An underground pipeline plugging robot and working method

Abstract

The application provides an underground pipeline leakage stopping robot and a working method. The robot comprises a working unit and a power unit. The periphery of the working unit is provided with anti-collision wheels, and the periphery of the power unit is provided with power wheels. A rotating connecting shaft for turning is arranged between the power unit and the working unit. The side of the power unit away from the working unit is provided with a power paddle. The side of the working unit away from the power unit is connected with an annular air bag through a liquid delivery pipeline. The working unit is provided with a water-soluble polyurethane compression tank which is connected with the annular air bag through the liquid delivery pipeline. The liquid delivery pipeline is provided with a remote control valve. The underground pipeline leakage stopping robot and the working method can adapt to various pipeline types and leakage scenes, realize rapid leakage stopping, reduce the influence of leakage on the surrounding environment and facilities, ensure the reliability and durability of leakage stopping, provide long-term sealing protection for the pipeline, and improve the economy and operability of leakage stopping work.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of underground pipeline repair, in particular to an underground pipeline plugging robot and working method. BACKGROUND

[0002] At present, the underground deep buried pipeline of the city or sewage treatment plant, especially the rainwater pipeline, sewage pipeline and combined pipeline in the urban area is damaged due to pipeline aging, management negligence, improper design, external damage and other reasons. After the pipeline is damaged, professional personnel are invited to find the leakage point by using electronic leak detector, infrared thermal imaging, tracer gas searching and other methods, and then the road surface is excavated to repair the leakage. It is time-consuming and labor-intensive, and if the damaged position is in the urban trunk road, it will greatly affect the urban traffic.

[0003] At present, some excavation-free underground pipeline repair technologies also need to accurately find the leakage point before construction, such as the construction operation surface (generally the head of the pipeline) to the leakage point with a bend pipe, which is difficult to construct, and the construction technology is relatively complex and the repair cost is high, which is not conducive to economic, rapid and convenient plugging of the leakage point.

[0004] In summary, the existing leakage plugging technology has problems such as time-consuming and labor-intensive, great influence on the outside world, high repair cost, long repair time and difficulty in construction under complex working conditions. Therefore, a leakage plugging robot and method that can face complex working conditions of underground pipelines are needed. SUMMARY

[0005] The present application provides an underground pipeline plugging robot and working method for solving the problem of using a plugging robot to realize leakage finding and plugging of underground pipelines. The technical solution is as follows:

[0006] An underground pipeline plugging robot, comprising a working unit and a power unit, the periphery of the working unit is provided with an anti-collision wheel, and the periphery of the power unit is provided with a power wheel; a pull rod between the power unit and the working unit is provided with a rotating connection shaft for turning, the side of the power unit away from the working unit is provided with a power paddle, and the side of the working unit away from the power unit is connected with an annular air bag through a liquid delivery 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 the liquid delivery pipeline, and the liquid delivery pipeline is provided with a remote control valve.

[0007] The inside of the working shell is also provided with a power supply module and an LED light source, the power supply module and the LED light source are located at both ends of the inside of the working shell, the LED light source is located between the annular air bag and the remote control valve, and the power supply module is located at the end away from the annular air bag in the inside of the working shell.

[0008] The LED light source is multiple, uniformly arranged in the inside of the working shell, and also powered by the power supply module.

[0009] The inside of the working shell is provided with a leakage detection camera, which is located above / below the infusion pipeline and is powered by the power supply module.

[0010] The power unit comprises a power shell, the periphery of the power shell is provided with a power wheel, and the side of the power shell away from the working unit is provided with a power paddle; a plurality of power devices and a power supply battery are installed in the inside of the power shell, the power devices are powered by the power supply battery, and the power devices provide power for the power paddle and the power wheel through a transmission shaft.

[0011] One end of the connecting rod is connected with the wheel body of the anti-collision wheel or the power wheel, and the other end is fixedly connected with the shell of the working shell or the power shell through a rotating shaft; the side of the connecting rod is connected with the shell through a supporting device, the supporting device comprises a first supporting rod and a second supporting rod, one end of the first supporting rod is fixedly connected with the side of the connecting rod, the other end is connected with one end of the second supporting rod through a third rotating shaft, and the other end of the second supporting rod is fixedly connected with the shell; the side of the first supporting rod and the side of the second supporting rod are fixedly connected through a connecting spring.

[0012] The power devices of the power unit are installed in the inside of the connecting rod or below the power wheel to drive the power wheel.

[0013] When the infusion pipeline extends outside the working shell, it bifurcates to form two branch pipelines, the ends of the branch pipelines are annular outlets, and the annular air bag is installed at the ends of the branch pipelines.

[0014] A working method of an underground pipeline leakage stopping robot, comprising the following steps:

[0015] S1: the underground pipeline leakage stopping robot moves in the pipeline, provides light source through the LED light source, uses the leakage detection camera, and transmits the image in real time through the transmission line to find the leakage point of the pipeline;

[0016] S2: after the leakage point is found, the position of the underground pipeline leakage stopping robot is adjusted, and the annular air bag is aligned with the leakage point;

[0017] S3: the remote control valve is controlled, a large amount of polyurethane stored in the water-soluble polyurethane compression tank is released into the annular air bag through the infusion pipeline; the polyurethane expands rapidly after reaction, gradually solidifies after inflating the annular air bag, and the leakage point is blocked due to the expansion of the annular air bag made of rubber after inflating the polyurethane.

[0018] The diameter of the annular air bag after inflation is greater than the diameter of the underground pipeline, and a hollow annulus is left in the middle.

[0019] The underground pipeline plugging robot and working method can adapt to various pipeline types and leakage scenes, realize rapid plugging, reduce the influence of leakage on the surrounding environment and facilities, ensure the reliability and durability of plugging, and provide long-term sealing protection for the pipeline, and improve the economy and operability of plugging work.

[0020] The present application has the following advantages:

[0021] (1) The present application can realize accurate searching and plugging of leakage points through the leakage searching camera without excavation, and significantly improve the plugging efficiency: compared with the traditional method, the underground pipeline plugging technology of the present application can greatly shorten the plugging time. Greatly improve the emergency response speed, effectively reduce the loss caused by leakage.

[0022] (2) The present application can adapt to various working conditions, including water storage in the pipeline and multiple elbow pipes in the pipeline. Whether it is an old metal water supply pipeline, a plastic drainage pipeline or a large sewage pipeline made of concrete material, it can realize efficient plugging by flexibly adjusting the construction process and selecting appropriate plugging materials. For different types of leakage problems, such as small cracks, large holes and leakage at the pipeline interface, ideal plugging effect can be achieved, showing excellent adaptability.

[0023] (3) The present application can effectively reduce the construction cost and difficulty: the new plugging technology discards the traditional complex construction process and large equipment, and uses light and easy-to-operate tools. This makes the construction process more simple and fast, and greatly reduces the requirements for the construction site. At the same time, due to the improvement of construction efficiency and optimization of material cost, the economic burden of urban pipeline maintenance is reduced, and the resource utilization efficiency is improved.

[0024] (4) Compared with the traditional plugging method, the present application has the characteristics of no excavation, accurate searching of leakage points, simple operation, low material cost, strong reusability and strong adaptability in underground pipeline plugging. It has great popularization value. BRIEF DESCRIPTION OF DRAWINGS

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

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

[0027] Figure 3 is a bifurcation schematic diagram of the liquid delivery pipeline;

[0028] Figure 4 is a structural schematic diagram of the annular air bag;

[0029] Figure 5This is a schematic diagram of the structure of the power unit;

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

[0031] Figure 7 This is a schematic diagram of the underground pipeline sealing robot passing through a pipe bend or tee. Detailed Implementation

[0032] like Figure 1 As shown, the underground pipeline sealing robot includes a working unit 1 and a power unit 2. The working unit 1 is equipped with anti-collision wheels 4, and the power unit 2 is equipped with power wheels 5. A rotating connecting shaft 3 for steering is provided on the traction rod between the power unit 2 and the working unit 1. A power propeller 6 is provided on the side of the power unit 2 away from the working unit 1, and an annular airbag 12 is provided on the side of the working unit 1 away from the power unit 2. The working unit 1 and the power unit 2 are connected to a control terminal via the same transmission line 7. At least one rotating connecting shaft 3 is provided, and they are connected in series on the traction rod to adapt to the pipeline conditions.

[0033] like Figure 2 As shown, the working unit 1 includes a working housing 11, and anti-collision wheels 4 are arranged around the periphery of the working housing 11. In one embodiment, the working housing 11 is cylindrical, and four anti-collision wheels 4 are evenly arranged around its periphery. The anti-collision wheels are mounted on the working housing via connecting rods 31. The specific installation method of the anti-collision wheels 4 and the working housing is as follows: Figure 7 As described in the text.

[0034] The working housing 11 houses a water-soluble polyurethane compression tank 14, a leak-detecting camera 16, a power supply module 17, and LED light sources 18. The water-soluble polyurethane compression tank 14 is connected to an annular airbag 12 via an infusion pipe 15. The infusion pipe 15 is equipped with a remote-controlled valve 13, which is powered by the power supply module 17. The power supply module 17 and the LED light sources 18 are located at opposite ends inside the working housing. The LED light sources 18 are positioned between the annular airbag 12 and the remote-controlled valve 13, while the power supply module 17 is located inside the working housing at the end furthest from the annular airbag 12. Multiple LEDs 18 are evenly distributed inside the working housing and are also powered by the power supply module 17. The leak-detecting camera 16 is installed inside the working housing, above / below the infusion pipe 15, and is powered by the power supply module 17.

[0035] Furthermore, in combination Figure 3 and Figure 4As shown, the infusion pipeline 15 is bifurcated to form two branch pipelines 19 when it extends outside the working shell 11, and the end of the branch pipeline 19 is a ring-shaped outlet, and the ring-shaped air bag 12 is installed at the end of the branch pipeline 19.

[0036] In use, the following working steps are included:

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

[0038] S2: After the leakage point is found, the position of the underground pipeline plugging robot is adjusted, and the ring-shaped air bag 12 is aligned with the leakage point;

[0039] S3: The remote control valve 13 is controlled to release a large amount of polyurethane stored in the water-soluble polyurethane compression tank 14 into the ring-shaped air bag 12 through the infusion pipeline 15. The polyurethane expands rapidly after reaction, and gradually solidifies after inflating the ring-shaped air bag 12. Since the ring-shaped air bag 12 is made of rubber, it expands after inflating with polyurethane to plug the leakage point.

[0040] The material of the inner ring of the ring-shaped air bag 12 is a thick rubber layer, and the material of the outer ring is a thin rubber layer, which is fixed to the outer wall of the ring-shaped outlet at the end of the branch pipeline 19. The polyurethane expands rapidly after reaction, so that the thick rubber layer expands outward, and the inflated thick rubber layer ensures the space of the inner ring after plugging to maintain the passability of the pipeline, wherein the diameter of the inflated ring-shaped air bag is slightly larger than the diameter of the underground pipeline.

[0041] Further, the underground pipeline is ring-shaped, and the rubber layer is also hollow ring-shaped, which is closely attached to the inner wall of the underground pipeline to ensure the water flow through the hollow ring-shaped space and not affect the normal water flow.

[0042] As shown, Figure 5 As shown, the power unit 2 includes a power shell 21, and the periphery of the power shell 21 is provided with power wheels 5. In an embodiment, the working shell 21 is cylindrical, and four power wheels 5 are uniformly arranged on the periphery. The power wheels are installed on the working shell through connecting rods 31. The side of the power shell 21 away from the working unit 1 is provided with a power paddle 6.

[0043] The first power device 22 and the power supply battery 23 are installed in the power shell 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 and can be a motor. The second power device provides power to the power wheel 5 through the drive shaft.

[0045] like Figure 6 As 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 support device, the support device including 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, and the other end of the second support rod 36 is fixedly connected to the housing; the side of the first support rod 35 and the side of the second support rod 36 are fixedly connected by a connecting spring 37.

[0046] The anti-collision wheels / power wheels of the underground pipeline sealing robot have a steering structure, allowing them to lean towards the rear of the robot. The support device provides support for the anti-collision wheels / power wheels to ensure the friction of their movement.

[0047] The height of the anti-collision wheels / power wheels can be controlled by the support device, allowing them to fit more closely to the pipe wall and enabling the robot to adapt to a wider range of pipe diameters. In other words, the support device can control the height of the anti-collision wheels / power wheels through the extension and retraction of the central connecting spring 37, thus accommodating different pipe diameters. Furthermore, the robot can also pass smoothly if it encounters pipe deformation or debris while traveling inside the pipe.

[0048] At this time, the second power unit installed inside the power housing 21 is affected by the first rotating shaft 32 and is no longer suitable for directly supplying power to the power wheel 5 through the drive shaft. A third power unit can be installed inside the connecting rod 31 or below the power wheel. The third power unit is a micro motor and is also powered by the power supply battery 23.

[0049] The underground pipeline sealing robot operates in two modes within the pipeline:

[0050] The first method involves using a power wheel 5 to provide power in an empty pipe (i.e., a pipe without liquid), while the anti-collision wheel 4 and the rotating connecting shaft 3 maintain the overall balance of the robot, allowing the robot to move forward inside the pipe.

[0051] The second method: In a pipe filled with liquid. Power is provided by a propeller 6, and the power wheel 5 and the anti-collision wheel 4 work together to help the robot maintain its overall balance in the pipe, allowing the robot to move forward in the pipe.

[0052] Further, when the robot encounters a pipe elbow or tee, the robot is guided by the way Figure 7 Powered by the power wheel 5 or the power paddle 6, the connecting shaft 3 is rotated to turn.

[0053] The device is moved through the elbow at different angles, powered by the power paddle 6 in the liquid, and the connecting shaft 3 is flexibly controlled under the action of power to control the advancing direction of the front working unit, ensuring that the device can smoothly pass through the pipe at different angles. Through the design of the rotating connecting shaft 3, the turning passing radius of the robot is directly reduced, so that the robot can pass through more angle pipe elbows.

[0054] The robot provided by the present application is sent into the underground pipeline from the opening of the underground pipeline, and the special structure of the robot can pass through the elbow of the underground pipeline well. At the same time, considering that there may still be a large amount of liquid in the underground pipeline, the robot is a fully enclosed waterproof robot. The robot is provided with an LED light source and a camera, adopts a pipeline endoscopy mode to find a leakage point, and after finding the leakage point, water-soluble polyurethane grouting material is filled into the annular air bag to achieve the effect of plugging the leakage point. The present application greatly improves the accuracy, speed and economy of underground pipeline plugging.

Claims

1. A robot for sealing leaks in underground pipelines, characterized in that: The system includes a working unit and a power unit. The working unit is equipped with anti-collision wheels, and the power unit is equipped with power wheels. A traction rod between the power unit and the working unit is equipped with a rotating connecting shaft for steering. A power propeller is located on the side of the power unit away from the working unit, and an annular airbag is connected to the side of the working unit away from the power unit via an infusion pipe. The working unit includes a water-soluble polyurethane compression tank, which is connected to the annular airbag via an infusion pipe equipped with a remote-controlled valve. The working unit includes a working housing. The power unit includes a power housing, with power wheels around its periphery. The power wheels are mounted on the working housing via connecting rods, and a power propeller is mounted on the side of the power housing away from the working unit. Multiple power units and a power supply battery are installed inside the power housing. The power units are powered by the power supply battery and provide power to the power propeller and power wheels via a drive shaft. Alternatively, the power unit's power unit can be installed inside the connecting rod or below the power wheels to drive the power wheels. Power is provided by a drive wheel in the empty pipe, and the anti-collision wheel and the rotating connecting shaft maintain the overall balance of the robot, enabling the robot to move forward inside the pipe; At the pipe filled with liquid, a propeller is used to provide power. The propeller wheel and anti-collision wheel work together to help the robot maintain its overall balance in the pipe, enabling the robot to move forward in the pipe. When the robot encounters a pipe bend or tee, it is powered by a drive wheel or drive paddle to rotate the connecting shaft and change direction. When the infusion pipeline extends outside the working housing, it branches into two branch pipelines, the end of which is an annular outlet, and the annular airbag is installed at the end of the branch pipeline. The working housing is also equipped with a power supply module and an LED light source. The power supply module and the LED light source are located at both ends inside the working housing. The LED light source is located between the annular airbag and the remote control valve. The power supply module is located inside the working housing at the end away from the annular airbag. The working housing is equipped with a leak detection camera located above / below the infusion pipeline and powered by a power supply module.

2. The underground pipeline leak-sealing robot according to claim 1, characterized in that: The LED light source consists of multiple LEDs, which are evenly arranged inside the working housing and are powered by a power supply module.

3. The underground pipeline leak-sealing 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 including 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, and the other end of the second support rod is fixedly connected to the housing; the side of the first support rod and the side of the second support rod are fixedly connected by a connecting spring.

4. The working method of the underground pipeline plugging robot according to claim 1, characterized in that: Includes the following steps: S1: The underground pipeline leak-sealing robot moves inside the pipeline, is illuminated by an LED light source, uses a leak-detecting camera, and transmits images in real time via a transmission line to locate the leak in the pipeline. S2: After locating the leak, adjust the position of the underground pipeline leak-sealing robot and aim the annular airbag at the leak. S3: Control the remote control valve to release a large amount of water-soluble polyurethane stored in the compression tank into the annular airbag through the infusion pipeline; the polyurethane expands rapidly after the reaction, inflates the annular airbag and gradually solidifies. Since the annular airbag is made of rubber, it expands after being filled with polyurethane and seals the leak.

5. The working method of the underground pipeline plugging robot according to claim 4, characterized in that: The inflated annular airbag has a diameter larger than that of the underground pipe, with a hollow annular structure in the middle.

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