Underground pipeline leaking stoppage robot and working method

Abstract

The invention provides an underground pipeline leaking stoppage robot and a working method.The robot comprises a working unit and a power unit, anti-collision wheels are arranged on the periphery of the working unit, and power wheels are arranged on the periphery of the power unit; a rotating connecting shaft used for steering is arranged between the power unit and the working unit, a power paddle is arranged on the side, away from the working unit, of the power unit, and an annular air bag is connected to the side, away from the power unit, of the working unit through a liquid conveying pipeline; the working unit is provided with a water-soluble polyurethane compression tank, the water-soluble polyurethane compression tank is connected with the annular air bag through a liquid conveying pipeline, and the liquid conveying pipeline is provided with a remote control valve. The underground pipeline leaking stoppage robot and the working method can adapt to diversified pipeline types and leakage scenes, quick leaking stoppage is achieved, and the influence of leakage on the surrounding environment and facilities is reduced; the reliability and durability of leaking stoppage are ensured, and long-term sealing guarantee is provided for the pipeline; and the economical efficiency and operability of leaking stoppage work are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of underground pipeline repair, and particularly to an underground pipeline leakage plugging robot and a working method thereof. Background Art

[0002] Currently, the underground buried pipelines in cities or sewage treatment plants, especially the rainwater pipelines, sewage pipelines, and combined pipelines in urban areas, are damaged due to reasons such as pipeline aging, management negligence, improper design, and external damage. After the pipeline is damaged, professional personnel are often invited to use methods such as electronic leak detectors, infrared thermal imaging, and tracer gas search to find the leak point, and then the road surface is excavated for leak repair after that. This is time-consuming and laborious. If the damaged location is on the urban main road, it will also greatly affect urban traffic.

[0003] Currently, there are some existing trenchless underground pipeline repair technologies, which also require accurately finding the leak point before construction. If there is a bend in the pipeline from the construction operation surface (usually one end of the pipeline) to the leak point, it is difficult to carry out construction, and the construction technology is relatively complex and the repair cost is high, which is not conducive to economically, quickly, and conveniently plugging the leak point.

[0004] In summary, the existing leak plugging technologies have problems such as being time-consuming and laborious, having a large impact on the outside world, high repair costs, long repair times, and being difficult to construct in the face of complex working conditions. Therefore, it is necessary to propose a leak detection and leak plugging integrated leak plugging robot and a leak plugging method that can face the complex working conditions of underground pipelines. Summary of the Invention

[0005] The present invention provides an underground pipeline leak plugging robot and a working method thereof, which are used to solve the problem of realizing leak detection and leak plugging for underground pipelines by using a leak plugging robot. The technical solution is as follows:

[0006] An underground pipeline leak plugging robot includes a working unit and a power unit. Anti-collision wheels are arranged around the working unit, and power wheels are arranged around the power unit; a rotating connecting shaft for steering is arranged on the pull rod between the power unit and the working unit. A power paddle is arranged on the side of the power unit away from the working unit. An annular airbag is connected to the side of the working unit away from the power unit through an infusion pipeline; the working unit is provided with a water-soluble polyurethane compression tank, and the water-soluble polyurethane compression tank is connected to the annular airbag through an infusion pipeline, and a remote control valve is arranged on the infusion pipeline.

[0007] A power supply module and an LED light source are further arranged inside the working shell. The power supply module and the LED light source are located at both ends inside the working shell, where the LED light source is located between the annular airbag and the remote control valve, and the power supply module is inside the working shell at the end away from the annular airbag.

[0008] The LED light sources are multiple and are evenly arranged inside the working housing, and are also powered by the power supply module.

[0009] A leak detection camera is arranged inside the working housing. The leak detection camera is located above / below the infusion pipeline and is powered by the power supply module.

[0010] The power unit includes a power housing. Power wheels are arranged around the power housing. A power paddle is installed on one side of the power housing away from the working unit. A plurality of power devices and a power supply battery are installed inside the power housing. The power devices are powered by the power supply battery, and the power devices provide power to the power paddle and the power wheels through transmission shafts.

[0011] One end of the connecting rod is connected to the wheel body of the anti-collision wheel or the power wheel, and the other end is fixedly connected to the housing of the working housing or the power housing through a rotating shaft. The side of the connecting rod is connected to the housing through a support device. The support device includes a first support rod and a second support rod. One end of the first support rod is fixedly connected to the side of the connecting rod, and the other end is connected to one end of the second support rod through a third rotating shaft. The other end of the second support rod is fixedly connected to the housing. The sides of the first support rod and the second support rod are fixedly connected through a connecting spring.

[0012] The power device of the power unit is installed inside the connecting rod or below the power wheel to drive the power wheel.

[0013] When the infusion pipeline extends out of the working housing, it bifurcates to form two branch pipelines. The ends of the branch pipelines are annular outlets, and the annular airbag is installed at the ends of the branch pipelines.

[0014] A working method of an underground pipeline leak plugging robot includes the following steps:

[0015] S1: The underground pipeline leak plugging robot moves inside the pipeline, provides light source through the LED light sources, uses the leak detection camera, and transmits the image in real time through the transmission line to find the leak point of the pipeline.

[0016] S2: After finding the leak point, adjust the orientation of the underground pipeline leak plugging robot to align the annular airbag with the leak point.

[0017] S3: Control the remote control valve, and release a large amount of polyurethane stored in the water-soluble polyurethane compression tank into the annular airbag through the infusion pipeline. The polyurethane expands rapidly after reaction, gradually solidifies after filling up the annular airbag. Since the annular airbag is made of rubber material, it expands after filling with polyurethane and plugs the leak point.

[0018] After the annular airbag is filled up, its diameter is larger than the diameter of the underground pipeline, and a hollow ring is left in the middle.

[0019] The underground pipeline leak plugging robot and its working method can adapt to diverse pipeline types and leakage scenarios, achieve rapid leak plugging, reduce the impact of leakage on the surrounding environment and facilities; ensure the reliability and durability of leak plugging, providing long-term sealing protection for pipelines; and improve the economy and operability of leak plugging work.

[0020] The present invention has the following advantages:

[0021] (1) The present invention can accurately locate and plug leak points through a leak detection camera without excavation, significantly improving the leak plugging efficiency: Using the underground pipeline leak plugging technology of the present invention, compared with traditional methods, the leak plugging time can be greatly shortened. This greatly improves the emergency response speed and effectively reduces the losses caused by leakage.

[0022] (2) The present invention can adapt to a variety of different working conditions, including the situation of water in the pipeline and multiple elbows in the pipeline. Whether it is an old metal water supply pipeline, a plastic drainage pipeline or a large concrete sewage pipeline, efficient leak plugging can be achieved by flexibly adjusting the construction process and selecting appropriate leak plugging materials. For different types of leakage problems, such as small cracks, large holes and leakage at pipeline joints, ideal leak plugging effects can be obtained, demonstrating excellent adaptability.

[0023] (3) The present invention can effectively reduce the construction cost and difficulty: The new leak plugging technology abandons the traditional complex construction process and large equipment, and uses portable and easy-to-operate tools. This makes the construction process simpler and faster, and the requirements for the construction site are also greatly reduced. At the same time, due to the improvement of construction efficiency and the optimization of material costs, the economic burden of urban pipeline maintenance is reduced, and the resource utilization efficiency is improved.

[0024] (4) In terms of underground pipeline leak plugging, compared with traditional leak plugging methods, the present invention has innovative features such as no excavation, accurate leak point location, simple and convenient operation, low consumable cost, strong reusability and strong adaptability. It has great promotion value. Brief Description of the Drawings

[0025] Figure 1 is the structural schematic diagram of the underground pipeline leak plugging robot;

[0026] Figure 2 is the structural schematic diagram of the working unit;

[0027] Figure 3 is the bifurcation schematic diagram of the infusion pipeline;

[0028] Figure 4 is the structural schematic diagram of the annular airbag;

[0029] Figure 5It is a schematic structural diagram of the power unit;

[0030] Figure 6 It is a schematic structural diagram of the support device for the anti-collision wheel or the power wheel;

[0031] Figure 7 It is a schematic diagram of the underground pipeline leak plugging robot passing through a pipeline elbow or tee. Detailed implementation manners

[0032] As Figure 1 shown, the underground pipeline leak plugging robot includes a working unit 1 and a power unit 2. An anti-collision wheel 4 is arranged around the working unit 1, and a power wheel 5 is arranged around the power unit 2. A rotating connection shaft 3 for steering is arranged on the tie rod between the power unit 2 and the working unit 1. A power paddle 6 is arranged on one side of the power unit 2 away from the working unit 1, and an annular airbag 12 is arranged on one side of the working unit 1 away from the power unit 2. The working unit 1 and the power unit 2 are connected to the control end through the same transmission line 7. At least one rotating connection shaft 3 is provided and is connected in series on the tie rod to adapt to the situation of the pipeline.

[0033] As Figure 2 shown, the working unit 1 includes a working housing 11. An anti-collision wheel 4 is arranged around the working housing 11. In a certain embodiment, the working housing 11 is cylindrical, and four anti-collision wheels 4 are evenly arranged around it. The anti-collision wheels are installed on the working housing through connecting rods 31. The installation method of the anti-collision wheel 4 on the working housing is specifically described in Figure 7 this

[0034] Inside the working housing 11, there are a water-soluble polyurethane compression tank 14, a leak detection camera 16, a power supply module 17, and an LED light source 18. The water-soluble polyurethane compression tank 14 is connected to the annular airbag 12 through an infusion pipeline 15. The infusion pipeline 15 is provided with a remote control valve 13, and the remote control valve 13 is powered by the power supply module 17. The power supply module 17 and the LED light source 18 are located at both ends inside the working housing. Among them, the LED light source 18 is located between the annular airbag 12 and the remote control valve 13, and the power supply module 17 is inside the working housing, at one end away from the annular airbag 12. The LED light source 18 is multiple and is evenly arranged inside the working housing, and is also powered by the power supply module 17. The leak detection camera 16 is installed inside the working housing, above / below the infusion pipeline 15, and is powered by the power supply module 17.

[0035] Further, in combination with Figure 3 and Figure 4As shown, when the infusion pipeline 15 extends outside the working housing 11, it bifurcates to form two branch pipelines 19. The ends of the branch pipelines 19 are annular outlets, and the annular airbag 12 is installed at the ends of the branch pipelines 19.

[0036] During use, it includes the following working steps:

[0037] S1: The underground pipeline leak plugging robot moves inside the pipeline, provides light source through the LED light source 17, uses the leak detection camera 16, and transmits the images in real time through the transmission line 7 to find the leak point of the pipeline.

[0038] S2: After finding the leak point, adjust the orientation of the underground pipeline leak plugging robot and align the annular airbag 12 with the leak point. <(

[0039] S3: Control the remote control valve 13, and release a large amount of polyurethane stored in the water-soluble polyurethane compression tank 14 into the annular airbag 12 through the infusion pipeline 15. The polyurethane expands rapidly after reaction, fills up the annular airbag 12 and gradually solidifies. Since the annular airbag 12 is made of rubber material, it expands after being filled with polyurethane and blocks the leak point.

[0040] The material of the inner ring of the annular airbag 12 is a thick rubber layer, and the material of the outer ring is a thin rubber layer. The thin rubber layer is fixed on the outer wall of the annular outlet at the end of the branch pipeline 19. The polyurethane expands rapidly after reaction, causing the thick rubber layer to expand outwards, and ensuring the inner ring space after leak plugging through the inflated thick rubber layer to maintain the passability of the pipeline. Among them, the diameter of the annular airbag after inflation should be slightly larger than the diameter of the underground pipeline.

[0041] Furthermore, the underground pipeline is annular, and the rubber layer is also a hollow ring. The rubber layer is closely attached to the inner wall of the underground pipeline, leaving the middle hollow ring to continue to ensure the water flow and not affect the normal water supply.

[0042] As Figure 5 shown, the power unit 2 includes a power housing 21. Power wheels 5 are arranged around the power housing 21. In a certain embodiment, the working housing 21 is cylindrical, and four power wheels 5 are evenly arranged around it. The power wheels are installed on the working housing through connecting rods 31. A power paddle 6 is installed on the side of the power housing 21 away from the working unit 1.

[0043] A first power device 22 and a power supply battery 23 are installed inside the power housing 21. The first power device 22 can adopt a motor, and the first power device 22 is powered by the power supply battery 23. The first power device 22 provides power for the power paddle 6 through a transmission shaft.

[0044] At least one second power device is installed inside the power housing 21. The second power device is also powered by the power supply battery 23. A motor can be used. The second power device provides power to the power wheel 5 through a transmission shaft.

[0045] As Figure 6 shown, one end of the connecting rod 31 is connected to the wheel body 33 of the anti-collision wheel or the power wheel, and the other end is fixedly connected to the housing of the working housing or the power housing through the rotating shaft 32; the side of the connecting rod 31 is connected to the housing through a supporting device. The supporting device includes a first support rod 35 and a second support rod 36. One end of the first support rod 35 is fixedly connected to the side of the connecting rod 31, and the other end is connected to one end of the second support rod 36 through a third rotating shaft 34. The other end of the second support rod 36 is fixedly connected to the housing; the sides of the first support rod 35 and the second support rod 36 are fixedly connected by a connecting spring 37.

[0046] In the anti-collision wheel / power wheel of the underground pipeline leak stoppage robot, the anti-collision wheel / power wheel has a steering structure and can be folded backward against the rear side of the underground pipeline leak stoppage robot. The supporting device provides a supporting force for the anti-collision wheel / power wheel to ensure the frictional force during the travel of the anti-collision wheel / power wheel.

[0047] The height of the rod part of the anti-collision wheel / power wheel can be controlled through the supporting device, so that the anti-collision wheel / power wheel can fit the pipe wall better, ensuring that the robot can adapt to a wider range of pipe diameters. That is to say, the supporting device can control the height of the anti-collision wheel / power wheel through the expansion and contraction of the connecting spring 37 in the middle, so as to adapt to different pipe diameters. At the same time, if the robot encounters pipeline deformation or debris when traveling in the pipe, it can also pass smoothly.

[0048] At this time, due to the influence of the first rotating shaft 32, the second power device installed inside the power housing 21 is not suitable for directly providing power to the power wheel 5 through the transmission shaft. A third power device can be installed inside the connecting rod 31 or below the power wheel. The third power device uses a micro motor and is also powered by the power supply battery 23.

[0049] The underground pipeline leak stoppage robot has two motion modes in the pipeline:

[0050] The first: In an empty pipeline (a pipeline without liquid), the power wheel 5 is used to provide power, and the anti-collision wheel 4 and the rotating connection shaft 3 keep the whole robot balanced, so that the robot moves forward in the pipeline.

[0051] The second: In a pipeline full of liquid. The power paddle 6 is used to provide power, and the power wheel 5 and the anti-collision wheel 4 together help the robot maintain the overall balance in the pipeline, so that the robot moves forward in the pipeline.

[0052] Furthermore, when the robot encounters a pipe bend or tee, it can refer to Figure 7 The power is provided by the power wheel 5 or the power paddle 6, which rotates the connecting shaft 3 to turn.

[0053] The robot's motion through various pipe bends is controlled by a propeller 6 in the liquid. The connecting shaft 3, under this power, flexibly controls the forward direction of the front working unit, ensuring smooth passage through pipes at various angles. The design of rotating the connecting shaft 3 directly reduces the robot's turning radius, enabling it to navigate a wider range of pipe bends.

[0054] The robot provided by the present invention is inserted into an underground pipeline through its opening, and its unique design allows it to effectively pass through bends in the pipeline. Furthermore, given the potential for large amounts of liquid in the pipeline, the robot is fully enclosed and waterproof. The robot has a built-in LED light source and camera, and uses pipeline endoscopy to locate leaks. Once the leak is found, a water-soluble polyurethane grouting material is filled into an annular airbag to seal the leak. This invention significantly improves the accuracy, speed, and cost-effectiveness of underground pipeline leak plugging.

Claims

1. An underground pipeline leakage plugging robot, characterized in that: It includes a working unit and a power unit. Anti-collision wheels are arranged around the working unit, and power wheels are arranged around the power unit. A rotating connecting shaft for steering is provided on the tie rod between the power unit and the working unit. A power paddle is arranged on the side of the power unit away from the working unit. An annular airbag is connected to the side of the working unit away from the power unit through an infusion pipeline. The working unit is provided with a water-soluble polyurethane compression tank, and the water-soluble polyurethane compression tank is connected to the annular airbag through an infusion pipeline. A remote control valve is arranged on the infusion pipeline.

2. The underground pipeline leak plugging robot according to claim 1, wherein: A power supply module and an LED light source are further arranged inside the working housing. The power supply module and the LED light source are located at both ends inside the working housing. Among them, the LED light source is located between the annular airbag and the remote control valve, and the power supply module is inside the working housing and located at the end away from the annular airbag.

3. The underground pipeline leak plugging robot according to claim 2, wherein: There are multiple LED light sources, which are evenly arranged inside the working housing and are also powered by the power supply module.

4. The underground pipeline leak plugging robot according to claim 1, wherein: A leak detection camera is arranged inside the working housing. The leak detection camera is located above / below the infusion pipeline and is powered by the power supply module.

5. The underground pipeline leak plugging robot according to claim 1, wherein: The power unit includes a power housing. Power wheels are arranged around the power housing. A power paddle is installed on the side of the power housing away from the working unit. Multiple power devices and a power supply battery are installed inside the power housing. The power devices are powered by the power supply battery, and the power devices provide power for the power paddle and the power wheels through transmission shafts.

6. The underground pipeline leak plugging robot according to claim 1, characterized in that: One end of the connecting rod is connected to the wheel body of the anti-collision wheel or the power wheel, and the other end is fixedly connected to the housing of the working housing or the power housing through a rotating shaft. The side of the connecting rod is connected to the housing through a support device. The support device includes a first support rod and a second support rod. One end of the first support rod is fixedly connected to the side of the connecting rod, and the other end is connected to one end of the second support rod through a third rotating shaft. The other end of the second support rod is fixedly connected to the housing. The sides of the first support rod and the second support rod are fixedly connected through a connecting spring.

7. The underground pipeline leak plugging robot according to claim 6, characterized in that: The power device of the power unit is installed inside the connecting rod or below the power wheel to drive the power wheel.

8. The underground pipeline leak plugging robot according to claim 1, characterized in that: When the infusion pipeline extends outside the working housing, it bifurcates into two branch pipelines. The ends of the branch pipelines are annular outlets, and the annular airbag is installed at the ends of the branch pipelines.

9. The working method of the underground pipeline leakage plugging robot according to claim 1, characterized in that: It includes the following steps: S1: The underground pipeline leak plugging robot moves in the pipeline, provides light through the LED light source, uses the leak detection camera, and transmits the image in real time through the transmission line to find the leak point of the pipeline. S2: After finding the leak point, adjust the orientation of the underground pipeline leak plugging robot to align the annular airbag with the leak point. S3: Control the remote control valve, and release a large amount of polyurethane stored in the water-soluble polyurethane compression tank into the annular airbag through the infusion pipeline. The polyurethane expands rapidly after reaction, gradually solidifies after filling up the annular airbag. Since the annular airbag is made of rubber material, it expands after filling with polyurethane and plugs the leak point.

10. The working method of the underground pipeline leak plugging robot according to claim 9, characterized in that: After the annular airbag is filled, its diameter is larger than the diameter of the underground pipeline, and there is a hollow ring in the middle.

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