Unmanned detection and repair complete equipment for water operation of limited deeply-buried damaged pipeline

Abstract

The invention discloses unmanned detection and repair complete equipment for water operation of a limited deeply-buried damaged pipeline, which comprises traction vehicle heads, a trolley worktable, a monitoring tail end and a pipeline assembly, and is characterized in that the trolley worktable is connected between the two traction vehicle heads through a traction rotating shaft; monitoring cameras are arranged on the traction vehicle head and the trolley workbench, and a bag-shaped sealing assembly and a fixed supporting assembly are arranged on the outer side of the traction vehicle head; a rotary supporting assembly and three sliding supporting assemblies are arranged on the upper end face of the trolley workbench, and the three sliding supporting assemblies are provided with cleaning brushes, plugging steel plates and corrugated plates correspondingly. The pipeline assembly comprises a signal transmission line, a glue supplementing pipe, an inflation pipe and a drainage pipe. The damaged pipeline integrated repairing trolley capable of working with water is compact in structure, convenient to walk, simple in water repairing operation construction of through type cracks in a pipeline, convenient to control, high in construction efficiency and convenient to operate.

Description

Technical Field

[0001] The invention relates to the technical field of pipeline construction, and in particular to a complete set of unmanned detection and repair equipment for restricted deep-buried damaged pipelines with water. Background Art

[0002] Various types of pipelines are important infrastructure for urban operations. The intricate and interconnected drainage pipes are responsible for the organized discharge of rainwater and sewage from the city, and play an important role in ensuring a clean urban environment and preventing urban waterlogging.

[0003] Since most pipelines are buried underground and the underground conditions are complex and changeable, pipelines often break and need repair. For pipelines located in old urban areas due to the small ground working surface, in complex underground spaces due to the complex surrounding environment and the large number of underground pipelines, and in busy traffic areas due to the need for urban traffic, it is difficult to repair buried pipelines using the construction method of excavation repair followed by backfilling, and trenchless repair is required.

[0004] For the repair of through-type cracks in smaller diameter pipelines, workers cannot enter the pipeline through the inspection well and the smaller diameter pipeline cannot provide enough working space for workers to operate machinery to enter the pipeline for repair. In addition, due to the small damaged area, scattered damaged locations and small number of damaged parts, the cost of using large-scale mechanical equipment for repair is high and not economical and practical. Especially when there is a certain amount of water stored in the pipeline, the restrictions on working with water are higher. Therefore, it is urgent to have a set of unmanned inspection and repair equipment for working with water in deep buried damaged pipelines to solve the existing technical problems. Summary of the invention

[0005] The purpose of the present invention is to provide a complete set of equipment for unmanned detection and repair of damaged pipelines with water in a restricted deep-buried state, so as to solve the above defects.

[0006] In order to achieve the above object, the present invention provides the following technical solutions:

[0007] A complete set of unmanned inspection and repair equipment for restricted deep-buried damaged pipelines with water, comprising: a tractor head, a trolley workbench, a monitoring terminal and a pipeline assembly, wherein two tractor heads are provided, and the trolley workbench is connected in the middle of the two tractor heads through a traction shaft; monitoring cameras are provided on the tractor head and the trolley workbench, and a bladder-shaped sealing assembly and a fixed support assembly are provided on the outside of the tractor head; a rotating support assembly and a sliding support assembly are provided on the upper end surface of the trolley workbench, and the sliding support assembly is provided with three cleaning brushes, sealing brushes and other components respectively installed. The pipe assembly includes a signal transmission line, a rubber filling pipe, an air charging pipe and a drainage pipe. The tractor head, the monitoring camera, the fixed support assembly, the rotating support assembly and the sliding support assembly are all connected to the monitoring terminal through the signal transmission line. The front end of the rubber filling pipe is installed on the cleaning brush, and the rear end thereof is installed in the rubber filling pool. The front end of the air charging pipe is connected to the bladder-shaped sealing assembly, and an air pump is installed at the rear end thereof. One end of the drainage pipe is installed at the low position of the inner end face of the bladder-shaped sealing assembly through the drainage pump, and the other end thereof is installed on the outer end face of the bladder-shaped sealing assembly.

[0008] Preferably, the bladder-like sealing assembly includes a wheel hub base and an annular airbag, a center hole is provided at the center of the wheel hub base, the tractor head is engaged in the center hole of the wheel hub base and sealed and fixed, the annular airbag is sleeved on the outer periphery of the wheel hub base, the front end of the inflation tube is connected to the annular airbag of the bladder-like sealing assembly, and a deflation valve connected to the inner end face of the bladder-like sealing assembly is installed on the annular airbag, the start-stop control motor provided for the inflation pump and the drainage pump and the control switch provided for the deflation valve are all connected to the monitoring terminal through a signal transmission line.

[0009] Preferably, the tractor head and the trolley workbench are also provided with lighting lamps, and the lighting lamps and monitoring cameras are installed on the upper end surface of the tractor head or the trolley workbench through a first telescopic rod, and the first telescopic rod is respectively controlled to be extended and retracted by a motor, and the control motor of the first telescopic rod is connected to the monitoring end through a signal transmission line.

[0010] Preferably, at least one group of the fixed support components is provided, and each group of the fixed support components is provided with at least three fixed support components and are radially symmetrically installed on the tractor head with the central axis of the tractor head in the front-rear direction as the axis; the fixed support components include a support end and a second telescopic rod, the second telescopic rod is vertically installed on the tractor head, the support end is installed on the top of the second telescopic rod, the second telescopic rod is controlled to be extended and retracted by a motor, and the control motor of the second telescopic rod is connected to the monitoring end through a signal transmission line.

[0011] Preferably, the rotating support assembly is provided with at least one group, and each group of rotating support assemblies is provided with at least three rotating support assemblies and are radially symmetrically installed on the trolley workbench with the central axis of the front-to-back direction of the trolley workbench as the axis; the rotating support assembly includes a rotating roller and a third telescopic rod, the third telescopic rod is vertically installed on the trolley workbench, the rotating roller is installed on the top of the third telescopic rod, the third telescopic rod is controlled to be extended and retracted by a motor, and the control motor of the third telescopic rod is connected to the monitoring terminal through a signal transmission line.

[0012] Preferably, the sliding support assemblies are provided with three and each includes a sliding base, a fourth telescopic rod, and a hinged ear plate. A slide groove is provided on the center line of the upper end surface of the trolley workbench. The sliding base is installed in the slide groove on the upper end of the trolley workbench and slides by a motor. Two hinged ear plates are provided and are symmetrically installed on the front and rear sides of the upper end surface of the sliding base. The lower end of the fourth telescopic rod is hingedly installed between the two hinged ear plates. The cleaning brush, sealing steel plate and corrugated plate are respectively installed on the top of the fourth telescopic rod of the three sliding support assemblies.

[0013] Preferably, two upper and lower shaft rods are installed between the two hinged ear plates and are respectively the first shaft rod and the second shaft rod. Both ends of the two shaft rods are installed on the two hinged ear plates through bearings. The lower end of the fourth telescopic rod is fixed on the first shaft rod. The first shaft rod and the second shaft rod are respectively installed with a passive gear 1 and a driving gear 1 that mesh with each other. The second shaft rod is rotated by the control of the first stepper motor; the fourth telescopic rod is extended and retracted by the control of the motor.

[0014] Preferably, a passive gear plate is fixedly mounted on the first shaft rod, an arc-shaped through hole is arranged on the end face of the passive gear plate, and the second shaft rod is penetrated in the arc-shaped through hole of the passive gear plate; slide rails are arranged on the upper end faces of the trolley worktable on both sides of the slide groove, and a second stepper motor is installed on the slide rails, and the active gear 2 installed on the output shaft of the second stepper motor meshes with the gear teeth arranged on the outer periphery of the passive gear plate; a trolley control module is installed inside the trolley worktable, the sliding base controls the sliding motion motor, the second shaft rod controls the rotating first stepper motor, the fourth telescopic rod controls the telescopic motor, and the second stepper motor controlling the rotation of the active gear 2 are all connected to the trolley control module through a signal transmission line, and then connected to the control terminal through a signal transmission line.

[0015] Preferably, the blocking steel plate and the corrugated plate are both adsorbed on the top end of the fourth telescopic rod through a suction cup.

[0016] Preferably, the front and rear ends of the trolley workbench are connected to the traction shaft set on the rear ends of the two traction heads through connecting hinges. The traction shaft of the traction head is rotated by motor control and drives the trolley workbench to rotate through the connecting hinge.

[0017] Preferably, the bottom of the tractor head and the trolley workbench are both provided with a plurality of running wheels, and the running wheels are controlled by a motor to move, and the plurality of running wheels at the bottom of the tractor head are arranged in two rows in the front-to-rear direction and are symmetrically installed at the bottom of the tractor head.

[0018] The beneficial effects of the present invention are:

[0019] The damaged pipeline integrated repair trolley capable of water operation can monitor the interior of the pipeline in real time by arranging lighting and monitoring cameras on the tractor head and the trolley workbench, so as to detect through-type cracks in the pipeline; the tractor head can be limited and fixed during the later through-type crack repair operation in the pipeline through the fixed support assembly installed on the tractor head, thereby improving the stability of the tractor head; the trolley workbench can be rotated under the action of the traction shaft of the tractor head through the rotating support assembly installed on the trolley workbench, so that the upper end of the trolley workbench is placed on the pipeline The pipeline is directly below the through-type cracks in the pipeline, ensuring the stability and convenience of the repair work; the bladder-shaped sealing components arranged on the two tractor heads are inflated and the two ends of the pipeline are blocked, and the water in the pipeline between the two blocked places can be pumped out through the drainage pipe and the drainage pump, so as to improve the waterless or less-water environment for the repair work of the through-type cracks in the pipeline and improve the repair work effect; the cleaning brush, blocking steel plate and corrugated plate arranged on the upper end of the trolley workbench are used, and the blocking steel plate and the corrugated plate are coated with underwater adhesive, so that the through-type cracks in the pipeline can be cleaned, blocked and other repair operations can be performed. The damaged pipeline integrated repair trolley capable of water-carrying operation of the present invention has a compact structure, is easy to walk, is simple to construct, is easy to control, has high construction efficiency and is easy to operate. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 : A schematic diagram of the structure of the present invention;

[0021] Figure 2 : Figure 1 Cross-sectional view in CC direction;

[0022] Figure 3 : Figure 1 Section view in the AA direction;

[0023] Figure 4 : A schematic structural diagram of a sliding support assembly of the present invention;

[0024] Figure 5 : Figure 1 A magnified view of the structure at B in the middle;

[0025] Figure 6 : A schematic structural diagram of a passive gear plate of the present invention. DETAILED DESCRIPTION

[0026] The present invention is further described below in conjunction with the embodiments. It should be noted that these are merely examples and illustrations of the concept of the present invention. Those skilled in the art may make various modifications or additions to the described specific embodiments or replace them in a similar manner. As long as they do not deviate from the concept of the invention or exceed the scope defined by the claims, they should be deemed to fall within the protection scope of the present invention.

[0027] Embodiment 1:

[0028] like Figure 1 As shown, the unmanned inspection and repair equipment for water-carrying operations on deep-buried damaged pipelines comprises: a tractor head 1, a trolley workbench 2, a monitoring terminal and a pipeline assembly 4. Two tractor heads 1 are provided, and the trolley workbench 2 is connected in the middle of the two tractor heads 1 through a traction shaft. The trolley workbench 2 can rotate relative to the tractor head 1 under the action of the traction shaft.

[0029] The tractor head 1 and the trolley workbench 2 are both provided with monitoring cameras 13, which can monitor the interior of the pipeline in real time, so as to find the through-type cracks and damaged parts on the inner wall of the pipeline. The upper end surface of the tractor head 1 is provided with a bladder-shaped sealing component 3, and the two bladder-shaped sealing components 3 can seal the two ends of the through-type cracks and damaged parts on the inner wall of the pipeline when inflated.

[0030] The upper end surface of the tractor head 1 is provided with a fixed support assembly 5 for supporting and fixing the tractor head 1 to improve the stability of the tractor head 1. The upper end surface of the trolley workbench 2 is provided with a rotating support assembly 6, so that the trolley workbench 2 can rotate under the traction shaft of the tractor head 1, so that the upper end of the trolley workbench 2 is placed directly below the through crack in the pipeline, ensuring the stability and convenience of the repair operation.

[0031] The pipeline assembly 4 includes a signal transmission line 41, a rubber filling hose 42, an inflation hose 43 and a drainage pipe. The tractor head 1, the monitoring camera 13, the fixed support assembly 5, the rotating support assembly 6 and the sliding support assembly 7 are all connected to the monitoring terminal through the signal transmission line 41, and can be controlled by the monitoring terminal.

[0032] The front end of the inflation tube 43 is connected to the bladder-shaped sealing component 3, and an inflation pump is installed at the rear end thereof. One end of the drainage tube is installed at a low position on the inner end surface of the bladder-shaped sealing component 3 through the drainage pump, and the other end is installed on the outer end surface of the bladder-shaped sealing component 3. The water in the pipeline between the two blockages can be pumped out through the drainage tube and the drainage pump, thereby improving the waterless or less-water environment for the repair of the through-type cracks in the pipeline and improving the repair effect.

[0033] A cleaning brush 9, a sealing steel plate 8 and a corrugated plate 10 are respectively installed on the upper end surface of the trolley workbench 2 through a sliding support assembly 7. The front end of the glue repair tube 42 is installed on the cleaning brush 9, and the rear end thereof is installed in the glue repair pool. The cleaning brush 9 can be used to apply glue to the through-type cracks in the pipeline; the sealing steel plate and the corrugated plate are coated with adhesive, so as to realize the cleaning, sealing, covering and bonding of the through-type cracks in the pipeline.

[0034] Embodiment 2:

[0035] like Figure 1-6 As shown, the unmanned inspection and repair equipment for restricted deep-buried damaged pipelines with water includes: a tractor head 1, a trolley workbench 2, a monitoring terminal and a pipeline assembly 4. The pipeline assembly 4 includes a signal transmission line 41, a rubber filling hose 42, an inflation hose 43 and a drainage pipe. A trolley control module is installed in one of the two tractor heads 1 or the trolley workbench 2.

[0036] There are two tractor heads 1, and the trolley workbench 2 is connected in the middle of the two tractor heads 1 through a traction shaft. The front and rear ends of the trolley workbench 2 are connected to the traction shaft at the rear end of the two tractor heads 1 through a connecting hinge. The traction shaft of the tractor head 1 is rotated by motor control, and the trolley workbench 2 can rotate relative to the tractor head 1 under the action of the connecting hinge and the traction shaft. A plurality of running wheels 11 are arranged at the bottom of the tractor head 1 and the trolley workbench 2, and the running wheels 11 are controlled by a motor to run. The plurality of running wheels 11 at the bottom of the tractor head 1 are arranged in two rows in the front and rear direction and are symmetrically installed at the bottom of the tractor head 1. The rotation control motor of the traction shaft of the tractor head 1 and the running control motor of the running wheels 11 are connected to the trolley control module through a signal transmission line 41, and then connected to the control terminal through a signal transmission line 41.

[0037] The tractor head 1 and the trolley workbench 2 are both provided with lighting lamps 12 and monitoring cameras 13, which are both installed on the upper end surface of the tractor head 1 or the trolley workbench 2 through a first telescopic rod 14. The first telescopic rod 14 is respectively controlled to be telescopic by a motor, and the telescopic control motor of the first telescopic rod 14 is connected to the trolley control module through a signal transmission line 41, and then connected to the control terminal through the signal transmission line 41. The control terminal can monitor the interior of the pipeline in real time, which is convenient for finding the through-type crack damage on the inner wall of the pipeline.

[0038] The upper end surface of the tractor head 1 is provided with a fixed support assembly 5, and at least one group of fixed support assemblies 5 is provided, and each group of fixed support assemblies 5 is provided with at least three fixed support assemblies 5 and are radially symmetrically installed on the tractor head 1 with the central axis of the tractor head 1 in the front-rear direction as the axis; the fixed support assembly 5 includes a support end 51 and a second telescopic rod 52, and the second telescopic rod 52 is vertically installed on the tractor head 1, and the support end 51 is installed on the top of the second telescopic rod 52. The second telescopic rod 52 is controlled to extend and retract by a motor, and the control motor of the second telescopic rod 52 is connected to the trolley control module and the monitoring terminal through a signal transmission line 41. When the tractor head 1 pulls the trolley workbench 2 to the damaged part close to the through-type crack of the pipeline, all the second telescopic rods 52 of at least one group of at least three fixed support assemblies 5 are synchronously extended until they are stable, and the tractor head 1 is placed on the axis of the pipeline, so that the tractor head 1 can be supported and fixed to improve the stability of the tractor head 1.

[0039] A bladder-shaped sealing assembly 3 is arranged on the outside of the tractor head 1. The bladder-shaped sealing assembly 3 includes a hub base 31 and an annular airbag 32. A center hole is arranged in the center of the hub base 31. The tractor head 1 is engaged in the center hole of the hub base 31 and is sealed and fixed. The annular airbag 32 is sleeved on the outer periphery of the hub base 31. An air release valve connected to the inner end face of the bladder-shaped sealing assembly 3 is installed on the annular airbag 32. The front end of the inflation tube 43 is connected to the annular airbag 32 of the bladder-shaped sealing assembly 3, and an inflation pump is installed at the rear end thereof. The inflation pump can be installed on the ground. One end of the drainage pipe is installed at a low position on the inner end face of the bladder-shaped sealing assembly 3 through the drainage pump, and the other end is installed on the outer end face of the bladder-shaped sealing assembly 3. The start-stop control motor provided by the inflation pump and the drainage pump and the control switch provided by the air release valve are all connected to the trolley control module through the signal transmission line 41, and then connected to the control terminal through the signal transmission line 41. The annular airbag 32 of the sac-like sealing component 3 can be inflated through an air pump to achieve squeezing and sealing of the inner wall of the pipeline. The water in the pipeline between the two sac-like sealing component 3 seals can be pumped out through a drain pipe and a drain pump. At the same time, the pipeline between the two seals can be ventilated through the air relief valve installed on the annular airbag 32 to maintain pressure balance and improve drainage efficiency, thereby ensuring a water-free or low-water environment for the repair of through-type cracks in the pipeline and improving the effect of pipeline repair operations.

[0040] A rotating support assembly 6 is provided on the upper end surface of the trolley workbench 2, and at least one group of rotating support assemblies 6 is provided. Each group of rotating support assemblies 6 is provided with at least three rotating support assemblies 6 and are radially symmetrically installed on the trolley workbench 2 with the central axis of the front-to-back direction of the trolley workbench 2 as the axis; the rotating support assembly 6 includes a rotating roller 61 and a third telescopic rod 62, the third telescopic rod 62 is vertically installed on the trolley workbench 2, the rotating roller 61 is installed on the top of the third telescopic rod 62, the third telescopic rod 62 is controlled to be retracted by a motor, and the control motor of the third telescopic rod 62 is connected to the trolley control module and the monitoring terminal through a signal transmission line 41. By synchronously extending all the third telescopic rods 62 of at least one group, and at least three rotating support assemblies 6 in each group, until they are stable, the trolley workbench 2 is placed on the axis line of the pipeline, which not only supports and fixes the trolley workbench 2 and improves the stability of the trolley workbench 2; but also the trolley workbench 2 can rotate under the traction shaft of the traction head 1, so as to adjust the upper end surface of the trolley workbench 2 to be directly below the through-type crack in the pipeline, thereby ensuring the stability and convenience of the repair operation.

[0041] A slide groove 21 is provided on the center line of the upper end surface of the trolley workbench 2, that is, the slide groove 21 is provided in the front-to-back direction at the center of the front-to-back direction of the upper end surface of the trolley workbench 2. A cleaning brush 9, a blocking steel plate 8 and a corrugated plate 10 are respectively installed on the upper end surface of the trolley workbench 2 through the sliding support assembly 7, and the blocking steel plate 8 and the corrugated plate 10 are both adsorbed on the top of the fourth telescopic rod 72 through a suction cup. The front end of the glue filling tube 42 is installed on the cleaning brush 9, and the rear end thereof is installed in the glue filling pool, and the cleaning brush 9 can be used to apply glue to the through-type cracks in the pipeline. The blocking steel plate 8 and the corrugated plate 10 can be cleaned, blocked, covered and bonded to the through-type cracks in the pipeline through the glue applied.

[0042] Among them, there are three sliding support assemblies 7, each of which includes a sliding base 71, a fourth telescopic rod 72, and a hinged ear plate 73. The sliding base 71 is installed in the slide groove 21 at the upper end of the trolley workbench 2 and slides by a motor. There are two hinged ear plates 73 and they are symmetrically installed on the front and rear sides of the upper end of the sliding base 71. The lower end of the fourth telescopic rod 72 is hingedly installed between the two hinged ear plates 73. The cleaning brush 9, the sealing steel plate 8 and the corrugated plate 10 are respectively installed at the top of the fourth telescopic rod 73 of the three sliding support assemblies 7.

[0043] Two upper and lower shafts are installed between the two hinged ear plates 73, which are the first shaft 74 and the second shaft 77. Both ends of the two shafts are installed on the two hinged ear plates 73 through bearings. The lower end of the fourth telescopic rod 72 is fixed on the first shaft 74. The first shaft 74 and the second shaft 77 are respectively installed with a passive gear 75 and a driving gear 78 that mesh with each other. The second shaft 77 is controlled to rotate by the first stepper motor 771, and the fourth telescopic rod 72 is controlled to extend and retract by the motor. A passive gear plate 76 is fixedly installed on the first shaft 74, and an arc-shaped through hole 761 is set on the end surface of the passive gear plate 76. The second shaft 77 is set in the arc-shaped through hole 761 of the passive gear plate 76, so that the rotation of the passive gear plate 76 will not be affected by the second shaft 77.

[0044] Slide rails are arranged on the upper end surfaces of the trolley worktable 2 on both sides of the slide slot 21, and second stepper motors 79 are installed on the slide rails. The driving gear 2 791 installed on the output shaft of the second stepper motor 79 meshes with the gear teeth arranged on the outer periphery of the passive gear disc 76. Through the output of the first stepper motor 771 and the second stepper motor 79 and the reasonable setting of the diameter and number of gear teeth of the driving gear 1 78, the driving gear 2 791, the passive gear 1 75, and the passive gear disc 76, the fourth telescopic rod 72 can be rotated under the synchronous operation of the first stepper motor 771 and the second stepper motor 79. The passive gear disc 76 and the fourth telescopic rod 72 are fixed at multiple points, not only connected by the first shaft rod 74, but also the surface of the passive gear disc 76 and the fourth telescopic rod 72 are welded or fixed by screws, which can effectively improve the rotation reliability of the fourth telescopic rod 72.

[0045] A trolley control module is installed inside the trolley workbench 2, the sliding base 71 controls the sliding motion motor, the second shaft rod 77 controls the rotating first stepper motor 771, the fourth telescopic rod 72 controls the telescopic motor, and the second stepper motor 79 that controls the rotation of the driving gear 2 791 are all connected to the trolley control module through the signal transmission line 41, and then connected to the control terminal through the signal transmission line 41.

[0046] The use steps of the unmanned detection and repair equipment for restricted deep buried damaged pipelines with water in the present invention are as follows:

[0047] S1. Place the entire tractor head 1 and the trolley workbench 2 through the pipeline inspection well into the restricted deep-buried damaged pipeline to be operated, and place the end of the glue repair pipe 42 connected to the trolley workbench 2 in the glue repair pool on the ground. The glue stored in the glue repair pool is a waterproof adhesive that can be used for underwater operations; connect the trolley control module installed in the tractor head 1 or the trolley workbench 2 to the monitoring terminal in the hand of the operator placed on the ground through the signal transmission line 41.

[0048] S2. The operator controls the tractor head 1 to move in the pipeline through the monitoring terminal on the ground, and uses the lighting 12 and monitoring camera 13 installed on the tractor head 1 and the trolley workbench 2 to illuminate and monitor the inner wall of the pipeline in real time.

[0049] S3. After the through cracks on the inner wall of the pipeline are found, the tractor head 1 is controlled to move so that the through cracks on the pipeline are located outside the trolley workbench 2, that is, the through cracks are located in the same section as the trolley workbench 2.

[0050] S4, by controlling the second telescopic rod 52 of the fixed support assembly 5 installed on the tractor head 1 to extend synchronously and squeeze against the inner wall of the pipeline, the stability of the tractor head 1 is ensured. At the same time, all the third telescopic rods 62 of the rotating support assembly 6 arranged on the upper end surface of the trolley workbench 2 are extended synchronously, and finally the trolley workbench 2 is placed on the axis of the pipeline.

[0051] S5. Control the inflation pipe 43 to inflate the annular airbag 32 of the bladder-like sealing assembly 3 provided on the outer side of the tractor head 1 and realize the extrusion and sealing of the inner wall of the pipeline, and then pump out the water in the pipeline between the two seals of the bladder-like sealing assembly 3 through the drainage pipe and the drainage pump; at the same time, the pipeline between the two seals can be ventilated through the air relief valve installed on the annular airbag 32 to maintain pressure balance and improve drainage efficiency, thereby ensuring a water-free or low-water environment for the repair operation of the through-type cracks in the pipeline and improving the effect of the pipeline repair operation.

[0052] S6. The control trolley workbench 2 is rotated under the action of the traction shaft of the traction head 1, so as to adjust the slide groove 21 on the upper end surface of the trolley workbench 2 to be directly below or nearly directly below the through-type crack in the pipeline.

[0053] S7, control the sliding of the cleaning brush 9 installed on the workbench 2 of the control trolley through the sliding support assembly 7, so that the cleaning brush 9 is close to the through-type crack of the pipe; then, through the extension and rotation of the fourth telescopic rod 72, the cleaning brush 5 is brought into contact with the through-type crack of the pipe and the through-type crack is cleaned; then, the monitoring end controls the glue filling tube 42 to inject glue and apply glue to the through-type crack of the pipe through the cleaning brush 9.

[0054] S6. Control the sliding of the cleaning brush 9 and the sliding support assembly 7 by monitoring the end, so that the cleaning brush 9 is away from the through-type crack, control the sealing steel plate 8 to be close to the through-type crack, and stick it to the through-type crack of the pipeline.

[0055] S7. Control the sliding support assembly 7 where the sealing steel plate 8 is located to move away from the through-type crack by monitoring the end, then control the cleaning brush 9 to approach the through-type crack and apply glue to the sealing steel plate 8 and the inner wall of the pipeline nearby. Finally, control the cleaning brush 9 to move away, control the corrugated plate 10 and its sliding support assembly 7 to approach the through-type crack, and cover the corrugated plate 10 on the sealing steel plate 8 and the inner wall of the pipeline nearby, thereby completing the unmanned inspection and reinforcement and repair of the restricted deep-buried damaged pipeline with water.

[0056] The integrated damaged pipe repair trolley capable of water-assisted repair has a compact structure and is easy to move. The water-assisted repair operation for through-type cracks in the pipe is simple to construct, easy to control, highly efficient and easy to operate.

[0057] The above is an exemplary description of the invention. Obviously, the specific implementation of the present invention is not limited to the above-mentioned method. As long as such non-substantial improvements are made by adopting the method concept and technical solution of the present invention, or the concept and technical solution of the invention are directly applied to other occasions without improvement, they are all within the protection scope of the present invention.

Claims

1. A complete set of equipment for unmanned inspection and repair of damaged pipelines with water in deep burial, It is characterized in that include: A tractor head (1), a trolley workbench (2), a monitoring terminal and a pipeline assembly (4), wherein two tractor heads (1) are provided, and the trolley workbench (2) is connected to the middle of the two tractor heads (1) via a traction shaft; monitoring cameras (13) are provided on the tractor head (1) and the trolley workbench (2); a bladder-shaped sealing assembly (3) and a fixed support assembly (5) are provided on the outer side of the tractor head (1); a rotating support assembly (6) and a sliding support assembly (7) are provided on the upper end surface of the trolley workbench (2); three sliding support assemblies (7) are provided and are respectively equipped with cleaning brushes (9), sealing steel plates (8) and corrugated plates (10); the pipeline The assembly (4) comprises a signal transmission line (41), a rubber filling tube (42), an air charging tube (43) and a drainage tube. The tractor head (1), the monitoring camera (13), the fixed support assembly (5), the rotating support assembly (6) and the sliding support assembly (7) are all connected to the monitoring end through the signal transmission line (41); the front end of the rubber filling tube (42) is installed on the cleaning brush (9), and the rear end thereof is installed in the rubber filling tank; the front end of the air charging tube (43) is connected to the sac-shaped sealing assembly (3), and the rear end thereof is installed with an air pump; one end of the drainage tube is installed at a low position on the inner end surface of the sac-shaped sealing assembly (3) through the drainage pump, and the other end thereof is installed on the outer end surface of the sac-shaped sealing assembly (3).

2. According to claim 1, the unmanned detection and repair equipment for deep-buried damaged pipelines with water, It is characterized in that The bladder-shaped sealing assembly (3) comprises a wheel hub base (31) and an annular airbag (32). The wheel hub base (31) is provided with a center hole at its center. The tractor head (1) is engaged in the center hole of the wheel hub base (31) and is sealed and fixed. The annular airbag (32) is sleeved on the outer periphery of the wheel hub base (31). The front end of the inflation tube (43) is connected to the annular airbag (32) of the bladder-shaped sealing assembly (3). The annular airbag (32) is provided with an air release valve connected to the inner end surface of the bladder-shaped sealing assembly (3). The start-stop control motor provided for the inflation pump and the drainage pump and the control switch provided for the air release valve are all connected to the monitoring terminal through a signal transmission line (41).

3. According to claim 1, the unmanned detection and repair equipment for deep-buried damaged pipelines with water, It is characterized in that The tractor head (1) and the trolley workbench (2) are both provided with an illumination lamp (12). The illumination lamp (12) and the monitoring camera (13) are both installed on the upper end surface of the tractor head (1) or the trolley workbench (2) via a first telescopic rod (14). The first telescopic rod (14) is respectively controlled to be retracted and retracted by a motor. The control motor of the first telescopic rod (14) is connected to the monitoring terminal via a signal transmission line (41).

4. According to claim 1, the unmanned detection and repair equipment for restricted deep buried damaged pipelines with water, It is characterized in that At least one group of fixed support assemblies (5) is provided, and each group of fixed support assemblies (5) is provided with at least three fixed support assemblies (5) which are radially symmetrically mounted on the tractor head (1) with the central axis of the tractor head (1) in the front-rear direction as the axis; the fixed support assemblies (5) comprise a support end (51) and a second telescopic rod (52), the second telescopic rod (52) being vertically mounted on the tractor head (1), the support end (51) being mounted on the top end of the second telescopic rod (52), the second telescopic rod (52) being controlled to extend and retract by a motor, and the control motor of the second telescopic rod (52) being connected to the monitoring end via a signal transmission line (41).

5. According to claim 1, the unmanned detection and repair equipment for restricted deep buried damaged pipeline with water operation, It is characterized in that The rotating support assembly (6) is provided with at least one group, and each group of rotating support assemblies (6) is provided with at least three and are radially symmetrically mounted on the trolley workbench (2) with the central axis of the trolley workbench (2) in the front-to-back direction as the axis; the rotating support assembly (6) comprises a rotating roller (61) and a third telescopic rod (62), the third telescopic rod (62) is vertically mounted on the trolley workbench (2), the rotating roller (61) is mounted on the top end of the third telescopic rod (62), the third telescopic rod (62) is controlled to be telescopic by a motor, and the control motor of the third telescopic rod (62) is connected to the monitoring terminal through a signal transmission line (41).

6. The complete set of equipment for unmanned detection and repair of damaged pipelines with water in limited deep burial according to claim 1, It is characterized in that The sliding support assembly (7) is provided with three and each of them includes a sliding base (71), a fourth telescopic rod (72), and a hinged ear plate (73). A slide groove (21) is provided on the center line of the upper end surface of the trolley workbench (2). The sliding base (71) is installed in the slide groove (21) at the upper end of the trolley workbench (2) and is controlled to slide by a motor. Two hinged ear plates (73) are provided and are symmetrically installed on the front and rear sides of the upper end of the sliding base (71). The lower end of the fourth telescopic rod (72) is hingedly installed between the two hinged ear plates (73). The cleaning brush (9), the sealing steel plate (8) and the corrugated plate (10) are respectively installed on the top of the fourth telescopic rod (73) of the three sliding support assemblies (7).

7. The complete set of equipment for unmanned detection and repair of damaged pipelines with water in limited deep burial according to claim 6, It is characterized in that Two upper and lower shafts are installed between the two hinged ear plates (73), which are respectively a first shaft (74) and a second shaft (77). Both ends of the two shafts are installed on the two hinged ear plates (73) through bearings. The lower end of the fourth telescopic rod (72) is fixed on the first shaft (74). The first shaft (74) and the second shaft (77) are respectively installed with a passive gear (75) and a driving gear (78) that mesh with each other. The second shaft (77) is rotated by the control of a first stepper motor (771); the fourth telescopic rod (72) is telescoped by the control of a motor.

8. The complete set of equipment for unmanned detection and repair of damaged pipelines with water in limited deep burial according to claim 7, It is characterized in that A passive gear plate (76) is fixedly mounted on the first shaft (74), an arc-shaped through hole (761) is arranged on the end surface of the passive gear plate (76), and the second shaft (77) is arranged through the arc-shaped through hole (761) of the passive gear plate (76); slide rails are arranged on the upper end surfaces of the trolley workbench (2) on both sides of the slide groove (21), and a second stepper motor (79) is installed on the slide rails, and a driving gear 2 (791) installed on the output shaft of the second stepper motor (79) meshes with the gear teeth arranged on the outer periphery of the passive gear plate (76); A trolley control module is installed inside the trolley workbench (2); the sliding base (71) controls the sliding motion motor; the second shaft (77) controls the rotating first stepper motor (771); the fourth telescopic rod (72) controls the telescopic motor; the second stepper motor (79) that controls the rotation of the second driving gear (791) is connected to the trolley control module through a signal transmission line (41), and then connected to the control terminal through the signal transmission line (41); the blocking steel plate (8) and the corrugated plate (10) are both adsorbed on the top of the fourth telescopic rod (72) through a suction cup.

9. The complete set of equipment for unmanned detection and repair of damaged pipelines with water in limited deep burial according to claim 1, It is characterized in that The front and rear ends of the trolley workbench (2) are connected to the traction shafts provided at the rear ends of the two traction heads (1) through connecting hinges; the traction shafts of the traction heads (1) are rotated by means of a motor control and drive the trolley workbench (2) to rotate through the connecting hinges.

10. The complete set of equipment for unmanned detection and repair of damaged pipelines with water in limited deep burial according to claim 1, It is characterized in that The bottom of the tractor head (1) and the trolley workbench (2) are both provided with a plurality of running wheels (11), and the running wheels (11) are controlled by a motor to run, and the plurality of running wheels (11) at the bottom of the tractor head (1) are arranged in two rows in a front-to-rear direction and are symmetrically mounted at the bottom of the tractor head (1).

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