Pipeline detection parachute throwing device based on parachute power propulsion

Abstract

The invention discloses a pipeline detection parachute throwing device based on parachute power propulsion, the device comprises a robot main body, a flexible parachute cover, parachute cords, parachute hoops and a traction cable, the flexible parachute cover adopts a conical structure design, and six first connecting points are uniformly distributed on the edge of the flexible parachute cover; each first connecting point is connected with an umbrella hoop through a second connecting point at the tail end of the parachute cord, and the umbrella hoop is fixed to a traction cable at the tail end of the robot body. The umbrella line pins are directly driven to move through the physical expansion force of the slow-release type water absorption expansion material, so that the umbrella throwing action is achieved, and the device is suitable for complex pipeline environment detection.

Description

Technical Field

[0001] The present invention relates to the field of pipeline detection, and particularly to a pipeline detection parachute throwing device based on umbrella power propulsion. Background Art

[0002] In the field of water supply pipeline detection and maintenance, traditional detection methods mainly involve manually carrying equipment into the pipeline or using semi-automatic detection devices. Such methods have technical defects such as low detection efficiency, limited coverage, and the risk of damaging the inner wall of the pipeline. With the development of detection technology, pipeline detection has gradually been applied to this field, and it realizes remote visual detection inside the pipeline through a cable-controlled flexible robot structure, effectively improving the safety of detection operations and the integrity of detection data.

[0003] In the prior art, a propulsion system based on a flexible power umbrella is generally adopted. This technical solution (such as: CN201921061312.8) uses the hydrodynamic force generated by the pipeline medium on the flexible umbrella surface to push the detection equipment forward. However, through long-term practice, it is found that this technical solution has inherent defects: when implementing equipment recovery operations, the original flexible umbrella surface as the propulsion power forms a reverse resistance due to the transformation of hydrodynamic characteristics, resulting in an increase in equipment recovery energy consumption, and in severe cases, safety accidents such as cable breakage may occur. To address this technical defect, existing improvement solutions (such as: CN202211239711.5) mainly achieve the separation of the power umbrella by installing a magnetic-based parachute throwing mechanism on the equipment body. However, through practice, such solutions have the following technical defects: (1) The increase in mechanical structure complexity leads to an increase in failure rate (frequent parachute throwing failures); (2) The additional components significantly increase the manufacturing cost and occupy more structural space; (3) Using a coil winding to generate a magnetic field to actuate the magnetic core easily interferes with other electrical components.

[0004] The above technical defects severely restrict the popularization and use of detection equipment. Especially in the long-distance detection operations of small-diameter water supply pipelines, the difficulty of equipment recovery has become a technical bottleneck restricting the development of the industry. Therefore, there is an urgent need to develop a new type of power umbrella parachute throwing device that can not only maintain the advantages of power umbrella propulsion but also effectively solve the problem of recovery resistance. Summary of the Invention

[0005] The present invention provides a pipeline detection parachute throwing device based on umbrella power propulsion. The present invention directly drives the movement of the umbrella wire pin through the physical expansion force of a slow-release water-absorbing and swelling material, thereby realizing the parachute throwing action, which is applicable to the detection of complex pipeline environments. See the following description for details:

[0006] A pipeline detection parachute throwing device based on umbrella power propulsion, the device includes: a robot body, a flexible umbrella surface, umbrella ropes, an umbrella hoop, and a traction cable.

[0007] The flexible umbrella surface is designed with a conical structure. Six first connection points are evenly distributed at the edge of the flexible umbrella surface. Each first connection point is connected to the umbrella hoop through a second connection point on the end of the umbrella rope, and the umbrella hoop is fixed on the traction cable at the tail end of the robot body.

[0008] Among them, the material of the flexible umbrella surface is selected from polyester fiber coated fabric or polyurethane composite film.

[0009] Among them, the second connection point adopts an anti-fatigue braided ring structure, and the diameter of the ring hole of the braided ring is set to be 4-6 times the diameter of the umbrella rope.

[0010] Furthermore, the umbrella hoop is composed of a main housing, a pin seat, an expansion column, an umbrella wire pin, a pre-tightening spring and a side cover;

[0011] The main housing adopts a cylindrical cavity structure. The two axial ends are respectively fastened and connected to the side cover and the pin seat through the first screw and the second screw. Six groups of motion units are evenly arranged along the circumferential direction inside the cavity. Each group of motion units includes a pre-tightening spring, an umbrella wire pin and an expansion column that are linked together, and the quantity is adapted to the six connecting lines of the umbrella rope.

[0012] Among them, the main housing adopts a six-channel symmetric load-bearing structure design. Six first chambers are evenly arranged along the circumferential direction, corresponding to the six first connection points evenly distributed at the edge of the umbrella surface; the chamber adopts a stepped coaxial composite configuration, and the structure is: the front end is a cylindrical chamber, and the inner wall is mirror-polished to adapt to the sliding fit of the expansion column; the rear end forms a coaxial alignment with the second chamber of the pin seat through a bottom through hole.

[0013] Among them, the motion unit adopts modular laminated assembly, and the pre-tightening spring, the umbrella wire pin with a precision positioning structure and the expansion column are sequentially integrated from left to right according to the "preloading-triggering-response" function sequence;

[0014] The rod body of the umbrella wire pin penetrates through the central through hole of the expansion column, and the spherical end at the end forms a plug connection with the circular blind hole of the second chamber; the middle positioning flange adopts a double-sided end face precision grinding process. The front end face forms a pressure contact area with the end face of the expansion column, and the rear end face forms a dynamic force transmission interface with the elastic loading end of the pre-tightening spring. Under the action of the initial compression pre-tightening force of the spring, the assembly is axially pressed without clearance;

[0015] The other end of the pre-tightening spring realizes axial constraint through the stepped positioning structure of the side cover; the spring fixing boss maintains the preset pre-tightening force of the spring through end face contact type limit, and the side cover realizes detachable assembly with the main housing through a threaded connection structure.

[0016] Among them, the main housing, the pin seat and the side cover adopt an integrated coaxial design. The three are respectively provided with a first cable passing hole, a second cable passing hole and a third cable passing hole. Through a three-body coaxial calibration process, a continuous wire passing channel is formed. After the traction cable passes through this channel, a weather-resistant epoxy resin glue is used for covering and bonding fixation at both ends of the outlet.

[0017] Among them, an umbrella hanging groove is opened on the assembly end face of the pin seat, and a U-shaped opening guiding design is adopted to form a continuous bearing surface with the second chamber. Chamfer transitions are processed on the edges of the groove, and a self-locking adaptation structure is formed with the second connection point loop of the end of the umbrella rope.

[0018] The beneficial effects of the technical solution provided by the present invention are as follows:

[0019] 1. Using the water-absorbing expansion material as the triggering medium, by adjusting the lengths of the water-absorbing expansion material and the umbrella line pin, the accurate control of the umbrella throwing time from several minutes to dozens of hours can be realized;

[0020] 2. Using the water-absorbing expansion material as the power source, the physical thrust generated by the water absorption and expansion of the material directly unlocks the umbrella line pin. Compared with the traditional umbrella throwing device relying on magnetic force or hydraulic drive, this solution has no risks such as circuit failure and can work stably in complex pipeline environments such as humidity and high pressure;

[0021] 3. Omit the precision components such as motors and solenoid valves of the traditional umbrella throwing mechanism. The core structure only includes an expansion column, an umbrella line pin and a pin seat, and the number of parts is reduced by 60%; the umbrella line pin can be prefabricated into a standardized module (such as strip-shaped units of different durations), and can be replaced as needed during installation, and the single maintenance cost is less than 1 / 3 of the traditional device. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the overall structure of a pipeline inspection umbrella throwing device based on umbrella power propulsion;

[0023] Figure 2 It is an exploded view of the umbrella hoop;

[0024] Figure 3 It is a sectional view of the umbrella hoop;

[0025] Figure 4 It is a schematic diagram of the main housing structure;

[0026] Figure 5 It is a schematic diagram of the working principle of the umbrella hoop.

[0027] In the drawings, the list of components represented by each reference numeral is as follows:

[0028] 1: Robot main body; 2: Flexible umbrella surface; 3: Umbrella rope; 4: Umbrella hoop; 5: Traction cable.

[0029] Among them, 31: the first connection point; 32: the second connection point; 41: the main housing; 42: the pin seat; 43: the expansion column; 44: the umbrella wire pin; 45: the pre-tightening spring; 46: the side cover; 47: the first screw; 48: the second screw; 411: the first chamber; 412: the through hole; 413: the first cable passing hole; 421: the second chamber; 422: the umbrella hanging groove; 423: the second cable passing hole; 441: the spherical end; 442: the positioning flange; 461: the spring fixing boss; 462: the third cable passing hole. Detailed implementation manners

[0030] To make the objectives, technical solutions and advantages of the present invention clearer, the following further describes in detail the implementation manners of the present invention.

[0031] In pipeline inspection operations, for a pipeline inspection robot powered by an umbrella, its forward power mainly comes from a flexible power umbrella. Given the flexibility of the umbrella surface, the edge of the umbrella surface needs to be fixed to the end of the detector through umbrella ropes. Under the action of the water flow in the pipeline, the flexible umbrella unfolds into a shape similar to a parachute. With the flexible umbrella surface as the power, the inspection robot can conveniently place the equipment through a narrow pipeline without the need for an additional power source, which has significant convenience. However, when recovering the equipment, the umbrella surface as the power turns into resistance, greatly increasing the recovery difficulty.

[0032] To solve this problem, a parachute throwing device has been introduced in the industry. However, the existing parachute throwing devices generally have disadvantages such as complex structures, which have led to many other problems. In view of a series of problems existing in the existing parachute throwing devices, the embodiments of the present invention innovatively propose a simple device that uses a water-absorbing and expanding material to achieve automatic parachute throwing.

[0033] To achieve the above-mentioned invention objectives, in combination with Figures 1 to 5 As shown, the embodiments of the present invention disclose a pipeline inspection parachute throwing device based on umbrella power propulsion. The device includes: a robot main body 1, a flexible umbrella surface 2, umbrella ropes 3, an umbrella hoop 4, and a traction cable 5. Among them, the flexible umbrella surface 2 is designed in a conical structure, and the material can be selected from flexible materials such as polyester fiber coated fabric or polyurethane composite film. Six first connection points 31 are evenly distributed on the edge of the flexible umbrella surface 2, and each first connection point 31 is connected to the umbrella hoop 4 through a second connection point 32 at the end of the umbrella rope 3, and the umbrella hoop 4 is fixed on the traction cable 5 at the end of the robot main body 1.

[0034] As a preferred solution, the second connection point 32 adopts an anti-fatigue braided ring structure, and the diameter of the ring hole of the braided ring is set to be 4-6 times the diameter of the umbrella rope 3. When the flexible umbrella surface 2 unfolds, the six umbrella ropes 3 maintain the morphological stability of the umbrella surface through a tension self-balancing structure.

[0035] The structure of the umbrella hoop 4 adopted in the embodiments of the present invention is as shown in Figures 2 to 5As shown in the figure, it is composed of a main housing 41, a pin seat 42, an expansion column 43, an umbrella wire pin 44, a pre-tightening spring 45 and a side cover 46. The main housing 41 adopts a cylindrical cavity structure, and the side cover 46 and the pin seat 42 are fixedly connected to the two axial ends thereof through a first screw 47 and a second screw 48 respectively. Six groups of motion units are evenly arranged along the circumferential direction inside the cavity. Each group of motion units includes a pre-tightening spring 45, an umbrella wire pin 44 and an expansion column 43 which are linked, and the quantity thereof is adapted to the six connecting lines of the umbrella ropes 3.

[0036] As Figure 3 , 4 shown in the figure, the main housing 41 adopts a six-channel symmetric load-bearing structure design, and six first chambers 411 are evenly arranged along the circumferential direction, corresponding to six first connection points 31 evenly distributed on the edge of the umbrella surface. The chamber adopts a stepped coaxial composite configuration, and its structure is: the front end is a cylindrical chamber with a diameter of Φ8.2±0.05mm, and the inner wall thereof is mirror-polished (Ra≤0.8μm) to adapt to the sliding fit of the expansion column 43; the rear end forms a coaxial alignment system (coaxiality≤Φ0.05mm) with the second chamber 421 of the pin seat 42 through a bottom through hole 412 with a diameter of Φ3.3±0.05mm.

[0037] Each set of motion units adopts a modular stack assembly design, and sequentially integrates a pre-tightening spring 45, an umbrella wire pin 44 with a precision positioning structure, and an expansion column 43 from left to right according to the "preloading - triggering - response" functional sequence. Among them, the umbrella wire pin 44 is the core force-transmitting component. Its Φ3.2mm rod penetrates through the central through-hole of the expansion column 43, and the spherical end 441 at the end forms a precise plug-in connection with the circular blind hole of the second chamber 421 (the fit clearance ≤ 0.05mm); the middle positioning flange 442 adopts a double-sided end face precision grinding process (flatness 0.01mm). The front end face forms a pressure contact area with the end face of the expansion column 43, and the rear end face constitutes a dynamic force transmission interface with the elastic loading end of the pre-tightening spring 45. Under the action of the initial compression pre-tightening force of the spring, it ensures that the assembled body is axially pressed tightly without clearance. The other end of the pre-tightening spring 45 realizes axial constraint through the stepped positioning structure of the side cover 46: its spring fixing boss 461 maintains the preset pre-tightening force of the spring through end face contact type limit, and at the same time, the side cover realizes detachable assembly with the main housing 41 through a threaded connection structure. The assembly end face of the pin seat 42 is provided with an umbrella hanging groove 422, which adopts a U-shaped opening guiding design, forms a continuous load-bearing surface with the second chamber 421, and the edge of the groove is processed with a chamfer transition to avoid umbrella rope wear, and forms a self-locking adapter structure with the second connection point 32 loop of the umbrella rope end. To ensure the reliability of the cable system, the main housing 41, the pin seat 42, and the side cover 46 adopt an integrated coaxial design. The three are respectively provided with a first cable passing hole 413, a second cable passing hole 423, and a third cable passing hole 462 with ΦM ± 0.05mm (ΦM is the nominal outer diameter of the traction cable 5). Through a three-body coaxial calibration process (coaxiality ≤ Φ0.1mm), a continuous threading channel is formed. After the traction cable 5 passes through this channel, it is fixedly bonded by a weather-resistant epoxy resin glue (shear strength ≥ 15MPa after curing) at both ends of the outlet to ensure tightness and tensile strength in a high-pressure underwater environment.

[0038] In this solution, the expansion column 43 adopts water-swellable rubber, and its geometric parameters are set as height H = 20 ± 0.1mm, outer diameter D = 8.0 ± 0.05mm, inner diameter d = 3.2 ± 0.05mm (matching the diameter of the umbrella wire pin 44), and controllable expansion is realized through the material constitutive equation and size collaborative design. The axial expansion rate η of the water-swellable rubber type (acrylonitrile-butadiene rubber / water-absorbing resin = 7:3) is η = K·ε_max·(1 - e^(-t / τ)), K = 0.8 - 1.2 (vulcanization degree correction coefficient, sulfur 1.2% - 1.8%), ε_max = 25% (tested by GB / T528), τ = 5h (time constant). When t = 10h, ΔL = 4.3mm (η = 0.43mm / h), and it can generate a thrust of F_exp = 50N. Assuming the stiffness of the pre-tightening spring 45 is k = 0.5N / mm, the initial compression amount x_0 = 4mm, and the pre-tightening force is F_0 = 2N, which is much smaller than the rubber expansion force in mechanical matching.

[0039] In another embodiment of this solution, the expansion column 43 is made of a slow-release water-swellable material, preferably a cross-linked polyvinyl alcohol (PVA) composite or a hydrophobically modified cellulose-based gel, and the axial expansion rate is about 0.3 - 0.5 mm / h; the initial pre-tightening force of the pre-tightening spring 45 coordinated with it is set to 2 N, and the stable expansion force of 5 - 8 N generated after the expansion column 43 is saturated with water forms a safety margin of 2.5 times the residual pre-tightening force of the spring (≤2 N); the 0.2 - 0.5 mm annular gap designed between the through-hole 412 and the rod part of the umbrella wire pin 44 forms a capillary water inlet channel. After environmental water seeps in, the expansion column 43 drives the umbrella wire pin 44 to generate an axial displacement of 2.4 mm - 3.2 mm (the expansion rate is calculated at 0.4 mm / h) through 6 - 8 hours of directional expansion, and finally realizes the mechanical unlocking of the second connection point 32 at the end of the umbrella rope through the separation and cooperation between the spherical end 441 at the end of the umbrella wire pin and the inner wall of the second chamber 421 of the pin seat 42.

[0040] As Figure 5 shown, the parachute throwing action of the umbrella hoop 4 in this solution is realized through the linkage mechanism of the umbrella wire pin 44 and the expansion column 43, and the specific working process is as follows:

[0041] 1. Initial locking state ( Figure 5 a): The spherical end 441 at the end of the umbrella wire pin 44 is wedged into the second chamber 421 of the pin seat 42, and the insertion depth h (adjustable within 1.0 - 3.0 mm) has a linear relationship with the total length L of the umbrella wire pin (L = 15h ± 0.05 mm). The second connection point 32 at the end of the umbrella rope 3 is sleeved on the rod part of the umbrella wire pin 44 through the U-shaped guiding structure (opening angle 110° ± 2°) of the hanging umbrella groove 422;

[0042] 2. Hydraulic triggering mechanism ( Figure 5 b): When environmental water seeps in through the gap of the bottom through-hole 412, the expansion column 43 expands axially at a rate of 0.3 - 0.5 mm / h (the expansion rate is different for different materials), and the generated expansion force of 5 - 50 N overcomes the pre-tightening force of the pre-tightening spring 45 (≤2 N), driving the umbrella wire pin 44 to generate a displacement of S = h + Δ (Δ = 0.3 - 0.5 mm, compensating for the umbrella wire diameter);

[0043] 3. Critical displacement unlocking: When the displacement amount S ≥ 1.3 mm (corresponding to the working condition of h = 1.0 mm), the mating surface between the spherical end 441 and the second chamber 421 disengages, and the second connection point 32 slides off along the guiding inclined surface (inclination angle 30° ± 1°) of the hanging umbrella groove 422, and the umbrella rope 3 is released;

[0044] 4. Time programmable control: By replacing the specification of the umbrella wire pin 44 (each increase or decrease of h by 0.5 mm corresponds to an unlocking time of ±3 hours), a parachute throwing cycle of 4 - 12 hours can be adjusted.

[0045] This solution innovatively uses a slow-release water-absorbing and swelling material as the triggering medium and power source. By adjusting the material swelling rate and the length of the umbrella wire pin, precise control of the umbrella deployment time from several minutes to dozens of hours can be achieved. Its physical swelling thrust (5 - 40 N) directly drives the unlocking of the umbrella wire pin, abandoning complex driving units such as traditional solenoid valves and hydraulic systems, avoiding the risk of circuit failure, and still being able to work stably in extreme pipeline environments such as humidity and high pressure. The overall structure is highly integrated, and the core components only include the expansion column 43, the umbrella wire pin 44, and the pin seat 42, reducing 60% of the parts compared to traditional devices. Moreover, the umbrella wire pin can be prefabricated into standardized strip units (such as 4 / 8 / 12-hour specifications), supporting rapid replacement, and the maintenance cost is only 1 / 3 of the traditional solution, comprehensively achieving a technological breakthrough in high reliability, strong environmental adaptability, and low operation and maintenance costs.

[0046] In the embodiments of the present invention, except for those with special specifications for each device, the models of other devices are not limited, as long as the devices can perform the above functions.

[0047] Those skilled in the art can understand that the drawings are only schematic diagrams of a preferred embodiment. The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0048] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims

1. A pipeline inspection parachute throwing device based on umbrella power propulsion, characterized in that, The device includes: a robot body, a flexible umbrella surface, umbrella ropes, an umbrella hoop, and a traction cable. The flexible umbrella surface is designed with a conical structure. Six first connection points are evenly distributed at the edge of the flexible umbrella surface. Each first connection point is connected to the umbrella hoop through a second connection point on the end of the umbrella rope. The umbrella hoop is fixed on the traction cable at the tail end of the robot body.

2. The pipeline inspection parachute throwing device based on umbrella power propulsion according to claim 1, characterized in that, The material of the flexible umbrella surface is selected from polyester fiber coated fabric or polyurethane composite film.

3. The pipe inspection parachute throwing device based on umbrella power propulsion according to claim 1, characterized in that, The second connection point adopts an anti-fatigue braided ring structure, and the diameter of the ring hole of the braided ring is set to be 4-6 times the diameter of the umbrella rope.

4. The pipe inspection parachute throwing device based on umbrella power propulsion according to claim 1, characterized in that, The umbrella hoop consists of a main housing, a pin seat, an expansion column, an umbrella wire pin, a pre-tightening spring, and a side cover. The main housing adopts a cylindrical cavity structure. The side cover and the pin seat are respectively fastened and connected to the two axial ends of the main housing through a first screw and a second screw. Six groups of motion units are evenly arranged along the circumference inside the cavity. Each group of motion units includes a pre-tightening spring, an umbrella wire pin, and an expansion column that are linked together, and the quantity is adapted to the six connecting lines of the umbrella ropes.

5. The pipe inspection parachute throwing device based on umbrella power propulsion according to claim 4, characterized in that, The main housing is designed with a six-channel symmetric load-bearing structure. Six first chambers are evenly arranged along the circumference, corresponding to the six first connection points evenly distributed at the edge of the umbrella surface. The chamber adopts a stepped coaxial composite configuration, and the structure is: the front end is a cylindrical chamber, and the inner wall is mirror-polished to adapt to the sliding fit of the expansion column; the rear end forms a coaxial alignment with the second chamber of the pin seat through a bottom through hole.

6. The pipe inspection parachute throwing device based on umbrella power propulsion according to claim 4, characterized in that The motion units are assembled in a modular laminated manner, and the pre-tightening spring, the umbrella wire pin with a precision positioning structure, and the expansion column are sequentially integrated from left to right according to the "preloading-triggering-response" function sequence. The rod body of the umbrella wire pin penetrates through the central through hole of the expansion column, and the spherical end at the end forms a plug connection with the circular blind hole of the second chamber. The positioning flange in the middle section adopts a double-sided end face precision grinding process. The front end face forms a pressure contact area with the end face of the expansion column, and the rear end face constitutes a dynamic force transmission interface with the elastic loading end of the pre-tightening spring. Under the action of the initial compression pre-tightening force of the spring, the assembly is axially pressed tightly without clearance. The other end of the pre-tightening spring realizes axial constraint through the stepped positioning structure of the side cover. The spring fixing boss maintains the preset pre-tightening force of the spring through end face contact type limit, and the side cover realizes detachable assembly with the main housing through a threaded connection structure.

7. A pipe inspection parachute throwing device based on umbrella power propulsion according to claim 4, characterized in that, The main housing, the pin seat, and the side cover adopt an integrated coaxial design. The three are respectively provided with a first cable passing hole, a second cable passing hole, and a third cable passing hole. A continuous wire passing channel is formed through a three-body coaxial calibration process. After the traction cable penetrates through this channel, it is fixedly bonded and wrapped with weather-resistant epoxy resin glue at the two ends of the outlet.

8. The pipe inspection parachute throwing device based on umbrella power propulsion according to claim 4, characterized in that, A hanging umbrella groove is opened on the assembly end face of the pin seat, and a U-shaped opening guide design is adopted to form a continuous load-bearing surface with the second chamber. Chamfer transitions are processed at the edges of the groove, and a self-locking matching structure is formed with the ring buckle of the second connection point at the end of the umbrella rope.

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