Control the robotic arm and adjust the spray angle of the high-pressure nozzle to make the high-pressure nozzle wash away the dirt.

[0016] S3: When encountering an obstacle, control the cutting mechanism on the robotic arm to cut and break the obstacle using the cutting wheel on the cutting mechanism;

[0017] S4: When repairing cracks in the drain pipe, the sludge around the crack is first broken up by the cutting mechanism, then rinsed by the high-pressure nozzle, and then the third motor is started. The third motor drives the second gear to rotate, the second gear drives the first gear to rotate, and the first gear drives the grinding wheel to rotate through the second rotating shaft. Together with the robotic arm, the crack area is ground. After grinding, the second motor is started to rotate the grinding wheel to one side through the rotating plate, and the material pump is started to spray the repair material in the material box through the first material pipe from the spray head to repair the crack.

[0018] The technical effects achieved by this invention are as follows:

[0019] This invention features two sets of robotic arms, making the equipment more flexible in maintaining drainage pipes. The robotic arms simultaneously perform cleaning, dredging, obstacle cutting, and repair, effectively improving maintenance efficiency and effectiveness. The high-pressure nozzles, in conjunction with a water pump and suction head, utilize wastewater and rainwater to flush away dirt from the inner walls of the drainage pipes, resulting in a good flushing effect and effective water reuse, avoiding waste. It also eliminates the need for a water tank, effectively reducing the equipment's size. The spray nozzles, through the cooperation of a material pump and a material tank, facilitate the spraying of repair materials from the tank onto cracks in the drainage pipes, making repair convenient. Attached Figure Description

[0020] Figure 1This is a frontal three-dimensional structural schematic diagram of the present invention;

[0021] Figure 2 This is a top-view three-dimensional structural schematic diagram of the present invention;

[0022] Figure 3 This is a three-dimensional structural diagram viewed from below in this invention;

[0023] Figure 4 This is a three-dimensional structural diagram of the water-absorbing head of the present invention;

[0024] Figure 5 This is a schematic diagram of the cross-sectional structure of the water suction head in this invention;

[0025] Figure 6 This is a three-dimensional structural diagram of the grinding component in this invention.

[0026] The attached diagram lists the components represented by each number as follows:

[0027] 1. Base; 2. Robotic arm; 3. First water pipe; 4. High-pressure nozzle; 5. T-pipe; 6. Water pump; 7. Fixing block; 8. First rotating shaft; 9. Torsion spring; 10. First mounting rod; 11. Roller; 12. Suction head; 13. Filter plate; 14. First motor; 15. Scraper; 16. Second water pipe; 17. Material box; 18. First material pipe; 19. Spray head; 20. Material pump; 21. Cutting mechanism; 22. Second motor; 23. Rotating plate; 24. Second rotating shaft; 25. Grinding wheel; 26. First gear; 27. Third motor; 28. Second gear; 29. ​​Moving mechanism; 30. Buffer mechanism; 31. First lighting lamp; 32. Camera. Detailed Implementation

[0028] To make the objectives and advantages of this invention clearer, the invention will be specifically described below with reference to embodiments. It should be understood that the following text is merely used to describe one or more specific embodiments of the invention and does not strictly limit the scope of protection specifically claimed by the invention.

[0029] like Figure 1-5As shown, a water pipe maintenance device includes a base 1. Movable mechanisms 29 are installed at the four corners of the bottom of the base 1. Buffer mechanisms 30 are installed on both sides of the base 1. Two robotic arms 2 are installed on one side of the top of the base 1. The robotic arms 2 are five-axis articulated robotic arms, improving their flexibility. High-pressure nozzles 4 are installed at the ends of both robotic arms 2. A first water pipe 3, which is a flexible hose embedded within the robotic arm 2, is installed inside each robotic arm 2 to avoid interfering with its operation. The top of the base 1... The base is equipped with a water pump 6, the outlet of which is connected to a three-way pipe 5. The other two ends of the three-way pipe 5 are respectively connected to two first water pipes 3. Solenoid valves are installed at both ends of the three-way pipe 5 to facilitate water spray control of the high-pressure nozzle 4. A fixing block 7 is installed at the bottom of the base 1. A first rotating shaft 8 is rotatably mounted through the outer wall of the fixing block 7. A first mounting rod 10 is fixed at both ends of the first rotating shaft 8. A torsion spring 9 is installed on the outer wall of the first rotating shaft 8 between the first mounting rod 10 and the fixing block 7. The two ends of the torsion spring 9 are respectively fixed to the first mounting rod 10 and the first mounting rod 10. Two rollers 11 are installed between the outer walls of the two first mounting rods 10 on the outer wall of the fixed block 7. These rollers, in conjunction with torsion springs 9, ensure that the rollers 11 are always in contact with the ground. A suction head 12 is installed on the outer wall of the two first mounting rods 10, located between the two rollers 11. The suction head 12 is positioned higher than the bottom surface of the rollers 11 to prevent wear caused by contact with the bottom wall of the drain pipe, effectively protecting the suction head 12. A filter plate 13 is installed on the inner wall of the suction head 12 to facilitate the filtration of sewage and rainwater, preventing blockages and ensuring the normal operation of the equipment. In use, the top of the suction head 12 is connected to a second water pipe 16 that is connected to the water pump 6. One of the robotic arms 2 is equipped with a repair component and a grinding component at its end, and the other robotic arm 2 is equipped with a cutting mechanism at its end. The structure is simple and easy to operate. It is convenient to use sewage or rainwater in the drain pipe. After being filtered by the filter plate 13, the water in the drain pipe is transported to the high-pressure nozzle 4 by the water pump 6 and sprayed out by the high-pressure nozzle 4 to rinse the dirt in the drain pipe. It saves water and avoids the need for the equipment to carry clean water, thus reducing the size of the equipment.

[0030] like Figure 4-5 As shown, a first motor 14 is provided on the inner wall of the suction head 12 and above the filter plate 13. The first motor 14 is a waterproof motor. The output shaft of the first motor 14 extends to the bottom of the filter plate 13 and a scraper 15 is fixed thereon. This allows the first motor 14 to drive the scraper 15 to rotate, preventing impurities from clogging the filter holes on the filter plate 13 and improving the filtration effect of the filter plate 13.

[0031] like Figure 1-3As shown, the repair assembly includes a material box 17 on the top of the base 1, into which repair material is placed. The repair material can be ultra-high strength quick-setting PL-12000 mortar. A spray head 19 is provided at the end of one of the robotic arms 2. The spray head 19 is flat-nozzle shaped, which can effectively increase the spraying area. A first material pipe 18 is provided inside the robotic arm 2 and is connected to the spray head 19. The first material pipe 18 is also a flexible hose embedded in the robotic arm 2. The other end of the first material pipe 18 is connected to a second material pipe. The other end of the second material pipe is connected to the bottom of the material box 17. A conveying pump 20 connected to the second material pipe is provided on the top of the base 1. A stirring device is provided on the top of the material box 17. The stirring device consists of a rotary motor and a stirring unit to prevent the repair material in the material box 17 from solidifying. It is quite practical. The repair assembly facilitates the repair of cracks or joints in the drainage pipe, improving the equipment's performance.

[0032] like Figure 1 , 2 As shown in Figures 3 and 6, the grinding assembly includes a second motor 22 mounted on the outer wall of the end of one of the robotic arms 2. The second motor 22 is a self-locking motor. When the self-locking motor stops working, the power is disconnected, the electromagnet loses its electromagnetic excitation, and the suction cup on the electromagnet is no longer attracted and disengages. The mechanical structure locks the rotating parts through springs and other devices, preventing them from rotating further. A rotating plate 23 is fixed to the output shaft of the second motor 22. Two limit rods are provided at the bottom of the outer wall of the robotic arm 2, located on the rotating plate 23, allowing the rotating plate 23 to rotate only 180 degrees. A second rotating shaft 24 is rotatably mounted on the other end of the rotating plate 23. The bottom end of the second rotating shaft 24 is fixed... The mechanical arm 2 has a grinding wheel 25, and a first gear 26 is fixed at the top of the second rotating shaft 24 above the rotating plate 23. A third motor 27 is set on the outer wall of the mechanical arm 2 and on one side of the second motor 22. The output shaft of the third motor 27 is equipped with a second gear 28 that meshes with the first gear 26. The structure is simple and convenient to drive the rotating plate 23 to rotate through the second motor 22, thereby driving the first gear 26 to mesh or separate from the second gear 28. When meshing, the grinding wheel 25 can be driven to rotate through the third motor 27, which is convenient for grinding the inner wall of the drain pipe. When separating, it is convenient to rotate and fold the grinding wheel 25 to avoid the grinding wheel 25 affecting the operation of the spray head 19.

[0033] like Figure 1-3 As shown, the cutting mechanism 21 includes a fourth motor, and the output shaft of the fourth motor is fixed with a cutting wheel, which avoids cutting obstacles and is quite practical;

[0034] like Figure 1-2As shown, the moving mechanism 29 includes shock absorbers fixed on the four corners of the bottom of the base 1, which makes the movement of the equipment relatively smooth. The bottom of the shock absorber is equipped with a drive motor, and the output shaft of the drive motor is equipped with a drive wheel, which facilitates the movement of the equipment and makes the movement relatively stable. The equipment with four drive motors has strong driving power for movement.

[0035] like Figure 1-3 As shown, the buffer mechanism 30 consists of an arc-shaped plate and pulleys. The outer wall of the arc-shaped plate has an installation groove, and multiple pulleys are installed inside the installation groove to protect the equipment and reduce the impact force between the equipment and the inner wall of the drain pipe. When an impact occurs, the direction of the impact force can be changed by the pulleys, and the equipment of the arc-shaped plate can play a buffering role.

[0036] like Figure 1-2 As shown, two first lights 31 are provided on one side of the base 1, and the ends of the two robotic arms 2 are also provided with first lights 31, so that the equipment can work normally in dark environments.

[0037] like Figure 1-3 As shown, a mounting rod is provided on one side of the base 1 and between the two first lighting lamps 31. A camera 32 is provided at one end of the mounting rod. A spherical transparent shell is fitted over the camera 32 and is threadedly connected to the mounting rod. A camera 32 is also provided on the top of the base 1 and at the material box 17, which improves the field of vision of external personnel. The spherical transparent shell provides a 360-degree endoscopic effect for the entire pipeline.

[0038] The working principle of this invention is as follows: External personnel use 5G wireless transmission technology and camera 32 to film inside the drainage pipe. The personnel control the equipment to move inside the drainage pipe through an external display screen. When encountering a cracked area, the robotic arm 2 moves the cutting mechanism 21 in front of the obstacle. The cutting wheel on the cutting mechanism 21 cuts and breaks up the relatively solid obstacle in the cracked area. After completion, the water pump 6 is started. The water pump 6, through the suction head 12, transports the water in the drainage pipe along the second water pipe 16 and the first water pipe 3 to the high-pressure nozzle 4 to rinse the cut area. The third motor 27 is started. The third motor 27 drives the second gear 28 to rotate. The second gear 28 drives the first gear 26 to rotate. The first gear 26 drives the grinding wheel 25 to rotate through the second rotating shaft 24. Together with the robotic arm 2, the cracked area is ground. After grinding, the material pump 20 is started to spray the repair material in the material box 17 through the first material pipe 18 from the spray head 19 to repair the crack. The repair effect is relatively good.

[0039] like Figure 1-6 As shown, a maintenance method for a water pipe maintenance device is as follows:

[0040] S1: Place the robot into the drain pipe and use camera 32 to film inside the drain pipe. The staff can control the robot to move inside the drain pipe by observing the external display screen and using 5G wireless technology, and turn on the first light 31.

[0041] S2: When you see dirt inside the drain pipe on the external display screen, start the water pump 6. The water pump 6 uses the suction head 12 to filter the sewage or rainwater in the drain pipe and discharge it from the high-pressure nozzle 4 through the second water pipe 16 and the first water pipe 3. Control the robotic arm 2 to adjust the spray angle of the high-pressure nozzle 4 so that the high-pressure nozzle 4 can wash away the dirt.

[0042] S3: When encountering an obstacle, control the cutting mechanism 21 on the robotic arm 2 to cut and break the obstacle through the cutting wheel on the cutting mechanism 21;

[0043] S4: When repairing cracks in the drain pipe, the mud and dirt next to the crack are first broken by the cutting mechanism 21, then rinsed by the high-pressure nozzle 4, and then the third motor 27 is started. The third motor 27 drives the second gear 28 to rotate, the second gear 28 drives the first gear 26 to rotate, and the first gear 26 drives the grinding wheel 25 to rotate through the second rotating shaft 24. Together with the robotic arm 2, the crack area is ground. After the grinding is completed, the second motor 22 is started to rotate the grinding wheel 25 to one side through the rotating plate 23. The material pump 20 is started to spray the repair material in the material box 177 through the first material pipe 18 from the spray head 19 to repair the crack.

[0044] The above description is merely a preferred embodiment of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention. Structures, devices, and operating methods not specifically described or explained in this invention are implemented according to conventional methods in the art unless otherwise specified or limited.

Claims

1. An underwater pipe maintenance device comprising a base (1), characterised in that: The bottom four corners of the base (1) are provided with a moving mechanism (29), the two sides of the base (1) are provided with a buffer mechanism (30), one side of the top of the base (1) is provided with two mechanical arms (2), the ends of the two mechanical arms (2) are provided with high-pressure nozzles (4), the interiors of the two mechanical arms (2) are provided with first water pipes (3) which are in through connection with the high-pressure nozzles (4), the top of the base (1) is provided with a water pump (6), the water outlet end of the water pump (6) is connected with a three-way pipe (5), the other two ends of the three-way pipe (5) are in through connection with the two first water pipes (3) respectively, the bottom of the base (1) is provided with a fixed block (7), the outer wall of the fixed block (7) is in through rotation connection with a first rotating shaft (8), the two ends of the first rotating shaft (8) are fixedly connected with first mounting rods (10), the outer wall of the first rotating shaft (8) and between the first mounting rods (10) and the fixed block (7) are provided with torsional springs (9), the outer walls of the two first mounting rods (10) are provided with two rollers (11), the outer walls of the two first mounting rods (10) and between the two rollers (11) are provided with water suction heads (12), the inner wall of the water suction head (12) is provided with a filter plate (13), the top of the water suction head (12) is in through connection with a second water pipe (16) which is connected with the water pump (6), the end of one of the mechanical arms (2) is provided with a repairing assembly and a polishing assembly, the end of the other mechanical arm (2) is provided with a cutting mechanism; The repairing assembly comprises a material box (17) which is arranged on the top of the base (1), the end of the one of the mechanical arms (2) is provided with a material spraying head (19), the interior of the mechanical arm (2) is provided with a first material pipe (18) which is in through connection with the material spraying head (19), the other end of the first material pipe (18) is in through connection with a second material pipe, the other end of the second material pipe is in through connection with the bottom of the material box (17), the top of the base (1) is provided with a material conveying pump (20) which is in communication with the second material pipe, the top of the material box (17) is provided with a stirring device; The polishing assembly comprises a second motor (22) which is arranged on the outer wall of the end of the one of the mechanical arms (2), the output shaft of the second motor (22) is fixedly connected with a rotating plate (23), the other end of the rotating plate (23) is rotationally installed with a second rotating shaft (24), the bottom end of the second rotating shaft (24) is fixedly connected with a polishing wheel (25), the top end of the second rotating shaft (24) which extends to above the rotating plate (23) is fixedly connected with a first gear (26), the outer wall of the mechanical arm (2) and on the side of the second motor (22) is provided with a third motor (27), the output shaft of the third motor (27) is provided with a second gear (28) which is in mesh with the first gear (26); The cutting mechanism (21) comprises a fourth motor, the output shaft of the fourth motor is fixedly connected with a cutting wheel.

2. An underwater pipe maintenance device according to claim 1, characterized in that: The inner wall of the water suction head (12) is provided with a first motor (14) above the filter plate (13), and the output shaft of the first motor (14) extends to below the filter plate (13) and is fixed with a scraper (15).

3. An underwater pipe maintenance device according to claim 1, characterized in that: The moving mechanism (29) comprises shock absorbers fixed to the four corners of the bottom of the base (1), and the bottom ends of the shock absorbers are provided with drive motors, and the output shafts of the drive motors are provided with drive wheels.

4. An underwater pipe maintenance device according to claim 1, characterized in that: The buffering mechanism (30) is composed of an arc-shaped plate and pulleys, and the outer wall of the arc-shaped plate is provided with a mounting groove, and a plurality of pulleys are mounted in the mounting groove.

5. An underwater pipe maintenance device according to claim 2, characterized in that: Two first illuminating lamps (31) are arranged on one side of the base (1).

6. An in-water tube maintenance device according to claim 5, characterized in that: An installation rod is arranged on one side of the base (1) and between the two first illuminating lamps (31), one end of the installation rod is provided with a camera (32), the outer portion of the camera (32) is sleeved with a spherical transparent shell, and the spherical transparent shell is threadedly connected with the installation rod.

7. A method of maintaining a water pipe maintenance device, characterized by: The water pipe maintenance device as claimed in claim 6, the maintenance method comprises the following steps: S1: the robot is placed into the drain pipe, the camera (32) is used to take pictures inside the drain pipe, the staff observes the external display screen, controls the robot to move in the drain pipe by using 5G wireless technology, and the first illuminating lamp (31) is turned on; S2: when it is seen from the external display screen that there is dirt inside the drain pipe, the water pump (6) is started, the water pump (6) filters the sewage or rainwater in the drain pipe by using the water suction head (12), and then sprays the sewage or rainwater from the high-pressure nozzle (4) along the second water pipe (16) and the first water pipe (3), the mechanical arm (2) is controlled, the high-pressure nozzle (4) sprays at an angle adjusted by the mechanical arm (2), and the high-pressure nozzle (4) washes the dirt; S3: when encountering an obstacle, the cutting mechanism (21) on the mechanical arm (2) is controlled, and the cutting wheel on the cutting mechanism (21) cuts and breaks the obstacle; S4: when repairing a crack in the drain pipe, the dirt beside the crack is first broken by the cutting mechanism (21), then the high-pressure nozzle (4) is used for washing, the third motor (27) is started, the third motor (27) drives the second gear (28) to rotate, the second gear (28) drives the first gear (26) to rotate, the first gear (26) drives the polishing wheel (25) to rotate through the second rotating shaft (24), and the crack area is polished by cooperating with the mechanical arm (2), after polishing, the second motor (22) is started to rotate the polishing wheel (25) to one side through the rotating plate (23), the material pump (20) is started, the repair material in the material box (17) is sprayed from the material spraying head (19) along the first material pipe (18), and the crack is repaired.

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