Intelligent repairing device for inspection well and using method of intelligent repairing device

Abstract

The invention relates to the technical field of inspection well repair, and particularly discloses an intelligent inspection well repair device and a using method thereof.The intelligent inspection well repair device comprises a mounting frame, a mounting frame is arranged on the inner wall of the mounting frame, a lighting lamp is fixedly connected to the surface of the mounting frame, and a camera mechanism is fixedly connected to the position, located at the bottom of the lighting lamp, of the surface of the mounting frame; a clear visual environment is provided for an operator through an illuminating lamp and a camera shooting mechanism, real-time monitoring and recording of the condition in a well are ensured, accurate positioning and adjustment of a repairing part are achieved through cooperation of a hydraulic rod, a first mechanical arm, a mounting support and a driving motor, repairing work can be efficiently and accurately conducted, and the working efficiency is improved. The cleaning scraping plate is tightly attached to the well wall to conduct vertical scraping, the cleaning scraping plate cleans the defective position in the inspection well, therefore, the well wall is convenient to clean, through cooperation of the storage tank and the stirring device, convenient storage and even stirring of quick-setting cement are achieved, and the quality of the quick-setting cement is guaranteed.

Description

Technical Field

[0001] The invention belongs to the technical field of inspection well repair, and in particular relates to an inspection well intelligent repair device and a use method thereof. Background Art

[0002] In the field of inspection well repair technology, especially for sewage well repair in industrial environments such as petrochemical areas, the development of technology has undergone a transformation from traditional manual repair to semi-automatic and intelligent repair. The traditional manual repair method mainly relies on workers going down the well to work, which is not only inefficient but also has extremely high safety risks. With the advancement of science and technology, some semi-automatic repair equipment has gradually appeared on the market. These devices have improved the repair efficiency to a certain extent, but due to the lack of intelligence and precise positioning capabilities, their application effect is still limited.

[0003] In recent years, with the rapid development of technologies such as the Internet of Things, artificial intelligence, and machine vision, intelligent repair devices for manholes have emerged. These devices integrate multiple functional modules such as lighting, cameras, robotic arms, and drive motors to achieve real-time monitoring and precise repair of the internal conditions of manholes. However, in terms of precise positioning and adjustment, some existing intelligent repair devices for manholes still rely on manual operation or simple mechanical structures, making it difficult to clean and check the position of the repair parts, which makes the repair process prone to errors and misleading situations. Therefore, staff need to improve them. Summary of the invention

[0004] The purpose of the present invention is to provide an intelligent repair device for an inspection well and a method of using the same to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] An intelligent repair device for an inspection well, comprising:

[0007] Install the frame;

[0008] The inner wall of the installation frame is provided with an installation frame, a lighting lamp is fixedly connected to the surface of the installation frame, and a camera mechanism is fixedly connected to the surface of the installation frame at the bottom of the lighting lamp;

[0009] The bottom of the mounting frame is fixedly connected with a hydraulic rod, the bottom end of the hydraulic rod is fixedly connected with a first mechanical arm, the front end of the first mechanical arm is fixedly connected with a mounting bracket, the surface of the mounting bracket is fixedly connected with a first driving motor, the output end of the first driving motor is installed with a driving rod, the front end of the driving rod is fixedly connected with a mounting rod, both sides of the inner wall of the mounting bracket are fixedly connected with sleeve tubes, and the inner wall of the sleeve tube is sleeved on the surface of the mounting rod, the surface of the sleeve tube is fixedly connected with a connecting pipe, the inner wall of the connecting pipe is fixedly connected with a first electric telescopic rod, the surface of the mounting rod is fixedly connected with a first mounting frame, a second mounting frame and a third mounting frame, both sides of the first mounting frame, the second mounting frame and the third mounting frame are fixedly connected with a limiting tube, and the inner wall of the limiting tube is sleeved on the surface of the first electric telescopic rod;

[0010] The cam is connected to the control frame via a rotation of the control rod and the control rod has a first end connected to the control frame by a rotation of the control rod and a second end connected to the control frame by a rotation of the control rod.

[0011] Preferably, a storage tank is fixedly connected to the top of the second mounting frame, an injection pipe is fixedly connected to the top of the storage tank, a motor box is fixedly connected to one side of the storage tank, a second drive motor is fixedly connected to the inner wall of the motor box, a rotating rod is installed at the output end of the second drive motor, a plurality of stirring rods are fixedly connected to the surface of the rotating rod, a discharge pipe is fixedly connected to the surface of the discharge pipe, a sleeve frame is fixedly connected to the inner wall of the sleeve frame, a plurality of second electric telescopic rods are fixedly connected to the bottom end of the second electric telescopic rod, and a baffle is fixedly connected to the bottom end of the second electric telescopic rod.

[0012] Preferably, the bottom of the second installation frame is fixedly connected to an additional frame, both sides of the inner wall of the additional frame are fixedly connected to second electric guide rails, the inner wall of the second electric guide rail is slidably connected to a support frame, and the inner wall of the support frame is rotatably connected to a smoothing wheel.

[0013] Preferably, a second mechanical arm is fixedly connected to the surface of the third installation frame, and a welding machine is fixedly connected to the surface of the second mechanical arm.

[0014] Preferably, a control frame is fixedly connected to the top of the mounting frame, a controller is fixedly connected to one side of the inner wall of the control frame, a transmitter is fixedly connected to the other side of the inner wall of the control frame, a second servo motor is fixedly connected to the inner wall of the control frame, a winding rod is installed at the output end of the second servo motor, a connecting rope is wound around the surface of the winding rod, and a positioning plate is fixedly connected to the bottom end of the connecting rope.

[0015] Preferably, telescopic brackets are fixedly connected to the top and four sides of the positioning plate, the bottom of the positioning plate is fixedly connected to a mounting frame, the inner wall of the mounting frame is fixedly connected to a third servo motor, a movable rod is installed at the output end of the third servo motor, and the bottom end of the movable rod is fixedly connected to the inner wall of the mounting frame.

[0016] Preferably, a plurality of universal wheels are fixedly connected to both sides of the bottom of the installation frame, and an intelligent transmitter is fixedly connected to the inner wall of the installation frame.

[0017] Preferably, a third robotic arm is fixedly connected to one side of the installation frame, a front end of the third robotic arm is fixedly connected to a mounting clamp, and a fourth robotic arm is fixedly connected to the other side of the installation frame, a front end of the fourth robotic arm is fixedly connected to a mechanical control hand.

[0018] A method for using an intelligent repair device for an inspection well comprises the following steps:

[0019] S1, start the entire repair device through the controller in the control box, and use the transmitter to transmit and monitor data;

[0020] S2. Use the lighting and camera mechanism on the surface of the mounting frame to inspect and illuminate the interior of the inspection well to obtain information on the condition inside the well;

[0021] S3, according to the information obtained by the camera mechanism, the controller controls the extension and retraction of the hydraulic rod, and adjusts the position of the first mechanical arm and the mounting bracket, so that the mounting rod and the first mounting frame, the second mounting frame and the third mounting frame thereon reach the designated repair position;

[0022] S4, in the second installation frame, adding quick-drying cement through the injection pipe of the storage tank, and using the second driving motor in the motor box to drive the rotating rod and the stirring rod to stir the quick-drying cement;

[0023] S5, by controlling the extension and retraction of the second electric telescopic rod, adjusting the position of the baffle, controlling the discharge amount of the quick-drying cement, and discharging it to the part that needs to be repaired through the discharge pipe;

[0024] S6. After the quick-drying cement is discharged, the second electric guide rail in the mounting frame is used to drive the support frame and the smoothing wheel to smooth the repaired part;

[0025] S7. If welding repair is required, the damaged part is welded using the second mechanical arm and the welding machine on the third installation frame;

[0026] S8, by controlling the rotation of the second servo motor, using the winding rod and the connecting rope to adjust the position of the positioning plate, combining the telescopic bracket and the third servo motor and the movable rod in the erection frame, the repair device can be accurately positioned and adjusted in the well;

[0027] S9. During the entire repair process, the universal wheels at the bottom of the installation frame are used to move and fine-tune the device to ensure the smooth progress of the repair work.

[0028] Compared with the prior art, the present invention has the following beneficial effects:

[0029] (1) The lighting and camera mechanisms provide a clear visual environment for operators, ensuring real-time monitoring and recording of the conditions in the well. The coordination of the hydraulic rod, the first mechanical arm, the mounting bracket and the drive motor enables precise positioning and adjustment of the repair parts, allowing the repair work to be carried out efficiently and accurately. The cleaning scraper is scraped up and down against the well wall, allowing the cleaning scraper to clean the problematic locations in the inspection well, thereby facilitating the cleaning of the well wall.

[0030] (2) Through the cooperation of the storage tank and the stirring device, the quick-drying cement can be conveniently stored and evenly stirred, thereby ensuring the quality of the quick-drying cement. The discharge pipe enables the quick-drying cement to be accurately discharged to the part that needs to be repaired. The cooperation of the second electric guide rail in the mounting frame, the support frame, and the smoothing wheel enables the quick smoothing of the repair part, thereby improving the flatness of the repair surface. This structure together forms the quick-drying cement processing and smoothing system of the device, thereby achieving the effect of improving the repair quality and saving the repair time.

[0031] (3) Through the cooperation of the second robot arm and the welding machine on the third mounting frame, accurate welding repair of cracks and damaged parts in the inspection well is achieved, thereby improving the repair effect. The controller and transmitter structure in the control frame realize remote monitoring and precise control of the entire repair device. The cooperation of the second servo motor, winding rod, connecting rope and positioning plate realizes precise positioning and adjustment of the repair device in the well. The universal wheel enables the entire repair device to be flexibly moved in the sewage well in the petrochemical area and adapt to various complex terrains and environments. This structure together forms a precise positioning, remote monitoring and mobile system for the device, thereby achieving the effect of improving repair efficiency, enhancing operational flexibility and safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 A perspective view of the present invention;

[0033] Figure 2 A stereogram of the video camera mechanism of the present invention;

[0034] Figure 3 is a three-dimensional diagram of the first mechanical arm of the present invention;

[0035] Figure 4 A three-dimensional diagram of a cleaning scraper of the present invention;

[0036] Figure 5 is a three-dimensional diagram of a storage tank of the present invention;

[0037] Figure 6 is a three-dimensional diagram of the second mechanical arm of the present invention;

[0038] Figure 7 is a three-dimensional diagram of the telescopic bracket of the present invention;

[0039] Figure 8 A three-dimensional diagram of the controller of the present invention;

[0040] In the figure: 1, mounting frame; 2, mounting frame; 3, lighting lamp; 4, camera mechanism; 5, hydraulic rod; 6, first mechanical arm; 7, mounting bracket; 8, first driving motor; 9, driving rod; 10, mounting rod; 11, sleeve pipe; 12, connecting pipe; 13, first electric telescopic rod; 14, first mounting frame; 15, second mounting frame; 16, third mounting frame; 17, limit pipe; 18, first electric slide rail; 19, moving block; 20, protection frame; 21, servo motor; 22, transmission rod; 23, first screw rod; 24, threaded collar; 25, first connecting rod; 26, cleaning scraper; 27, connecting groove; 28, first clamping block; 29, second connecting rod; 30, connecting block; 31, tension spring; 32 , second clamping block; 33, storage tank; 34, injection pipe; 35, motor box; 36, second drive motor; 37, rotating rod; 38, stirring rod; 39, discharge pipe; 40, sleeve frame; 41, second electric telescopic rod; 42, baffle; 43, installation frame; 44, support frame; 45, smoothing wheel; 46, second mechanical arm; 47, welding machine; 48, control frame; 49, controller; 50, transmission; 51, second servo motor; 52, winding rod; 53, connecting rope; 54, positioning plate; 55, telescopic bracket; 56, erection frame; 57, third servo motor; 58, movable rod; 59, universal wheel; 60, third mechanical arm; 61, installation splint; 62, fourth mechanical arm; 63, mechanical control hand. DETAILED DESCRIPTION

[0041] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0042] Embodiment 1:

[0043] See also Figures 1 to 8 As shown, an intelligent repair device for an inspection well comprises:

[0044] Install frame 1;

[0045] The inner wall of the mounting frame 1 is provided with a mounting frame 2, a lighting lamp 3 is fixedly connected to the surface of the mounting frame 2, and a camera mechanism 4 is fixedly connected to the surface of the mounting frame 2 at the bottom of the lighting lamp 3;

[0046] A hydraulic rod 5 is fixedly connected to the bottom of the mounting frame 2, a first mechanical arm 6 is fixedly connected to the bottom end of the hydraulic rod 5, a mounting bracket 7 is fixedly connected to the front end of the first mechanical arm 6, a first drive motor 8 is fixedly connected to the surface of the mounting bracket 7, a drive rod 9 is installed at the output end of the first drive motor 8, a mounting rod 10 is fixedly connected to the front end of the drive rod 9, sleeve tubes 11 are fixedly connected to both sides of the inner wall of the mounting bracket 7, and the inner wall of the sleeve tube 11 is sleeved on the surface of the mounting rod 10, a connecting tube 12 is fixedly connected to the surface of the sleeve tube 11, a first electric telescopic rod 13 is fixedly connected to the inner wall of the connecting tube 12, a first mounting frame 14, a second mounting frame 15 and a third mounting frame 16 are fixedly connected to the surface of the mounting rod 10, and both sides of the first mounting frame 14, the second mounting frame 15 and the third mounting frame 16 are fixedly connected to the limiting tube 17, and the inner wall of the limiting tube 17 is sleeved on the surface of the first electric telescopic rod 13;

[0047] The first installation frame 14 has first electric slide rails 18 fixedly connected to both sides of the inner wall thereof, a moving block 19 slidably connected to the inner wall of the first electric slide rail 18, a protective frame 20 fixedly connected to the inner wall of the moving block 19, a first servo motor 21 fixedly connected to the inner wall of the protective frame 20, a transmission rod 22 installed at the output end of the first servo motor 21, a first screw rod 23 fixedly connected to the front end of the transmission rod 22, a threaded collar 24 threadedly connected to the surface of the first screw rod 23, a first connecting rod 25 rotatably connected to the bottom of the threaded collar 24, and a first connecting rod 25 rotatably connected to the bottom end of the first connecting rod 25. A cleaning scraper 26 is connected, and connecting grooves 27 are provided on both sides of the top of the cleaning scraper 26. The top of the connecting groove 27 is slidably connected to a first clamping block 28, and the inner wall of the first clamping block 28 is rotatably connected to a second connecting rod 29. A connecting block 30 is fixedly connected to the middle of the top of the cleaning scraper 26, and a tension spring 31 is fixedly connected to the top of the connecting block 30, and the top of the tension spring 31 is connected to the bottom of the protective frame 20. Second clamping blocks 32 are fixedly connected to both sides of the protective frame 20, and the inner wall of the second clamping block 32 is rotatably connected to the top of the second connecting rod 29.

[0048] When in use, the mounting frame 1 serves as the supporting structure of the entire device, ensuring the stability and durability of the device. The mounting frame 2 arranged thereon is used to fix and support various functional components. The coordinated use of the lighting lamp 3 and the camera mechanism 4 provides the operator with a clear and intuitive visual environment. The lighting lamp 3 provides the necessary lighting conditions to ensure that the operation situation can be clearly seen in the dim sewage well, while the camera mechanism 4 is responsible for capturing the images in the well in real time and transmitting the images to the operators to help them make accurate judgments and decisions. The staff starts the hydraulic rod 5, and the hydraulic rod 5 drives the first mechanical arm 6 at the bottom to adjust the height, thereby fine-tuning the height of the first mechanical arm 6. The staff turns on the power of the first mechanical arm 6, and adjusts the mounting bracket 7 at one end of the first mechanical arm 6 so that the mounting bracket 7 can flexibly reach various positions in the well to meet different repair needs. The first driving motor 8 is fixed on the mounting bracket 7 connected to the front end of the first mechanical arm 6. When the first driving motor 8 is turned on, the first driving motor 8 The machine 8 drives the installation rod 10 to rotate through the driving rod 9. The installation rod 10 is provided with a first installation frame 14, a second installation frame 15 and a third installation frame 16. The first installation frame 14, the second installation frame 15 and the third installation frame 16 are locked in position through the limiting tube 17 and the first electric telescopic rod 13 sleeved in the sleeve tube 11, thereby ensuring the stability of the installation frame, and the first electric slide rail 18 in the first installation frame 14 is powered on. The first electric slide rail drives the moving block 19 to slide, thereby driving the protection frame 20 and the cleaning scraper 26 inside it to move toward the well wall. The staff connects the first servo motor 21 to the power supply, and the first servo motor 21 drives the first screw rod 23 to rotate through the transmission rod 22, so that the first screw rod 23 drives the threaded collar 24 connected to the surface to drive the cleaning scraper 26 to scrape up and down close to the well wall, so that the cleaning scraper 26 cleans the problematic position in the inspection well. At the same time, the tension spring 31 and the second clamping block 32 ensure the stability and adaptability of the cleaning scraper 26 through the second connecting rod 29.

[0049] Embodiment 2:

[0050] See also Figures 1 to 8As shown, a storage tank 33 is fixedly connected to the top of the second mounting frame 15, an injection pipe 34 is fixedly connected to the top of the storage tank 33, a motor box 35 is fixedly connected to one side of the storage tank 33, a second drive motor 36 is fixedly connected to the inner wall of the motor box 35, a rotating rod 37 is installed at the output end of the second drive motor 36, a plurality of stirring rods 38 are fixedly connected to the surface of the rotating rod 37, a discharge pipe 39 is fixedly connected to the surface of the discharge pipe 39, a sleeve frame 40 is fixedly connected to the sleeve frame 41, and a plurality of stirring rods 38 are fixedly connected to the surface of the storage tank 33. 0 is fixedly connected to the inner wall of multiple groups of second electric telescopic rods 41, the bottom end of the second electric telescopic rod 41 is fixedly connected to a baffle 42, the bottom of the second mounting frame 15 is fixedly connected to an additional frame 43, both sides of the inner wall of the additional frame 43 are fixedly connected to second electric guide rails, the inner wall of the second electric guide rail is slidably connected to a support frame 44, the inner wall of the support frame 44 is rotatably connected to a smoothing wheel 45, the surface of the third mounting frame 16 is fixedly connected to a second mechanical arm 46, and the surface of the second mechanical arm 46 is fixedly connected to a welding machine 47.

[0051] When in use, the second mounting frame 15 serves as a supporting structure, and the storage tank 33 fixedly connected to the top thereof is used to store the quick-drying cement required for repair. The quick-drying cement can be injected into the storage tank 33 through the injection pipe 34. The second driving motor 36 fixed in the motor box 35 is powered on, and the output end of the second driving motor 36 drives the rotating rod 37 to rotate, thereby driving the stirring rod 38 to stir the quick-drying cement in the storage tank 33 to ensure that the quick-drying cement does not solidify inside the storage tank 33. When the quick-drying cement needs to be discharged, it can be achieved through the discharge pipe 39. The multiple groups of second electric telescopic rods 41 fixed in the sleeve frame 40 can drive the baffle 42 to move up and down, thereby controlling the opening and closing of the discharge pipe 39. Closed, thereby accurately controlling the discharge amount of quick-drying cement according to the needs of the repair work, the second electric guide rail arranged in the installation frame 43 drives the support frame 44 to slide, and the smoothing wheel 45 rotating in the support frame 44 is used to smooth the repaired surface to ensure that the inner wall of the inspection well is flat and smooth after the repair, and a second mechanical arm 46 is arranged on one side of the third installation frame 16. The staff connects the second mechanical arm 46 to the power supply, and the second mechanical arm 46 can move flexibly. The welding machine 47 fixed on its surface is used to weld pipe boots and HDPE membranes at the bottom of the well to cracks and damaged parts in the inspection well. Through the precise control of the second mechanical arm 46, the welding machine 47 can accurately reach the position that needs to be repaired, and perform efficient and precise welding operations.

[0052] Embodiment three:

[0053] See also Figures 1 to 8As shown, a control frame 48 is fixedly connected to the top of the mounting frame 1, a controller 49 is fixedly connected to one side of the inner wall of the control frame 48, a transmitter 50 is fixedly connected to the other side of the inner wall of the control frame 48, a second servo motor 51 is fixedly connected to the inner wall of the control frame 48, a winding rod 52 is installed at the output end of the second servo motor 51, a connecting rope 53 is wound around the surface of the winding rod 52, a positioning plate 54 is fixedly connected to the bottom end of the connecting rope 53, telescopic brackets 55 are fixedly connected to the top and sides of the positioning plate 54, a mounting frame 56 is fixedly connected to the bottom of the positioning plate 54, a third servo motor 57 is fixedly connected to the inner wall of the mounting frame 56, a movable rod 58 is installed at the output end of the third servo motor 57, and the bottom end of the movable rod 58 is fixedly connected to the inner wall of the mounting frame 2, a plurality of universal wheels 59 are fixedly connected to both sides of the bottom of the mounting frame 1, and an intelligent transmitter is fixedly connected to the inner wall of the mounting frame 2.

[0054] When in use, the control frame 48 serves as the control center of the entire device, and is equipped with a controller 49 and a transmitter 50. The controller 49 is responsible for receiving and processing data transmitted from the transmitter 50, and executing a preset control algorithm, so as to achieve precise control of the entire repair device. The transmitter 50 is responsible for transmitting the device's working status, monitoring data and other information to the controller 49 in real time, so that the staff can conduct real-time monitoring and remote scheduling. The staff turns on the power of the second servo motor 51, and the output end of the second servo motor 51 drives the winding rod 52 to rotate, which can control the retraction and extension of the connecting rope 53. , and then adjust the height and position of the positioning plate 54. The positioning plate 54 is connected to the installation frame 1 through a telescopic bracket 55, which can ensure the stability of the positioning plate 54 during the lifting process. The third servo motor 57 is installed inside the frame 56. The staff connects the third servo motor 57 to the power supply. The output end of the third servo motor 57 drives the rotation of the movable rod 58 to achieve fine-tuning of the installation frame 2 to ensure that the repair device can accurately reach the position that needs to be inspected or repaired. The setting of the universal wheel 59 enables the entire repair device to be flexibly moved in the sewage well of the petrochemical area and adapt to various complex terrains and environments.

[0055] A third robotic arm 60 is fixedly connected to one side of the installation frame 2, and a mounting clamp 61 is fixedly connected to the front end of the third robotic arm 60. A fourth robotic arm 62 is fixedly connected to the other side of the installation frame 2, and a robotic control hand 63 is fixedly connected to the front end of the fourth robotic arm 62.

[0056] When in use, the staff adjusts the third robotic arm 60 on one side of the installation frame 2, controls the installation clamp 61 at the front end of the third robotic arm 60 to place a single protective frame into the maintenance inspection well, and places multiple protective frames in turn, and installs multiple protective frames through the mechanical control hand 63 on the side of the fourth robotic arm 62, thereby protecting the periphery of the HDPE film with the protective frames.

[0057] Embodiment 4:

[0058] See also Figures 1 to 8 As shown, a method for using an intelligent repair device for an inspection well comprises the following steps:

[0059] S1, start the entire repair device through the controller 49 in the control box 48, and use the transmitter 50 to transmit and monitor data;

[0060] S2, using the lighting lamp 3 and the camera mechanism 4 on the surface of the mounting frame 2 to inspect and illuminate the inside of the inspection well to obtain information on the condition inside the well;

[0061] S3, according to the information obtained by the camera mechanism 4, the controller 49 controls the extension and retraction of the hydraulic rod 5, and adjusts the positions of the first mechanical arm 6 and the mounting bracket 7, so that the mounting rod 10 and the first mounting frame 14, the second mounting frame 15 and the third mounting frame 16 thereon reach the designated repair position;

[0062] S4. In the second installation frame 15, quick-drying cement is added through the injection pipe 34 of the storage tank 33, and the second driving motor 36 in the motor box 35 drives the rotating rod 37 and the stirring rod 38 to stir the quick-drying cement;

[0063] S5, by controlling the extension and retraction of the second electric telescopic rod 41, adjusting the position of the baffle 42, controlling the discharge amount of the quick-drying cement, and discharging it to the part that needs to be repaired through the discharge pipe 39;

[0064] S6, after the quick-drying cement is discharged, the second electric guide rail in the mounting frame 43 is used to drive the support frame 44 and the smoothing wheel 45 to smooth the repaired part;

[0065] S7, if welding repair is required, the damaged part is welded by using the second mechanical arm 46 and the welding machine 47 on the third installation frame 16;

[0066] S8, by controlling the rotation of the second servo motor 51, using the winding rod 52 and the connecting rope 53 to adjust the position of the positioning plate 54, combining the telescopic bracket 55 and the third servo motor 57 and the movable rod 58 in the erection frame 56, the repair device is accurately positioned and adjusted in the well;

[0067] S9. During the entire repair process, the universal wheels 59 at the bottom of the mounting frame 1 are used to move and fine-tune the device to ensure smooth progress of the repair work.

[0068] Embodiment five:

[0069] See also Figures 1 to 8As shown, in petrochemical areas, due to the particularity of production activities, inspection wells (sewage wells) are often subject to corrosion, wear or other forms of damage, and require regular inspection and repair. Traditional repair methods often have problems such as low efficiency and poor safety.

[0070] First, ensure that all parts of the intelligent repair device are intact, transport the device to the inspection well that needs to be repaired, and use the universal wheel 59 to adjust the position of the device for easy operation.

[0071] The entire repair device is started by the controller 49 in the control frame 48, and data transmission and monitoring are performed using the transmitter 50. At this time, the real-time picture transmitted back by the camera mechanism 4 can be observed to understand the situation in the well.

[0072] The interior of the inspection well is inspected and illuminated in detail by using the lighting lamp 3 on the surface of the mounting frame 2 and the camera mechanism 4. According to the information obtained by the camera mechanism 4, the controller 49 controls the extension and retraction of the hydraulic rod 5, and adjusts the position of the first mechanical arm 6 and the mounting bracket 7, so that the mounting rod 10 and the first mounting frame 14, the second mounting frame 15 and the third mounting frame 16 thereon reach the designated repair position.

[0073] In the second installation frame 15, quick-drying cement is added through the injection pipe 34 of the storage tank 33. Then, the second driving motor 36 in the motor box 35 drives the rotating rod 37 and the stirring rod 38 to fully stir the quick-drying cement to ensure uniform material.

[0074] The position of the baffle 42 is adjusted by controlling the second electric telescopic rod to control the discharge amount of the quick-drying cement, and the quick-drying cement is discharged to the part that needs to be repaired through the discharge pipe. After the quick-drying cement is discharged, the second electric guide rail in the installation frame is used to drive the support frame and the smoothing wheel to smooth the repair part to ensure the quality of the repair.

[0075] If the repaired part needs to be welded and reinforced, the welding machine 47 on the second mechanical arm 46 on the surface of the third mounting frame 16 can be started to perform welding operations. After welding is completed, the camera mechanism 4 is used to check again to ensure the repair quality.

[0076] After the repair is completed, the controller 49 controls the rotation of the second servo motor 51 to make the winding rod 52 roll up the connecting rope 53, thereby recycling the positioning plate 54 and other related components into the device. Then, the universal wheel 59 is used to move the device to the next repair point or to clean and maintain it.

[0077] The use of the intelligent repair device for sewage wells in petrochemical areas for repair operations can significantly improve the repair efficiency and safety. At the same time, the device also has the advantages of simple operation and strong adaptability, and can be widely used in inspection well repair operations in petrochemical areas and other similar environments.

[0078] Working principle: The entire repair device is started through the controller in the control box, and the data is transmitted and monitored by the transmitter to ensure the visualization and controllability of the entire repair process. The lighting on the surface of the installation frame is used to illuminate the inside of the inspection well. The inside of the inspection well is inspected by the camera mechanism to obtain information on the status of the well, providing an accurate basis for subsequent repair work. According to the information obtained by the camera mechanism, the extension and retraction of the hydraulic rod is controlled by the controller, and the position of the first mechanical arm and the mounting bracket is adjusted so that the mounting rod and the first mounting frame, the second mounting frame and the third mounting frame thereon can accurately reach the designated repair position. In the second mounting frame, quick-drying cement is added through the injection pipe of the storage tank, and the second drive motor in the motor box is used to drive the rotating rod and the stirring rod to fully stir the quick-drying cement to ensure that the material is uniform. The extension and retraction of the second electric telescopic rod is controlled to adjust the baffle. The position is controlled to control the discharge amount of quick-drying cement, and the quick-drying cement is discharged to the part that needs to be repaired through the discharge pipe. After the quick-drying cement is discharged, the second electric guide rail in the installation frame is used to drive the support frame and the smoothing wheel to smooth the repair part to ensure the flatness of the repair surface. In the part that needs welding, the second mechanical arm and the welding machine on the third installation frame are used for welding. The movement of the mechanical arm is precisely controlled to ensure the accuracy of the welding position and the welding quality. The rotation of the second servo motor is controlled, and the position of the positioning plate is adjusted by the winding rod and the connecting rope. The telescopic bracket, the third servo motor in the erection frame and the movable rod are combined to realize the precise positioning and adjustment of the repair device in the well. The universal wheel at the bottom of the installation frame is used to realize the movement and fine-tuning of the device. In the whole repair process, the position and posture of the device can be adjusted at any time according to actual needs to ensure the smooth progress of the repair work.

[0079] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An intelligent repair device for an inspection well, characterized in that: include: Mounting frame (1); The inner wall of the installation frame (1) is provided with an installation frame (2), a lighting lamp (3) is fixedly connected to the surface of the installation frame (2), and a camera mechanism (4) is fixedly connected to the surface of the installation frame (2) at the bottom of the lighting lamp (3); The bottom of the installation frame (2) is fixedly connected to a hydraulic rod (5), the bottom end of the hydraulic rod (5) is fixedly connected to a first mechanical arm (6), the front end of the first mechanical arm (6) is fixedly connected to a mounting bracket (7), the surface of the mounting bracket (7) is fixedly connected to a first drive motor (8), the output end of the first drive motor (8) is mounted with a drive rod (9), the front end of the drive rod (9) is fixedly connected to a mounting rod (10), both sides of the inner wall of the mounting bracket (7) are fixedly connected to a sleeve pipe (11), and the inner wall of the sleeve pipe (11) is sleeved The surface of the sleeve pipe (11) is connected to the surface of the mounting rod (10), the surface of the sleeve pipe (11) is fixedly connected to a connecting pipe (12), the inner wall of the connecting pipe (12) is fixedly connected to a first electric telescopic rod (13), the surface of the mounting rod (10) is fixedly connected to a first mounting frame (14), a second mounting frame (15) and a third mounting frame (16), both sides of the first mounting frame (14), the second mounting frame (15) and the third mounting frame (16) are fixedly connected to a limiting pipe (17), and the inner wall of the limiting pipe (17) is sleeved on the surface of the first electric telescopic rod (13); Both sides of the inner wall of the first installation frame (14) are fixedly connected with a first electric slide rail (18), the inner wall of the first electric slide rail (18) is slidably connected with a moving block (19), the inner wall of the moving block (19) is fixedly connected with a protective frame (20), the inner wall of the protective frame (20) is fixedly connected with a first servo motor (21), the output end of the first servo motor (21) is installed with a transmission rod (22), the front end of the transmission rod (22) is fixedly connected with a first screw rod (23), the surface of the first screw rod (23) is threadedly connected with a threaded collar (24), the bottom of the threaded collar (24) is rotatably connected with a first connecting rod (25), the bottom end of the first connecting rod (25) A cleaning scraper (26) is rotatably connected, and connecting grooves (27) are provided on both sides of the top of the cleaning scraper (26). A first clamping block (28) is slidably connected to the top of the connecting groove (27), and the inner wall of the first clamping block (28) is rotatably connected to a second connecting rod (29). A connecting block (30) is fixedly connected to the middle of the top of the cleaning scraper (26), and a tension spring (31) is fixedly connected to the top of the connecting block (30), and the top of the tension spring (31) is connected to the bottom of the protective frame (20). Second clamping blocks (32) are fixedly connected to both sides of the protective frame (20), and the inner wall of the second clamping block (32) is rotatably connected to the top of the second connecting rod (29).

2. According to claim 1, the intelligent repair device for inspection wells is characterized in that: The top of the second mounting frame (15) is fixedly connected to a storage tank (33), the top of the storage tank (33) is fixedly connected to an injection pipe (34), one side of the storage tank (33) is fixedly connected to a motor box (35), the inner wall of the motor box (35) is fixedly connected to a second drive motor (36), a rotating rod (37) is installed at the output end of the second drive motor (36), the surface of the rotating rod (37) is fixedly connected to a plurality of stirring rods (38), the surface of the storage tank (33) is fixedly connected to a discharge pipe (39), the surface of the discharge pipe (39) is fixedly connected to a sleeve frame (40), the inner wall of the sleeve frame (40) is fixedly connected to a plurality of second electric telescopic rods (41), and the bottom end of the second electric telescopic rod (41) is fixedly connected to a baffle (42).

3. The intelligent repair device for inspection well according to claim 1 is characterized in that: The bottom of the second installation frame (15) is fixedly connected to an additional frame (43), both sides of the inner wall of the additional frame (43) are fixedly connected to second electric guide rails, the inner wall of the second electric guide rail is slidably connected to a support frame (44), and the inner wall of the support frame (44) is rotatably connected to a smoothing wheel (45).

4. The intelligent repair device for inspection wells according to claim 1 is characterized in that: A second mechanical arm (46) is fixedly connected to the surface of the third installation frame (16), and a welding machine (47) is fixedly connected to the surface of the second mechanical arm (46).

5. The intelligent repair device for inspection well according to claim 1 is characterized in that: A control frame (48) is fixedly connected to the top of the mounting frame (1), a controller (49) is fixedly connected to one side of the inner wall of the control frame (48), a transmitter (50) is fixedly connected to the other side of the inner wall of the control frame (48), a second servo motor (51) is fixedly connected to the inner wall of the control frame (48), a winding rod (52) is installed at the output end of the second servo motor (51), a connecting rope (53) is wound around the surface of the winding rod (52), and a positioning plate (54) is fixedly connected to the bottom end of the connecting rope (53).

6. The intelligent repair device for inspection well according to claim 5 is characterized in that: The top of the positioning plate (54) is fixedly connected with telescopic brackets (55) all around, the bottom of the positioning plate (54) is fixedly connected with a mounting frame (56), the inner wall of the mounting frame (56) is fixedly connected with a third servo motor (57), the output end of the third servo motor (57) is installed with a movable rod (58), and the bottom end of the movable rod (58) is fixedly connected to the inner wall of the mounting frame (2).

7. The intelligent repair device for inspection well according to claim 1 is characterized in that: A plurality of universal wheels (59) are fixedly connected to both sides of the bottom of the installation frame (1), and an intelligent transmitter is fixedly connected to the inner wall of the installation frame (2).

8. The intelligent repair device for inspection well according to claim 1 is characterized in that: A third mechanical arm (60) is fixedly connected to one side of the installation frame (2), a front end of the third mechanical arm (60) is fixedly connected to a mounting clamp (61), and a fourth mechanical arm (62) is fixedly connected to the other side of the installation frame (2), a front end of the fourth mechanical arm (62) is fixedly connected to a mechanical control hand (63).

9. A method for using an intelligent repair device for a manhole, applicable to an intelligent repair device for a manhole according to claims 1 to 8, characterized in that: The following steps are involved: S1, starting the entire repair device through the controller (49) in the control box (48), and using the transmitter (50) to transmit and monitor data; S2, using the lighting lamp (3) and the camera mechanism (4) on the surface of the mounting frame (2) to inspect and illuminate the interior of the inspection well, and obtain information on the condition inside the well; S3, according to the information obtained by the camera mechanism (4), the controller (49) controls the extension and retraction of the hydraulic rod (5), and adjusts the positions of the first mechanical arm (6) and the mounting bracket (7), so that the mounting rod (10) and the first mounting frame (14), the second mounting frame (15) and the third mounting frame (16) thereon reach the designated repair position; S4, in the second installation frame (15), quick-drying cement is added through the injection pipe (34) of the storage tank (33), and the second driving motor (36) in the motor box (35) is used to drive the rotating rod (37) and the stirring rod (38) to stir the quick-drying cement; S5, by controlling the extension and retraction of the second electric telescopic rod (41), adjusting the position of the baffle (42), controlling the discharge amount of the quick-drying cement, and discharging it to the part that needs to be repaired through the discharge pipe (39); S6, after the quick-drying cement is discharged, the second electric guide rail in the mounting frame (43) is used to drive the support frame (44) and the smoothing wheel (45) to smooth the repaired part; S7, if welding repair is required, the damaged part is welded using the second mechanical arm (46) and the welding machine (47) on the third installation frame (16); S8, by controlling the rotation of the second servo motor (51), using the winding rod (52) and the connecting rope (53) to adjust the position of the positioning plate (54), combining the telescopic bracket (55) and the third servo motor (57) and the movable rod (58) in the erection frame (56), the repair device can be accurately positioned and adjusted in the well; S9. During the entire repair process, the universal wheels (59) at the bottom of the installation frame (1) are used to move and fine-tune the device to ensure smooth progress of the repair work.

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