Quick repairing method for leakage of vacuum pipeline

Abstract

The invention discloses a quick repairing method for vacuum pipeline leakage. The quick repairing method comprises the following steps of S1, robot installation, S2, conveying pipe connection, S3, vacuum pipeline leakage detection and S4, vacuum pipeline leakage point repairing. The repairing method is simple in step, leakage detection can be conducted on the vacuum pipeline under the condition that a whole pipeline system is not closed, the leakage position of the vacuum pipeline can be accurately found, the size of a leakage point can be judged according to the noise size and the pressure size of the leakage point, the leakage point is rapidly repaired, and the repairing efficiency is improved. Damage of the vacuum pipeline is reduced, and labor intensity of manual detection is reduced.

Description

Technical Field

[0001] This invention relates to the field of pipeline leak repair technology, and in particular to a rapid repair method for vacuum pipeline leaks. Background Technology

[0002] Currently, wastewater is purified to meet the water quality requirements for discharge into a water body or for reuse. Wastewater treatment is widely used in various fields such as construction, agriculture, transportation, energy, petrochemicals, environmental protection, urban landscaping, medical care, catering, and daily life. It involves collecting wastewater through vacuum pipelines to treatment devices for processing.

[0003] Typical vacuum pipelines are buried about 1 meter underground. They are used to pump sewage over long distances. Each household has a sewage well, and thousands of these wells are collected and treated in one location, requiring a pure vacuum pipeline system for transport. Because vacuum pipelines are buried underground, they are prone to damage over time. Leaks are typically detected using robots. However, current robots require shutting down the entire vacuum pipeline system for repairs and cannot effectively repair leaks. Summary of the Invention

[0004] The purpose of this invention is to provide a technical solution for a rapid repair method for vacuum pipeline leaks, addressing the shortcomings of existing technologies. This repair method is simple in steps, and can not only detect leaks in vacuum pipelines without shutting down the entire pipeline system, but also accurately locate the leak position. Furthermore, it can determine the size of the leak point based on the noise and pressure levels at the leak point, and quickly repair the leak, reducing damage to the vacuum pipeline and lowering the labor intensity of manual inspection.

[0005] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0006] A method for rapid repair of leaks in vacuum pipelines, characterized by the following steps:

[0007] S1, Robot Installation

[0008] a. First, determine the number of sections of the robot's telescopic mechanism according to the design requirements. Install a diaphragm, pressure sensor, and noise sensor along the outer side of each telescopic mechanism section. Connect adjacent telescopic mechanisms with connecting sleeves. The telescopic mechanism includes a front crawling section and a rear crawling section that abut against the inner wall of the vacuum pipe, and a telescopic section for connecting the front crawling section and the rear crawling section. The cleaning mechanism is connected to the front crawling section, and the diaphragm is connected to the front crawling section and the rear crawling section and wrapped around the telescopic section. At the same time, connect the ointment tube to the mounting holes of the front crawling section and the rear crawling section.

[0009] b. Then, airbag sealing mechanisms are installed on both the front and rear crawling sections. The airbag sealing mechanism includes a limiting plate, an inner ring of the airbag, and an annular airbag. The two limiting plates are fixed to the front and rear crawling sections and are located on both sides of the inner ring of the airbag. The annular airbag is connected to the outside of the inner ring of the airbag and is equipped with an air valve. Rotating mechanisms are installed in both the front and rear crawling sections. The rotating mechanisms are used to drive the inner ring of the airbag and the annular airbag to rotate along the inner wall of the vacuum pipeline. The air valve is connected to an external air source and controls the inflation or deflation of the annular airbag to meet the requirements for sealing the vacuum pipeline and improve the detection accuracy. The inner ring of the airbag improves the stability and reliability of the annular airbag installation and ensures that the liquid flows along the inner ring of the airbag. The limiting plate improves the installation stability of the annular airbag and avoids back-and-forth shaking, which would affect the sealing effect.

[0010] c. Next, install a cleaning mechanism on the telescopic mechanism of the head, install a sound wave sensor inside the cleaning mechanism, and form a fluid channel inside both the telescopic mechanism and the cleaning mechanism. Connect the support wheel to the cleaning mechanism and the telescopic mechanism of the tail through a support rod.

[0011] S2, Delivery pipe connection

[0012] a. First, connect the front crawling section, rear crawling section and telescopic section to the external air source through the conveying pipe. Electrically connect the pressure sensor, noise sensor and sound wave sensor to the controller. Connect the paste filling pipe to the external storage tank through the conveying pipe.

[0013] b. Then place the installed robot into the vacuum tube, with the end with the cleaning mechanism facing the direction of the robot's movement, until the robot is completely placed into the vacuum tube. The robot is supported in the vacuum tube by the support wheels set at the front and rear.

[0014] c. The movement of the front crawling section, the rear crawling section, and the telescopic section is controlled by the air source through the delivery pipe. During crawling, the rear crawling section first contacts the inner wall of the vacuum pipe, and then the telescopic section drives the front crawling section to move a set distance along the inner wall of the vacuum pipe. When the front crawling section contacts the inner wall of the vacuum pipe, the rear crawling section disengages from the inner wall of the vacuum pipe and moves forward through the telescopic section. This cycle repeats to realize the robot crawling along the vacuum pipe.

[0015] d. Finally, the distance between the robot and the bend in the vacuum pipe is detected by the acoustic sensor, and the signal is fed back to the controller to control the speed of the robot crawling along the vacuum pipe. At the same time, the fluid in the vacuum pipe flows continuously through the fluid channels inside the telescopic mechanism and the cleaning mechanism, and the cleaning mechanism continuously cleans the inner wall of the vacuum pipe.

[0016] S3, Vacuum Pipeline Leak Detection

[0017] a. When the robot crawls along the vacuum pipe, the telescopic section drives the front crawling section and the rear crawling section to unfold. The front crawling section and the rear crawling section first come into contact with the inner wall of the vacuum pipe, and the diaphragm is in the unfolded state.

[0018] b. Then, gas is introduced into the airbag sealing mechanism of the front crawling section and the rear crawling section through the gas source and the delivery pipe. After the airbag sealing mechanism is inflated, it seals the inner wall of the vacuum pipe. At this time, a negative pressure detection area is formed between the front crawling section and the rear crawling section and the inner wall of the vacuum pipe.

[0019] c. When a leak occurs in the detection area, the pressure value of the detection area is detected by a pressure sensor, and the noise level is detected by a noise sensor. The detected pressure signal and noise signal are fed back to the controller to determine the location of the leak in the vacuum pipeline.

[0020] S4. Repair of leaks in vacuum pipelines

[0021] a. First, the repair paste is delivered to the repair pipe near the leak point via the delivery pump in the storage tank, and the repair paste is squeezed out onto the inner wall of the vacuum pipe.

[0022] b. Then, by controlling the air source to separate the front or rear crawling section near the leak point from the inner wall of the vacuum pipe, start the rotating mechanism. While the annular airbag rotates along the inner wall of the vacuum pipe, the telescopic section drives the front or rear crawling section to move horizontally, so that the annular airbag can repair the repair paste along the inner wall of the vacuum pipe.

[0023] c. After the repair is completed, the airbag sealing mechanism is attached to the inner wall of the vacuum pipeline. Pressure and noise data are detected by pressure and noise sensors and fed back to the controller. When the pressure and noise values ​​are less than the set values, the next section of the vacuum pipeline is inspected and repaired.

[0024] This repair method is simple to follow. It can detect leaks in vacuum pipelines without shutting down the entire pipeline system, accurately locate the leak, and determine the size of the leak based on the noise and pressure levels. This allows for rapid repair of the leak, reducing damage to the vacuum pipeline and lowering the labor intensity of manual inspection.

[0025] Furthermore, the rotating mechanism in step S1 includes a servo motor, a spur gear, and an internal gear ring. The output shaft of the servo motor is connected to the spur gear, and the internal gear ring is located on the inner side of the inner ring of the airbag. The spur gear and the internal gear ring mesh with each other. The servo motor drives the internal gear ring to rotate through the spur gear, which in turn drives the annular airbag to rotate along the inner wall of the vacuum pipe through the inner ring of the airbag, thereby repairing the leak point with the repair paste.

[0026] Furthermore, the cleaning mechanism in step S1 includes a main shaft, a brush assembly rotatably connected to the end of the main shaft, and a drive assembly for continuously rotating the brush assembly. The drive assembly drives the brush assembly to rotate along the main shaft, thereby continuously cleaning the inner wall of the vacuum pipe. After the robot enters the vacuum pipe, the drive assembly drives the brush assembly to rotate, which can clean the vacuum pipe and extend its service life.

[0027] Furthermore, the brush assembly includes a brush disk and brushes distributed along the outer circumferential side of the brush disk. The brush disk drives the brushes to rotate, thereby cleaning the vacuum pipe.

[0028] Furthermore, the drive assembly includes a drive motor, a drive gear, a transmission gear, and a driven gear. The drive motor is fixed to the main shaft via a boss, the drive gear is connected to the output shaft of the drive motor, the transmission gear is rotatably connected to the outer side of the main shaft, and the driven gear is connected to the brush disk. The drive motor drives the driven gear to rotate via the drive gear and the transmission gear, thereby achieving synchronous rotation of the brush disk. The drive assembly is connected to an external controller, which controls the operation of the drive motor to achieve synchronous rotation of the drive gear, transmission gear, and driven gear, thereby driving the brush assembly to rotate and clean the inner wall of the vacuum pipe.

[0029] Furthermore, both the front crawling section and the rear crawling section in step S1 include a cylinder shaft and an extension mechanism. The extension mechanism is connected to the cylinder shaft and is used to expand and contract along the cylinder shaft to achieve contact or disengagement with the inner wall of the vacuum pipe. The end of the cylinder shaft away from the airbag sealing mechanism is provided with a connecting sleeve for connecting the telescopic section. By having the extension mechanism of the rear crawling section contact the inner wall of the vacuum pipe, the entire robot can be supported. Then, the telescopic section drives the front crawling section to move to the required distance, so that the extension mechanism of the front crawling section contacts the inner wall of the vacuum pipe. Then, the extension mechanism of the rear crawling section is retracted, and the telescopic section drives the rear crawling section to move forward the required distance. This cycle repeats, enabling the robot to continuously crawl along the vacuum pipe.

[0030] Furthermore, the extension mechanism includes a crawling cylinder, a first connecting disc, a second connecting disc, and an extension assembly. The crawling cylinder is fixed to the cylinder shaft, the first connecting disc is fixed to the cylinder shaft and located on the side near the airbag sealing mechanism, the second connecting disc is slidably connected to the cylinder shaft, and the second connecting disc is connected to the crawling cylinder through a first telescopic rod. The extension assembly is evenly distributed in a ring between the first and second connecting discs. By pushing the second connecting disc to reciprocate along the cylinder shaft, the extension assembly can be expanded or contracted along the first connecting disc, allowing the extension assembly to contact or detach from the inner wall of the vacuum pipe, thus enabling the robot to move forward or backward along the inner wall of the vacuum pipe. The ring-shaped distribution of the extension assembly greatly improves the stability and reliability of the robot when in contact with the inner wall of the vacuum pipe.

[0031] Furthermore, the expansion assembly includes a cylinder bracket, an expansion bracket, and a connecting rod. The expansion bracket is rotatably connected to a first connecting disc, and the connecting rod is fixed to the expansion bracket. One end of the cylinder bracket is rotatably connected to a second connecting disc, and the other end of the cylinder bracket is rotatably connected to the expansion bracket, used to drive the expansion bracket and the connecting rod to unfold or retract. The cylinder bracket is rotated by the second connecting disc, which in turn drives the expansion bracket to unfold or retract, satisfying the adjustment requirements of the connecting rod. The connecting rod is used to abut against the inner wall of the vacuum pipe, and its end has an arc-shaped structure, which can play a role in protecting the vacuum pipe.

[0032] Furthermore, the telescopic section includes a fixed sleeve, a telescopic cylinder, a pushing disc, and a connecting hose. The telescopic cylinder is fixed to the fixed sleeve and connected to the pushing disc via a second telescopic rod. The pushing disc moves through the telescopic sleeve and is connected to the fixed sleeve. The fixed sleeve and the pushing disc are connected to the front crawling section and the rear crawling section respectively via the connecting hose. The connecting hose can improve the sealing effect between the telescopic section and the front and rear crawling sections, preventing leakage and affecting the detection accuracy. The telescopic cylinder drives the pushing disc to move back and forth via the second telescopic rod, thereby realizing the telescopic movement between the front and rear crawling sections, meeting the robot's movement requirements. The fixed sleeve and the telescopic sleeve improve the stability and reliability of the telescopic section during movement.

[0033] The present invention, by adopting the above-described technical solution, has the following beneficial effects:

[0034] 1. The repair method of the present invention has simple steps. It can not only detect leaks in vacuum pipelines without shutting down the entire pipeline system, but also accurately locate the leak location in the vacuum pipeline. Furthermore, it can determine the size of the leak point based on the noise and pressure levels at the leak point, and quickly repair the leak point, reducing damage to the vacuum pipeline and lowering the labor intensity of manual inspection.

[0035] 2. After the robot enters the vacuum pipeline, the drive component drives the brush component to rotate, which can clean the vacuum pipeline and extend its service life.

[0036] 3. By having the extension mechanism of the rear crawling section contact the inner wall of the vacuum pipe, the entire robot can be supported. Then, the telescopic section drives the front crawling section to move to the required distance, so that the extension mechanism of the front crawling section contacts the inner wall of the vacuum pipe. Then, the extension mechanism of the rear crawling section is retracted, and the telescopic section drives the rear crawling section to move forward the required distance. This cycle is repeated to enable the robot to continuously crawl along the vacuum pipe. Whenever the front and rear crawling sections of the robot are in the deployed state, the airbag sealing mechanism seals the inner wall of the vacuum pipe to detect whether there is a leak in the vacuum pipe between the front and rear crawling sections. Pressure sensors and diaphragms can be installed between two adjacent airbag sealing mechanisms to detect whether there is a leak in the vacuum pipe.

[0037] 4. Connecting hoses can improve the sealing effect between the telescopic section and the front and rear crawling sections, preventing leakage and affecting detection accuracy. The telescopic cylinder drives the disc to move back and forth via the second telescopic rod, thereby realizing the telescopic movement between the front and rear crawling sections and meeting the robot's movement requirements. The fixed sleeve and telescopic sleeve improve the stability and reliability of the telescopic section during movement. Attached Figure Description

[0038] The present invention will be further described below with reference to the accompanying drawings:

[0039] Figure 1 This is a flowchart of a rapid repair method for vacuum pipeline leaks according to the present invention;

[0040] Figure 2 This is a schematic diagram of the structure of the robot crawling along the vacuum pipe for repair in this invention;

[0041] Figure 3 This is a schematic diagram of the robot structure in this invention;

[0042] Figure 4 This is a schematic diagram showing the connection between the cleaning mechanism and the telescopic mechanism in this invention;

[0043] Figure 5 This is a schematic diagram of the telescopic mechanism in this invention;

[0044] Figure 6 This is a schematic diagram of the structure of the front crawling segment and the rear crawling segment in this invention;

[0045] Figure 7 for Figure 6 Schematic diagram of the structure in direction A;

[0046] Figure 8 This is a schematic diagram of the installation of the rotating mechanism in this invention;

[0047] Figure 9 This is a schematic diagram of the telescopic section in this invention.

[0048] In the diagram: 1-Cleaning mechanism; 2-Telescopic mechanism; 3-Connecting sleeve; 4-Fluid channel; 5-Main shaft; 6-Brush disc; 7-Brush; 8-Boss; 9-Drive motor; 10-Drive gear; 11-Transmission gear; 12-Driven gear; 13-Telescopic section; 14-Front crawling section; 15-Rear crawling section; 16-Cylinder shaft; 17-Connecting sleeve; 18-First connecting disc; 19-Second connecting disc; 20-Crawling cylinder; 21-First telescopic rod; 22-Extension assembly; 23-Limiting plate; 24-Inner ring of airbag; 25-Annular airbag; 26-Air valve; 2 7-Replenishment tube; 28-Mounting hole; 29-Cylinder bracket; 30-Extension bracket; 31-Connecting rod; 32-Connecting hose; 33-Fixing sleeve; 34-Telescopic cylinder; 35-Pushing disc; 36-Second telescopic rod; 37-Telescopic sleeve; 38-Vacuum pipe; 39-Stepped pipe; 41-Air source; 42-Delivery pipe; 43-Diaphragm; 44-Acoustic sensor; 45-Support wheel; 46-Pressure sensor; 47-Noise sensor; 48-Controller; 49-Support rod; 50-Storage hopper; 51-Servo motor; 52-Spur gear; 53-Internal gear ring. Detailed Implementation

[0049] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0050] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0051] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion.

[0052] like Figures 1 to 9 As shown, this invention provides a rapid repair method for leaks in a vacuum pipeline. The vacuum pipeline 38 is connected to a stepped pipeline 39 for vacuum operation of fluids. The method includes the following steps:

[0053] S1, Robot Installation

[0054] a. First, determine the number of sections of the robot telescopic mechanism 2 according to the design requirements. Install the diaphragm 43, pressure sensor 46 and noise sensor 47 along the outer side of each telescopic mechanism 2 section. Connect adjacent telescopic mechanism sections 2 through connecting sleeve 3. This application takes a three-section telescopic mechanism 2 as an example. The telescopic mechanism 2 includes a front crawling section 14 and a rear crawling section 15 that abut against the inner wall of the vacuum pipe 38, and a telescopic section 13 for connecting the front crawling section 14 and the rear crawling section 15. The cleaning mechanism 1 is connected to the front crawling section 14. The diaphragm 43 is connected to the front crawling section 14 and the rear crawling section 15 and is wrapped in the telescopic section 13. At the same time, the ointment tube 27 is connected to the mounting holes 28 of the front crawling section 14 and the rear crawling section 15.

[0055] Both the front crawling section 14 and the rear crawling section 15 include a cylinder shaft 16 and an extension mechanism. The extension mechanism is connected to the cylinder shaft 16 and is used to expand and contract along the cylinder shaft 16 to achieve contact or disengagement with the inner wall of the vacuum pipe 38. The end of the cylinder shaft 16 away from the airbag sealing mechanism is provided with a connecting sleeve 17 for connecting the telescopic section 13. By having the extension mechanism of the rear crawling section 15 contact the inner wall of the vacuum pipe 38, the entire robot can be supported. Then, the telescopic section 13 drives the front crawling section 14 to move to the required distance, so that the extension mechanism of the front crawling section 14 contacts the inner wall of the vacuum pipe 38. Then, the extension mechanism of the rear crawling section 15 is retracted, and the telescopic section 13 drives the rear crawling section 15 to move forward the required distance. This cycle repeats, enabling the robot to continuously crawl along the vacuum pipe 38.

[0056] The extension mechanism includes a crawling cylinder 20, a first connecting disk 18, a second connecting disk 19, and an extension component 22. The crawling cylinder 20 is fixed to the cylinder shaft 16. The first connecting disk 18 is fixed to the cylinder shaft 16 and located on the side near the airbag sealing mechanism. The second connecting disk 19 is slidably connected to the cylinder shaft 16 and is connected to the crawling cylinder 20 via a first telescopic rod 21. The extension component 22 is evenly distributed in a ring between the first connecting disk 18 and the second connecting disk 19. By pushing the second connecting disk 19 to reciprocate along the cylinder shaft 16, the extension component 22 can be expanded or contracted along the first connecting disk 18, allowing the extension component 22 to contact or detach from the inner wall of the vacuum pipe 38, thus enabling the robot to move forward or backward along the inner wall of the vacuum pipe 38. The ring-shaped distribution of the extension component 22 greatly improves the stability and reliability of the robot when in contact with the inner wall of the vacuum pipe 38.

[0057] The extension assembly 22 includes a cylinder bracket 29, an extension bracket 30, and a connecting rod 31. The extension bracket 30 is rotatably connected to the first connecting disc 18, and the connecting rod 31 is fixed to the extension bracket 30. One end of the cylinder bracket 29 is rotatably connected to the second connecting disc 19, and the other end of the cylinder bracket 29 is rotatably connected to the extension bracket 30, which is used to drive the extension bracket 30 and the connecting rod 31 to open or close. The cylinder bracket 29 is driven to rotate by the second connecting disc 19, which in turn drives the extension bracket 30 to open or close, thus meeting the adjustment requirements of the connecting rod 31. The connecting rod 31 is used to abut against the inner wall of the vacuum pipe 38, and its end has an arc-shaped structure, which can protect the vacuum pipe 38.

[0058] The telescopic section 13 includes a fixed sleeve 33, a telescopic cylinder 34, a pushing disc 35, and a connecting hose 32. The telescopic cylinder 34 is fixed to the fixed sleeve 33 and is connected to the pushing disc 35 via a second telescopic rod 36. The pushing disc 35 is movably connected to the fixed sleeve 33 via a telescopic sleeve 37. The fixed sleeve 33 and the pushing disc 35 are respectively connected to the front crawling section 14 and the rear crawling section 15 via the connecting hose 32. The connecting hose 32 can improve the sealing effect between the telescopic section 13 and the front crawling section 14 and the rear crawling section 15, preventing leakage and affecting the detection accuracy. The telescopic cylinder 34 drives the pushing disc 35 to move back and forth via the second telescopic rod 36, thereby realizing the telescopic movement between the front crawling section 14 and the rear crawling section 15, meeting the robot's movement requirements. The fixed sleeve 33 and the telescopic sleeve 37 improve the stability and reliability of the telescopic section 13 during movement.

[0059] b. Then, airbag sealing mechanisms are provided on both the front crawling section 14 and the rear crawling section 15. The airbag sealing mechanism includes a limiting plate 23, an inner airbag ring 24, and an annular airbag 25. The two limiting plates 23 are fixed to the front crawling section 14 and the rear crawling section 15 and are located on both sides of the inner airbag ring 24. The annular airbag 25 is connected to the outside of the inner airbag ring 24 and is equipped with an air valve 26. A rotating mechanism is provided in both the front crawling section 14 and the rear crawling section 15. The rotating mechanism is used to drive the airbag inside the ring. Ring 24 and annular airbag 25 rotate along the inner wall of vacuum pipe 38; air valve 26 is connected to external air source 41, and the air valve 26 controls the inflation or deflation of annular airbag 25 to meet the requirements of sealing vacuum pipe 38 and improve detection accuracy. The inner ring 24 of the airbag improves the stability and reliability of the installation of annular airbag 25, and at the same time ensures that the liquid flows along the inner ring 24 of the airbag. The limiting plate 23 improves the installation stability of annular airbag 25 and avoids back and forth shaking, which would affect the sealing effect.

[0060] The rotating mechanism includes a servo motor 51, a spur gear 52, and an internal gear ring 53. The output shaft of the servo motor 51 is connected to the spur gear 52. The internal gear ring 53 is located on the inner side of the inner ring 24 of the airbag. The spur gear 52 and the internal gear ring 53 mesh with each other. The servo motor 51 drives the internal gear ring 53 to rotate via the spur gear 52, which in turn drives the annular airbag 25 to rotate along the inner wall of the vacuum pipe 38 through the inner ring 24 of the airbag, thereby repairing the leak point with repair paste.

[0061] c. Next, a cleaning mechanism 1 is installed on the telescopic mechanism 2 of the head, and an acoustic sensor 44 is installed inside the cleaning mechanism 1. Fluid channels 4 are formed inside both the telescopic mechanism 2 and the cleaning mechanism 1. Support wheels 45 are connected to the cleaning mechanism 1 and the telescopic mechanism 2 of the tail through support rods 49.

[0062] The cleaning mechanism 1 includes a main shaft 5, a brush 7 assembly rotatably connected to the end of the main shaft 5, and a drive assembly for continuously rotating the brush 7 assembly. The drive assembly drives the brush 7 assembly to rotate along the main shaft 5, thereby continuously cleaning the inner wall of the vacuum pipe 38. After the robot enters the vacuum pipe 38, the drive assembly drives the brush 7 assembly to rotate, which can clean the vacuum pipe 38 and extend its service life.

[0063] The brush assembly 7 includes a brush disk 6 and brushes 7 distributed along the outer circumference of the brush disk 6. The brush disk 6 drives the brushes 7 to rotate, thereby cleaning the vacuum pipe 38.

[0064] The drive assembly includes a drive motor 9, a drive gear 10, a transmission gear 11, and a driven gear 12. The drive motor 9 is fixed to the main shaft 5 via a boss 8. The drive gear 10 is connected to the output shaft of the drive motor 9. The transmission gear 11 is rotatably connected to the outer side of the main shaft 5. The driven gear 12 is connected to the brush disk 6. The drive motor 9 drives the driven gear 12 to rotate via the drive gear 10 and the transmission gear 11, thereby achieving synchronous rotation of the brush disk 6. The drive assembly is connected to an external controller 48, which controls the operation of the drive motor 9 to achieve synchronous rotation of the drive gear 10, the transmission gear 11, and the driven gear 12, thereby driving the brush 7 assembly to rotate and clean the inner wall of the vacuum pipe 38.

[0065] S2, Delivery pipe connection

[0066] a. First, connect the front crawling section 14, the rear crawling section 15 and the telescopic section 13 to the external air source 41 through the conveying pipe 42. Electrically connect the pressure sensor 46, the noise sensor 47 and the sound wave sensor 44 to the controller 48. Connect the paste filling pipe 27 to the external storage tank 50 through the conveying pipe 42.

[0067] b. Then, place the installed robot into the vacuum tube 38, with the end with the cleaning mechanism 1 facing the direction of the robot's movement, until the robot is completely placed into the vacuum tube 38. The robot is supported in the vacuum tube 38 by the front and rear support wheels 45.

[0068] c. The front crawling section 14, the rear crawling section 15, and the telescopic section 13 are controlled by the air source 41 through the delivery pipe 42. When crawling, the rear crawling section 15 first contacts the inner wall of the vacuum pipe 38, and then the telescopic section 13 drives the front crawling section 14 to move a set distance along the inner wall of the vacuum pipe 38. The front crawling section 14 contacts the inner wall of the vacuum pipe 38, and at the same time the rear crawling section 15 disengages from the inner wall of the vacuum pipe 38. The telescopic section 13 drives the rear crawling section 15 to move forward. The cycle repeats to realize the robot crawling along the vacuum pipe 38.

[0069] d. Finally, the distance between the robot and the turning point of the vacuum pipe 38 is detected by the acoustic sensor 44, and the signal is fed back to the controller 48 to control the speed of the robot crawling along the vacuum pipe 38. At the same time, the fluid in the vacuum pipe 38 flows continuously through the fluid channel 4 inside the telescopic mechanism 2 and the cleaning mechanism 1, and the cleaning mechanism 1 continuously cleans the inner wall of the vacuum pipe 38.

[0070] S3, Vacuum Pipeline Leak Detection

[0071] a. During the process of the robot crawling along the vacuum pipe 38, when the telescopic section 13 drives the front crawling section 14 and the rear crawling section 15 to unfold, the front crawling section 14 and the rear crawling section 15 first come into contact with the inner wall of the vacuum pipe 38, and the diaphragm 43 is in the unfolded state.

[0072] b. Then, gas is introduced into the airbag sealing mechanism of the front crawling section 14 and the rear crawling section 15 through the gas source 41 and the delivery pipe 42. After the airbag sealing mechanism is inflated, it seals the inner wall of the vacuum pipe 38. At this time, a negative pressure detection area is formed between the front crawling section 14 and the rear crawling section 15 and the inner wall of the vacuum pipe 38.

[0073] c. When a leak occurs in the detection area, the pressure value of the detection area is detected by the pressure sensor 46, and the noise level is detected by the noise sensor 47. The detected pressure signal and noise signal are fed back to the controller 48 to determine the location of the leak in the vacuum pipe 38.

[0074] S4. Repair of leaks in vacuum pipelines

[0075] a. First, the repair paste is delivered to the repair tube 27 near the leak point via the delivery pump in the storage tank 50 through the delivery pipe 42, and the repair paste is squeezed out onto the inner wall of the vacuum pipe 38; the repair paste can be silver glaze, which is convenient for quickly repairing the leak point.

[0076] b. Then, by controlling the air source 41 to disengage the front crawling section 14 or the rear crawling section 15 near the leak point from the inner wall of the vacuum pipe 38, the rotating mechanism is activated. While the annular airbag 25 rotates along the inner wall of the vacuum pipe 38, the telescopic section 13 drives the front crawling section 14 or the rear crawling section 15 to move horizontally, so that the annular airbag 25 can repair the repair paste along the inner wall of the vacuum pipe 38.

[0077] c. After the repair is completed, the airbag sealing mechanism is attached to the inner wall of the vacuum pipe 38. The pressure sensor 46 and the noise sensor 47 detect the pressure data and noise data, and feed them back to the controller 48. When the pressure value and noise value are less than the set value, the next section of the vacuum pipe 38 is inspected and repaired.

[0078] This repair method is simple to follow. It can detect leaks in the vacuum pipe 38 without shutting down the entire pipeline system. It can also accurately locate the leak in the vacuum pipe 38 and determine the size of the leak based on the noise and pressure levels at the leak point. This allows for rapid repair of the leak, reducing damage to the vacuum pipe 38 and lowering the labor intensity of manual inspection.

[0079] The above are merely specific embodiments of the present invention, but the technical features of the present invention are not limited thereto. Any simple changes, equivalent substitutions, or modifications made based on the present invention to achieve substantially the same technical effect are all covered within the protection scope of the present invention.

Claims

1. A method for quickly repairing vacuum pipeline leakage, characterized in that The steps include: S1. Robot installation a. First, determine the number of sections of the robot telescopic mechanism according to the design requirements, install a diaphragm, a pressure sensor and a noise sensor along the outer side of each section of the telescopic mechanism, and splice two adjacent sections of the telescopic mechanism through a connecting sleeve. The telescopic mechanism includes a front crawling section and a rear crawling section that abut against the inner wall of the vacuum pipe, a telescopic section for connecting the front crawling section and the rear crawling section, a cleaning mechanism connected to the front crawling section, a diaphragm connected to the front crawling section and the rear crawling section, and wrapped around the telescopic section, and at the same time, a paste filling tube is connected to the installation holes of the front crawling section and the rear crawling section; b. Then, an airbag blocking mechanism is provided on both the front crawling section and the rear crawling section. The airbag blocking mechanism includes a limit plate, an airbag inner ring and an annular airbag. Two limit plates are fixed to the front crawling section and the rear crawling section and are located on both sides of the airbag inner ring. The annular airbag is connected to the outer side of the airbag inner ring. The annular airbag is provided with an air valve. A rotating mechanism is provided in both the front crawling section and the rear crawling section. The rotating mechanism is used to drive the airbag inner ring and the annular airbag to rotate along the inner wall of the vacuum pipe. c. Then, a cleaning mechanism is installed on the telescopic mechanism of the head, and an acoustic wave sensor is installed inside the cleaning mechanism. Fluid channels are formed inside the telescopic mechanism and the cleaning mechanism, and support wheels are connected to the telescopic mechanism of the cleaning mechanism and the tail through support rods; S2. Transport pipe connection a. First, connect the front crawling section, the rear crawling section and the telescopic section to the external air source through the conveying pipe, electrically connect the pressure sensor, the noise sensor and the acoustic wave sensor to the controller, and connect the paste filling tube to the external storage barrel through the conveying pipe; b. Then put the installed robot into the vacuum pipe, with the end with the cleaning mechanism facing the forward direction of the robot, until the robot is completely placed in the vacuum pipe, and the robot is supported in the vacuum pipe by the support wheels provided at the front and rear; c. The front crawling section, the rear crawling section and the telescopic section are controlled by the air source through the conveying pipe. When crawling, the rear crawling section first contacts the inner wall of the vacuum pipe, and then drives the front crawling section to move a set distance along the inner wall of the vacuum pipe through the telescopic section. The front crawling section contacts the inner wall of the vacuum pipe, and at the same time, the rear crawling section is separated from the inner wall of the vacuum pipe, and the rear crawling section is driven to move forward through the telescopic section. The robot crawls along the vacuum pipe in a reciprocating cycle; d. Finally, the distance between the robot and the turning point of the vacuum pipe is detected by the acoustic wave sensor, and the signal is fed back to the controller to control the speed of the robot when crawling along the vacuum pipe. At the same time, the fluid in the vacuum pipe flows uninterruptedly through the fluid channels inside the telescopic mechanism and the cleaning mechanism, and the cleaning mechanism continuously cleans the inner wall of the vacuum pipe; S3. Vacuum pipeline leakage detection a. When the robot is crawling along the vacuum pipe, when the telescopic section drives the front crawling section and the rear crawling section to unfold, the front crawling section and the rear crawling section first contact the inner wall of the vacuum pipe, and the diaphragm is in an unfolded state; b. Then, gas is input into the airbag blocking mechanism of the front crawling section and the rear crawling section through the air source through the delivery pipe, so that the airbag blocking mechanism is inflated to block the inner wall of the vacuum pipe. At this time, a negative pressure detection area is formed between the front crawling section and the rear crawling section and the inner wall of the vacuum pipe; c. When leakage occurs in the detection area, the pressure value of the detection area is detected by the pressure sensor, and the noise level is detected by the noise sensor. The detected pressure signal and noise signal are fed back to the controller to determine the leakage position of the vacuum pipeline; S4. Repair of vacuum pipeline leakage points a. First, use the delivery pump in the storage barrel to deliver the repair paste through the delivery pipe to the repair paste pipe near the leak point, and squeeze the repair paste onto the inner wall of the vacuum pipe; b. Then, the front crawling section or the rear crawling section near the leakage point is separated from the inner wall of the vacuum pipe by controlling the air source, and the rotating mechanism is started, so that the annular airbag rotates along the inner wall of the vacuum pipe, and the front crawling section or the rear crawling section is driven to move horizontally through the telescopic section, so that the annular airbag can repair the repair paste along the inner wall of the vacuum pipe; c. After the repair is completed, the airbag sealing mechanism is attached to the inner wall of the vacuum pipe, and the pressure data and noise data are detected by the pressure sensor and noise sensor, and fed back to the controller. When the pressure value and noise value are less than the set value, the next section of the vacuum pipe is inspected and repaired.

2. A vacuum pipeline leakage rapid repair method according to claim 1, characterized in that: The rotating mechanism in step S1 includes a servo motor, a spur gear and an inner gear ring, the output shaft of the servo motor is connected to the spur gear, the inner gear ring is arranged on the inner side surface of the airbag inner ring, and the spur gear and the inner gear ring are meshed with each other.

3. A vacuum pipeline leakage rapid repair method according to claim 1, characterized in that: The cleaning mechanism in step S1 includes a main shaft, a brush assembly rotatably connected to the end of the main shaft, and a driving assembly for driving the brush assembly to rotate continuously. The driving assembly drives the brush assembly to rotate along the main shaft to achieve continuous cleaning of the inner wall of the vacuum pipe.

4. A method for quickly repairing vacuum pipeline leakage according to claim 3, characterized in that: The brush assembly comprises a brush disc and brushes distributed along the outer circumferential side of the brush disc. The brushes are driven to rotate by the brush disc to clean the vacuum pipe.

5. A method for quickly repairing vacuum pipeline leakage according to claim 4, characterized in that: The driving assembly includes a driving motor, a driving gear, a transmission gear and a driven gear. The driving motor is fixed to the main shaft through a boss, the driving gear is connected to the output shaft of the driving motor, the transmission gear is rotatably connected to the outer side of the main shaft, and the driven gear is connected to the brush plate. The driving motor drives the driven gear to rotate through the driving gear and the transmission gear to achieve synchronous rotation of the brush plate.

6. A method for quickly repairing vacuum pipeline leakage according to claim 1, characterized in that: The front crawling section and the rear crawling section in step S1 both include a cylinder shaft and an expansion mechanism. The expansion mechanism is connected to the cylinder shaft and is used to expand and contract along the cylinder shaft to achieve interference or separation with the inner wall of the vacuum pipe. A connecting sleeve is provided at one end of the cylinder shaft away from the airbag sealing mechanism for connecting the telescopic section.

7. A method for quickly repairing vacuum pipeline leakage according to claim 6, characterized in that: The expansion mechanism includes a crawling cylinder, a first connecting disc, a second connecting disc and an expansion component. The crawling cylinder is fixed to the cylinder shaft, the first connecting disc is fixed to the cylinder shaft on a side close to the airbag sealing mechanism, the second connecting disc is slidably connected to the cylinder shaft, the second connecting disc is connected to the crawling cylinder through a first telescopic rod, and the expansion component is evenly distributed in a ring shape between the first connecting disc and the second connecting disc.

8. A method for quickly repairing vacuum pipeline leakage according to claim 7, characterized in that: The extension component includes a cylinder bracket, an extension bracket and a connecting rod. The extension bracket is rotatably connected to the first connecting disk, and the connecting rod is fixed on the extension bracket. One end of the cylinder bracket is rotatably connected to the second connecting disk, and the other end of the cylinder bracket is rotatably connected to the extension bracket, which is used to drive the extension bracket and the connecting rod to expand or retract.

9. A method for quickly repairing vacuum pipeline leakage according to claim 1, characterized in that: The telescopic section includes a fixed sleeve, a telescopic cylinder, a pushing disc and a connecting hose. The telescopic cylinder is fixed on the fixed sleeve. The telescopic cylinder is connected to the pushing disc through a second telescopic rod. The pushing disc is movably connected to the fixed sleeve through the telescopic sleeve. The fixed sleeve and the pushing disc are respectively connected to the front crawling section and the rear crawling section through the connecting hose.

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