Rapid lifting-out device for municipal underground pipe network detection equipment

Abstract

The invention discloses a quick lifting-out device for municipal underground pipe network detection equipment, and belongs to the technical field of pipeline detection equipment.The quick lifting-out device comprises a main body moving frame, a lens protection clamping assembly is arranged above the main body moving frame, and a moving alignment assembly is arranged above the main body moving frame; a lens protection clamping assembly and a U-shaped plate clamping assembly are arranged on the moving alignment assembly, lifting lugs are arranged on the periphery of the tail end of the main body moving frame, the lifting lugs are connected with a lifting assembly, and the lens protection clamping assembly achieves self-adaptive buffering protection on a camera of the underwater pipeline robot, reduces the damage risk and improves the safety of the camera. The U-shaped plate clamping assembly can reduce the phenomena of posture inclination, shaking instability or slipping caused by single-point pulling, the overall stability and safety in the lifting process are improved, and the phenomena that an existing underwater pipeline robot is prone to collision damage, uneven in stress, unstable in lifting and the like in the recycling process can be effectively reduced; therefore, the recycling success rate and the equipment use reliability are improved.

Description

A quick lifting device for municipal underground pipeline network inspection equipment Technical Field

[0001] This invention belongs to the technical field of pipeline inspection equipment, specifically a quick lifting device for municipal underground pipeline inspection equipment. Background Technology

[0002] Underwater pipeline robots are widely used for internal inspection, testing, and maintenance of urban drainage networks, industrial pipelines, and marine pipelines. They typically integrate a walking mechanism, camera assembly, and a U-shaped plate structure for installation or towing. In practical applications, underwater pipeline robots operate for extended periods in high-humidity, submerged, narrow, enclosed, and poorly visible environments inside pipelines. If a malfunction occurs, such as shutdown, power depletion, communication interruption, or obstruction by foreign objects, it is often necessary to promptly retrieve the robot from the pipeline using external mechanical means to prevent further damage or disruption to the normal operation of the pipeline system.

[0003] In existing technologies, the recovery of underwater pipeline robots mostly relies on traction ropes, manual gripping, or simple lifting devices combined with salvage tools. However, these methods generally have the following shortcomings: First, underwater pipeline robots have complex external structures, especially their front-end lens components, which are precision parts. Traditional recovery tools struggle to reliably position and grip them within the confined space of the pipeline, making it easy for the lens components to be damaged by collisions or compression during the recovery process. Second, existing recovery devices typically only pull or support a single part of the robot, failing to stably grip load-bearing structures such as U-shaped plates simultaneously. This results in uneven force distribution, posing risks of attitude instability, slippage, or even secondary jamming during lifting. Furthermore, underwater pipelines often contain complex conditions such as water flow disturbances and obstacles, making collisions inevitable when the recovery device comes into contact with the robot. Existing gripping structures are mostly rigid clamps, lacking adaptive buffering and protection capabilities against sudden collisions, making it difficult to provide timely and effective protection for the lens components, further increasing the possibility of recovery failure and equipment damage. Summary of the Invention

[0004] The purpose of this invention is to provide a quick lifting device for municipal underground pipeline network inspection equipment, so as to solve at least one aspect of the problems and defects mentioned in the background art.

[0005] A quick lifting device for municipal underground pipeline network inspection equipment is provided, including a main movable frame, a lens protection clamping assembly and a movable alignment assembly are provided on the upper part of the main movable frame, and a lens protection clamping assembly and a U-shaped plate clamping assembly are respectively provided on the movable alignment assembly. Lifting lugs are provided around the four sides of the end of the main movable frame, and several lifting lugs are connected to a lifting assembly.

[0006] Furthermore, the lens protection clamping assembly includes a mounting base cylinder, a pre-contact buffer guide ring is provided in the middle of the mounting base cylinder, a floating core is provided on one side of the lower part of the pre-contact buffer guide ring, a multi-stage buffer assembly is also provided between the floating core and the mounting base cylinder, and an annular wedge-shaped drive sleeve is sleeved on the lower end of the floating core, and an arc-shaped covering piece is slidably connected on the annular wedge-shaped drive sleeve.

[0007] Furthermore, the multi-stage buffer assembly includes an outer ring plate, which is disposed above the pre-contact buffer guide ring. A first-stage spring is disposed below the outer ring plate, and a differential shoulder is connected below the first-stage spring. A floating core column is slidably connected to the middle of the differential shoulder, and a mounting base is connected below the floating core column via a second-stage spring.

[0008] Furthermore, the inner side of the annular wedge-shaped drive sleeve is provided with several drive inclined surfaces, and the several drive inclined surfaces are slidably connected to the stepped surface of the arc-shaped covering piece.

[0009] Furthermore, the bottom of the arc-shaped covering sheet is slidably connected to the radial guide groove of the mounting base cylinder via a radial slide block, and a radial limiting spring is also provided between the radial guide groove and the mounting base cylinder.

[0010] Furthermore, the steel plate support assembly includes a main support platform, on which a plurality of hydraulic cylinder support assemblies are arranged, and the plurality of hydraulic cylinder support assemblies are distributed in a layered array on the main support platform.

[0011] Furthermore, the moving alignment assembly includes a sealed power chamber, with drive motors arranged on both sides of the sealed power chamber. Each of the two drive motors has an active magnetic rotor fixedly connected to its output end. Each of the two active magnetic rotors is magnetically connected to a driven magnetic rotor via a non-magnetic isolation sleeve. Each of the two driven magnetic rotors has a lead screw, which is rotatably connected to a mounting base. A lead screw nut is provided on one side of the upper part of each lead screw. A first slide and a second slide are fixedly connected to the two lead screw nuts, respectively. A lens protection clamping assembly is connected to the first slide, and a U-shaped plate clamping assembly is connected to the second slide. A visual recognition camera is also provided in the middle of the sealed power chamber.

[0012] Furthermore, the U-shaped plate clamping assembly includes a bottom support, which is disposed on the second slide. Left and right clamping components are disposed on both sides of the bottom support, an upper pressing component is disposed above the bottom support, and a bottom bearing groove is disposed in the middle of the bottom support.

[0013] Furthermore, the left and right clamping components include a clamping drive motor, the output end of which is connected to a drive shaft, and driven shafts are connected to both sides of the drive shaft via a transmission assembly, with arc-shaped swing arms connected to the two driven shafts.

[0014] Furthermore, the upper pressure assembly includes an oil-immersed pressure-balancing electric push rod, which is disposed above the upper pressure frame. The telescopic end of the oil-immersed pressure-balancing electric push rod is fixedly connected to a connecting plate, and the upper part of the connecting plate is connected to the upper pressure main board through several return springs.

[0015] Furthermore, the hoisting assembly includes a ring-shaped distribution frame, with several connecting hooks below the ring-shaped distribution frame. Each of the connecting hooks is connected to a lifting lug, and each of the connecting hooks is equipped with a wire rope. The ring-shaped distribution frame is connected to a drive drum via the wire rope, and the drive drum is mounted on a ground platform.

[0016] Compared with existing technologies, the beneficial effects of this invention are as follows: By setting up a lens protection clamping assembly, graded energy absorption and delayed force transmission can be achieved when the recovery device contacts the underwater pipeline robot, effectively reducing sudden collision impacts and realizing adaptive buffer protection for the underwater pipeline robot's camera, reducing the risk of damage, and reducing squeezing deformation or seal damage caused by rigid clamping, thereby improving the safety and service life of the precision lens assembly; by using the U-shaped plate clamping assembly to form a three-dimensional clamping structure, the hoisting stability is improved, and the load-bearing parts such as the U-shaped plate are subjected to uniform force, effectively reducing the posture tilting, swaying instability or slippage caused by single-point pulling, improving the overall stability and safety during the hoisting process, and possessing adaptive impact absorption capabilities, adapting to complex pipeline environments. Under complex working conditions such as water flow disturbance and pipe wall deformation, when the device contacts the robot, it can achieve impact buffering and stress dispersion through a multi-level elastic structure, reducing the direct impact on precision components, improving the adaptability of the recovery process to complex environments, and effectively reducing the occurrence of collision damage, uneven force distribution and hoisting instability during the recovery process of existing underwater pipeline robots, thereby improving the recovery success rate and equipment reliability. Attached Figure Description

[0017] To facilitate understanding by those skilled in the art, the present invention will be further described below with reference to the accompanying drawings.

[0018] Figure 1 is a schematic diagram of the overall working structure of a quick lifting device for municipal underground pipeline network inspection equipment; Figure 2 is a schematic diagram of the main moving frame structure provided by the present invention; Figure 3 is a schematic diagram of the cross-sectional structure of the lens protection clamping assembly provided by the present invention; Figure 4 is a schematic diagram of the moving alignment assembly structure provided by the present invention; Figure 5 is an enlarged schematic diagram of the structure of area A in Figure 4; Figure 6 is a schematic diagram of the U-shaped plate clamping assembly structure provided by the present invention; Figure 7 is a schematic diagram of the hoisting assembly structure provided by the present invention.

[0019] In the diagram: 1. Main moving frame; 2. Lens protection clamping assembly; 21. Mounting base cylinder; 211. Radial guide groove; 22. Pre-contact buffer guide ring; 23. Floating core column; 24. Multi-stage buffer assembly; 241. Outer ring plate; 242. First-stage spring; 243. Differential shoulder; 244. Second-stage spring; 25. Annular wedge drive sleeve; 26. Arc-shaped covering plate; 25. Annular wedge drive sleeve; 251. Drive inclined surface; 26. Arc-shaped covering plate; 261. Stepped surface; 27. Radial slide; 28. Radial limit spring; 3. Moving alignment assembly; 31. Sealed power compartment; 32. Drive motor; 33. Active magnetic rotor; 34. Non-magnetic isolation sleeve; 35. Driven magnetic rotor; 36. Lead screw; 37. Anchor. 38. Screw nut; 39. First slide; 40. Second slide; 4. U-shaped plate clamping assembly; 41. Bottom support; 411. Bottom bearing groove; 42. Left and right clamping assemblies; 421. Clamping drive motor; 422. Active rotating shaft; 423. Transmission assembly; 424. Driven rotating shaft; 425. Arc-shaped swing arm; 43. Upper pressure assembly; 431. Oil-immersed pressure-balanced electric push rod; 432. Upper pressure frame; 433. Connecting plate; 434. Return spring; 435. Upper pressure main plate; 5. Lifting lug; 6. Lifting assembly; 61. Ring-shaped distribution frame; 62. Connecting hook; 63. Steel wire rope; 64. Drive drum; 7. Vision recognition camera; 100. Ground platform; 101. Underwater pipeline robot. Detailed Implementation

[0020] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0021] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0022] In the description of this invention, "several" means one or more, "more than" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0023] In the description of this invention, unless otherwise explicitly defined, terms such as "set up," "install," and "connect" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this invention in conjunction with the specific content of the technical solution.

[0024] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only for explaining the invention and are not intended to limit the invention; that is, the described embodiments are merely some embodiments of the invention, and not all embodiments. The components of the embodiments of the invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0025] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0026] Please refer to Figures 1-7. In this embodiment of the invention, a quick lifting device for municipal underground pipeline network inspection equipment includes a main moving frame 1 (the main moving frame 1 is a movable four-wheeled trolley structure used for the overall device's load-bearing and movement support; the main moving frame 1 can adopt an industrial heavy-duty four-wheeled chassis structure, such as the chassis of a common electric inspection trolley on the market); a lens protection clamping assembly 2 is provided above the main moving frame 1; a moving alignment assembly 3 is provided above the main moving frame 1; and the moving alignment assembly 3 is respectively provided with the lens protection clamping assembly 2 and the U-shaped plate clamping assembly. 4. Lifting lugs 5 are provided around the four ends of the main moving frame 1, and several lifting lugs 5 are connected to lifting components 6. This application sets a moving alignment component 3 above the main moving frame 1, and arranges a lens protection clamping component 2 and a U-shaped plate clamping component 4 on the moving alignment component 3, so that clamping and alignment form an integrated linkage structure. The moving alignment component 3 can drive the lens protection clamping component 2 and the U-shaped plate clamping component 4 to make synchronous position adjustments, so that the device can achieve precise alignment when approaching the underwater pipeline robot 101, avoiding the positioning deviation problem under traditional manual or single-point traction methods. Meanwhile, the lens protection clamping component 2 prioritizes buffering and covering the precision lens at the front end of the underwater pipeline robot 101, while the U-shaped plate clamping component 4 provides stable clamping for the load-bearing structure. Structurally, this achieves functional separation and coordinated cooperation between the protection of precision components and the locking of the main load-bearing structure, reducing the problems of lens susceptibility to collision damage and uneven force distribution caused by single clamping in existing technologies, thus improving the safety and stability of the overall recovery process. In addition, lifting lugs 5 are provided around the ends of the main moving frame 1, and several lifting lugs 5 are connected to the hoisting component 6 to form a multi-point force-bearing hoisting structure. This structure enables the underwater pipeline robot 101 to be clamped and locked after a malfunction, and then lifted evenly by multiple lifting lugs 5. This reduces the risk of uneven load, tilting, or slippage caused by single-point lifting, and significantly improves the attitude stability during the lifting process. Through the coordinated operation of the above-mentioned main structures, this application achieves an overall improvement in precise alignment, effective lens protection, stable locking of the load-bearing structure, and multi-point load-balanced lifting. It can effectively avoid the occurrence of collision damage, uneven force, and lifting instability during the recovery process of the existing underwater pipeline robot 101, thereby improving the recovery success rate and equipment reliability.

[0027] In one embodiment, as shown in Figures 1, 2, and 3, the lens protection clamping assembly 2 includes a mounting base 21, which is fixedly connected to the moving alignment assembly 3 and serves as the load-bearing foundation structure of the entire lens protection mechanism. A pre-contact buffer guide ring 22 is provided in the middle of the mounting base 21. The pre-contact buffer guide ring 22 is located at the front end of the assembly, and its inner diameter is slightly larger than the outer diameter of the lens to be protected. This guide ring is used to preferentially contact the outer structure of the lens when the device approaches the robot. The guide ring can be made of an elastic material or have a buffer layer on its surface. Its functions are: firstly, to provide initial guidance and positioning, keeping the lens's central axis coaxial with the central axis of the assembly; and secondly, to provide a first flexible buffer in the event of a minor collision, preventing the rigid structure from directly impacting the lens housing. A floating core 23 is provided on one side of the lower part of the pre-contact buffer guide ring 22. The floating core 23 is slidably disposed along the axial direction of the mounting base 21, and its outer periphery has a guiding fit structure with the mounting base 21, allowing only axial displacement while limiting radial sway. The floating core column 23 is used to withstand the axial reaction force from the lens direction when the device continues to move forward. A multi-stage buffer assembly 24 is provided between the floating core column 23 and the mounting base cylinder 21. The multi-stage buffer assembly 24 can be arranged in series along the axial direction by spring groups of different stiffnesses. When the floating core column 23 is subjected to axial pressure, the multi-stage buffer assembly 24 is compressed sequentially according to a set order, realizing the absorption of impact energy in stages. Its function is to absorb small-amplitude contact impacts in the first stage, and provide greater reaction force support in the second stage when there is a larger displacement, thereby realizing the graded release of impact force and avoiding the instantaneous rigid impact from being transmitted to the lens. An annular wedge-shaped drive sleeve 25 is fitted at the lower end of the floating core column 23. The annular wedge-shaped drive sleeve 25 moves axially synchronously with the floating core column 23, and its inner or outer wall forms an inclined guide surface. When the floating core 23 moves backward under axial pressure, the annular wedge drive sleeve 25 moves accordingly. Several arc-shaped covering pieces 26 are slidably connected to the annular wedge drive sleeve 25. The arc-shaped covering pieces 26 are slidably disposed in the guide structure of the mounting base cylinder 21 in the radial direction and cooperate with the inclined surface of the annular wedge drive sleeve 25. When the annular wedge drive sleeve 25 undergoes axial displacement, its inclined surface structure pushes the arc-shaped covering pieces 26 to move radially inward, so that multiple arc-shaped covering pieces 26 synchronously retract around the outer periphery of the lens to form a circumferential covering structure. This provides pre-contact guidance to avoid eccentric collisions, axial graded buffering to reduce impact peaks, and axial displacement to convert into radial covering action, achieving automatic locking protection. The covering force is uniform, reducing single-point compression damage. This structure combines buffer energy absorption with automatic covering linkage design, so that the lens protection action can be completed automatically without an additional drive mechanism.

[0028] In one embodiment, as shown in Figures 1, 2, and 3, the multi-stage buffer assembly 24 includes an outer ring plate 241, a first-stage spring 242, a differential shoulder 243, and a second-stage spring 244. The outer ring plate 241 is disposed above the pre-contact buffer guide ring 22 and fixed inside the mounting base cylinder 21. The outer ring plate 241 forms an axial guide cavity to radially limit the first-stage spring 242 and the differential shoulder 243, so that the buffer assembly is only subjected to force in the axial direction, preventing uneven loading or tilting jamming. The first-stage spring 242 is disposed below the outer ring plate 241, with its upper end abutting against the inner limiting surface of the outer ring plate 241 and its lower end connected to the differential shoulder 243. The function of the first-stage spring 242 is to provide a first-stage flexible buffer when initial contact occurs, in order to absorb small impact forces. The floating core column 23 passes through the middle of the differential shoulder 243 and slides along the axial direction of the mounting base cylinder 21. The lower end of the floating core column 23 is connected to the mounting base cylinder 21 through the second-stage spring 244. The stiffness of the second-stage spring 244 is greater than that of the first-stage spring 242, in order to provide stronger reaction force support under larger impact or continuous compression.

[0029] In one embodiment, as shown in Figures 1, 2, and 3, the inner side of the annular wedge-shaped drive sleeve 25 is provided with a plurality of drive inclined surfaces 251, which are slidably connected to the stepped surface 261 of the arc-shaped covering piece 26. When the floating core 23 is displaced after being axially compressed, it drives the annular wedge-shaped drive sleeve 25 to move synchronously along the axial direction. Since the drive inclined surfaces 251 are inclined relative to the axis, when the drive sleeve moves axially, relative sliding occurs between the drive inclined surfaces 251 and the stepped surface 261 of the arc-shaped covering piece 26. According to the wedge mechanics principle, the axial displacement occurs on the inclined surfaces. Under the action of the force, the force is decomposed into radial component force, thereby pushing the arc-shaped covering piece 26 to move towards the center along the radial guide groove 211. Multiple arc-shaped covering pieces 26 are evenly arranged in the circumference and can be synchronously closed under the action of the driving inclined surface 251, finally forming an annular covering structure around the lens. When the external axial pressure is released, the multi-stage buffer assembly 24 pushes the floating core 23 back to its original position, the annular wedge drive sleeve 25 moves in the opposite direction, the radial thrust of the driving inclined surface 251 on the stepped surface 261 in the arc-shaped covering piece 26 disappears, and under the action of the reset elastic force or its own weight, the arc-shaped covering piece 26 opens outward and returns to its initial state.

[0030] In one embodiment, as shown in Figures 1, 2 and 3, when the floating core 23 drives the annular wedge drive sleeve 25 to move axially, the drive inclined surface 251 pushes the arc-shaped covering piece 26 to retract towards the center; at this time, the arc-shaped covering piece 26 slides inward along the radial guide groove 211 through the radial slide block 27; the radial limiting spring 28 is gradually compressed, and the radial elastic force gradually increases, forming a balance with the wedge driving force.

[0031] When the axial pressure is released, the multi-stage buffer assembly 24 pushes the floating core 23 back to its original position, the annular wedge drive sleeve 25 moves in the opposite direction, and the radial thrust of the drive inclined surface 251 on the arc-shaped covering piece 26 disappears; the radial limiting spring 28 releases elastic potential energy and pushes the arc-shaped covering piece 26 to reset outward along the radial guide groove 211. This structure makes the radial movement of the arc-shaped covering piece 26 controllable, limitable and reset, reducing lens damage caused by uncontrolled movement and improving the safety and stability of the overall protective structure.

[0032] In one embodiment, as shown in Figures 1, 2, 4, and 5, the moving alignment assembly 3 includes a sealed power chamber 31. Drive motors 32 are arranged on both sides of the sealed power chamber 31. Active magnetic rotors 33 are fixedly connected to the output ends of both drive motors 32. Both active magnetic rotors 33 are magnetically connected to driven magnetic rotors 35 via non-magnetic isolation sleeves 34. Lead screws 36 are provided on both driven magnetic rotors 35, and each lead screw 36 is rotatably connected to a mounting base 37. A lead screw nut 38 is provided on one side of the upper part of the lead screw 36. A first slide 39 and a second slide 40 are fixedly connected to the two lead screw nuts 38, respectively. A lens protection clamping assembly 2 is connected to the first slide 39, and a U-shaped plate clamping assembly 4 is connected to the second slide 40. A visual recognition camera 7 is also provided in the middle of the sealed power chamber 31, employing a waterproof sealed housing structure. A transparent waterproof window is provided outside the lens. The active magnetic rotors 33 are fixed to the output ends of the drive motors 32 and rotate with the drive motors 32. The driven magnetic rotor 35 is located inside the sealed power compartment 31 and is separated from the active magnetic rotor 33 by a non-magnetic isolation sleeve 34. The non-magnetic isolation sleeve 34 is made of materials such as stainless steel or engineering plastics, which can prevent the motor shaft from penetrating the sealing structure and allow the magnetic field to pass through. When the drive motor 32 rotates, the active magnetic rotor 33 generates a rotating magnetic field, which acts on the driven magnetic rotor 35 through the non-magnetic isolation sleeve 34. The driven magnetic rotor 35 rotates synchronously under the action of the magnetic field, realizing contactless torque transmission. The lead screw 36 is rotatably connected in the mounting base 37, which only allows rotation and does not produce axial displacement. When the lead screw 36 rotates, the lead screw nut 38 that is threaded with it moves along the axial direction of the lead screw 36. The first slide 39 is fixedly connected to one lead screw nut 38, so the first slide 39 moves axially linearly, driving the lens protection clamping assembly 2 to move back and forth. The second slide 40 is fixedly connected to another lead screw nut 38, driving the U-shaped plate clamping assembly 4 to move synchronously or independently.

[0033] In one embodiment, as shown in Figures 1, 2, 4, and 6, the U-shaped plate clamping assembly 4 includes a bottom support 41, which is mounted on a second slide 40. Left and right clamping assemblies 42 are located on both sides of the bottom support 41, and an upper pressing assembly 43 is located above it. A bottom bearing groove 411 is located in the middle of the bottom support 41. The bottom support 41 is fixedly mounted on the second slide 40 and has a rigid frame structure, which can be made of high-strength stainless steel or alloy materials. The bottom bearing groove 411 is located in the middle of the bottom support 41, and the bottom... The bearing groove 411 is a longitudinally extending groove structure, and its cross-sectional shape matches the bottom contour of the U-shaped plate to be clamped. Buffer pads are provided on both sides of the bottom bearing groove 411. The second slide 40 moves forward and aligns with the U-shaped plate. The bottom support 41 supports the bottom of the U-shaped plate, and the left and right clamping components 42 retract inward to achieve lateral limiting. The upper pressing component 43 presses down to complete the final locking. Through the coordinated action of the bottom support 41, the left and right clamping components 42 and the upper pressing component 43, the pipe robot is clamped stably, preventing the pipe robot from slipping, improving the lifting stability, and adapting to U-shaped plate structures of different sizes.

[0034] In one embodiment, as shown in Figures 1, 2, 4, and 6, the left and right clamping components 42 include a clamping drive motor 421. The output end of the clamping drive motor 421 is connected to a drive shaft 422. Driven shafts 424 are connected to both sides of the drive shaft 422 via a transmission assembly 423. Arc-shaped swing arms 425 are connected to the two driven shafts 424. In this embodiment, the left and right clamping components 42 adopt a symmetrical linkage clamping structure, which includes a clamping drive motor 421, a drive shaft 422, a transmission assembly 423, driven shafts 424, and arc-shaped swing arms 425. The clamping drive motor 421 is fixedly installed on the side of the bottom support 41. Its output end is coaxially connected to the drive shaft 422. The two ends of the drive shaft 422 are respectively connected to the corresponding driven shaft 424 through the transmission assembly 423. (The transmission assembly 423 adopts a pulley transmission structure. Its basic components include a drive pulley set on the drive shaft 422, a driven pulley set on the driven shaft 424, and a synchronous transmission belt that surrounds and connects the drive pulley and the driven pulley. It is preferably a toothed synchronous belt structure to ensure that there is no slippage and high synchronization during the transmission process.) When the clamping drive motor 421 is started, the drive shaft 422 drives the drive pulley to rotate. The torque is transmitted to the driven pulleys on both sides simultaneously through the synchronous belt, so that the two driven shafts 424 rotate synchronously, in the same direction or in opposite directions (determined according to the pulley arrangement). This drives the arc-shaped swing arm 425 fixed on the driven shaft 424 to swing around the shaft in an arc, so as to realize the synchronous closing or opening clamping of the two sides of the U-shaped plate. The pulley-type transmission assembly 423 has the advantages of simple structure, smooth transmission, strong buffering and vibration reduction capabilities, and easy arrangement of dual-side synchronous output. At the same time, it can absorb impact loads to a certain extent, reduce the impact concentration problem caused by rigid gear transmission, thereby ensuring the consistency of movement of the left and right arc-shaped swing arms 425 and improving the stability and reliability of the clamping process.

[0035] In one embodiment, as shown in Figures 1, 2, 4, and 6, the upper pressure assembly 43 includes an oil-immersed pressure-balancing electric push rod 431. The oil-immersed pressure-balancing electric push rod 431 is positioned above the upper pressure frame 432. The telescopic end of the oil-immersed pressure-balancing electric push rod 431 is fixedly connected to a connecting plate 433. The upper part of the connecting plate 433 is connected to an upper pressure main plate 435 via several return springs 434. The return springs 434 are preferably evenly distributed compression springs, with one end fixed to the connecting plate 433 and the other end connected to the upper pressure main plate 435. The working principle of this structure is as follows: when the push rod pushes the connecting plate 433 downwards, the connecting plate first compresses the return springs 434, and then the springs evenly apply force to the upper pressure main plate 435, causing the upper pressure main plate 435 to spring back. The upper pressure plate 435 contacts the upper surface of the U-shaped plate in a flexible manner. Through the elastic deformation of the return spring 434, the impact force at the moment of contact can be absorbed, avoiding structural damage caused by hard pressing. At the same time, it allows a certain range of adaptive floating, thereby compensating for minor height errors on the surface of the U-shaped plate and improving the fit and uniformity of force. The upper pressure plate 435 is located at the bottom of the structure. Its bottom surface can be equipped with an anti-slip buffer pad to directly press the upper surface of the U-shaped plate. Its function is to evenly distribute the pressure after elastic loading in the contact area, achieve stable locking, and prevent vertical detachment or vibration of the equipment during hoisting or movement. When it is necessary to release the clamp, the oil-immersed pressure balance electric push rod 431 retracts in the reverse direction, and the connecting plate 433 moves upward accordingly. Under the action of elastic restoring force, the return spring 434 drives the upper pressure plate 435 to rise synchronously, realizing automatic reset. This structure does not require an additional return drive mechanism and is simple and reliable.

[0036] In one embodiment, as shown in Figures 1, 2, and 6, the hoisting assembly 6 includes a ring-shaped distribution frame 61. Several connecting hooks 62 are disposed below the ring-shaped distribution frame 61, each connected to a lifting lug 5. Steel wire ropes 63 are attached to each connecting hook 62. A drive drum 64 is connected to the ring-shaped distribution frame 61 via the steel wire ropes 63 and is mounted on a ground platform 100. Specifically, the ring-shaped distribution frame 61 is a ring-shaped or polygonal closed frame structure, with a stable force convergence point in its central area. It is constructed entirely of high-strength steel and is used to evenly distribute the tension of multiple hoisting points. Several connecting hooks 62 are evenly distributed below the ring-shaped distribution frame 61, and each connecting hook 62 is connected to a lifting lug 5 on the underwater robot body, thus forming a multi-point support structure. The principle of this multi-point connection method is to distribute the overall weight of the robot to multiple stress points, avoiding problems such as center of gravity shift, structural tilt, or excessive local stress caused by traditional single-point hoisting, thus improving hoisting stability. Each connecting hook 62 is connected to a steel wire rope 63, which converges upwards and connects to the ring-shaped distribution frame 61, forming a structure with multiple stress points at the lower end and concentrated stress at the upper end. The steel wire rope 63 is used to transmit tension and withstand corrosion and impact in the underwater environment. Through the symmetrical arrangement of multiple steel wire ropes 63, the small height differences between each hoisting point can be automatically balanced, allowing the robot to maintain a stable posture during lifting. The upper part of the ring-shaped distribution frame 61 is connected to the drive drum 64 via the main steel wire rope 63, and the drive drum 64 is set on the ground platform 100. The drive drum 64 is equipped with a winch motor and a reduction gear mechanism to control the winding and unwinding of the wire rope 63. When the drive drum 64 rotates forward, the wire rope 63 is wound and tightened, driving the ring-shaped distribution frame 61 to rise as a whole, thereby simultaneously pulling up each connecting hook 62 to achieve overall robot lifting. When the drive drum 64 rotates in the reverse direction, the wire rope 63 is released, and the robot descends slowly, achieving precise lowering. By adjusting the drum speed, smooth lifting and slow landing can be achieved, avoiding impact.

[0037] The above description is merely an example and illustration of the structure of the present invention. Those skilled in the art can make various modifications or additions to the specific embodiments described, or use similar methods to replace them, as long as they do not deviate from the structure of the invention or exceed the scope defined in the claims, all of which should fall within the protection scope of the present invention.

Claims

1. A quick-lifting device for municipal underground pipeline network inspection equipment, comprising a main movable frame (1), characterized in that, A lens protection clamping assembly (2) is provided above the main moving frame (1), a moving alignment assembly (3) is provided above the main moving frame (1), a lens protection clamping assembly (2) and a U-shaped plate clamping assembly (4) are respectively provided on the moving alignment assembly (3), and lifting lugs (5) are provided around the end of the main moving frame (1), and several lifting lugs (5) are connected to a hoisting assembly (6).

2. The quick-lifting device for municipal underground pipeline network inspection equipment according to claim 1, characterized in that, The lens protection clamping assembly (2) includes a mounting base (21), a pre-contact buffer guide ring (22) is provided in the middle of the mounting base (21), a floating core (23) is provided on one side of the lower part of the pre-contact buffer guide ring (22), a multi-stage buffer assembly (24) is also provided between the floating core (23) and the mounting base (21), and an annular wedge drive sleeve (25) is sleeved on the lower end of the floating core (23), and an arc-shaped covering piece (26) is slidably connected on the annular wedge drive sleeve (25).

3. The quick-lifting device for municipal underground pipeline network inspection equipment according to claim 2, characterized in that, The multi-stage buffer assembly (24) includes an outer ring plate (241), which is disposed above the pre-contact buffer guide ring (22). A first-stage spring (242) is disposed below the outer ring plate (241). A differential shoulder (243) is connected below the first-stage spring (242). A floating core column (23) is slidably connected in the middle of the differential shoulder (243). A mounting base cylinder (21) is connected below the floating core column (23) through a second-stage spring (244).

4. A quick-lifting device for municipal underground pipeline network inspection equipment according to claim 3, characterized in that, The inner side of the annular wedge-shaped drive sleeve (25) is provided with a number of drive inclined surfaces (251), and the number of drive inclined surfaces (251) are slidably connected to the stepped surface (261) of the arc-shaped covering piece (26).

5. A quick-lifting device for municipal underground pipeline network inspection equipment according to claim 4, characterized in that, The bottom of the arc-shaped covering sheet (26) is slidably connected to the radial guide groove (211) of the mounting base cylinder (21) via a radial slide (27), and a radial limiting spring (28) is also provided between the radial guide groove (211) and the mounting base cylinder (21).

6. A quick-lifting device for municipal underground pipeline network inspection equipment according to claim 1, characterized in that, The moving alignment component (3) includes a sealed power cabin (31). A drive motor (32) is provided on both sides of the sealed power cabin (31). The output ends of the two drive motors (32) are fixedly connected to an active magnetic rotor (33). The two active magnetic rotors (33) are magnetically connected to a driven magnetic rotor (35) through a non-magnetic isolation sleeve (34). A lead screw (36) is provided on each of the two driven magnetic rotors (35). The lead screw (36) is rotatably connected in the mounting base (37). A lead screw nut (38) is provided on one side of the upper part of the lead screw (36). A first slide (39) and a second slide (40) are fixedly connected on the two lead screw nuts (38). A lens protection clamping component (2) is connected to the first slide (39). A U-shaped plate clamping component (4) is connected to the second slide (40). A visual recognition camera (7) is also provided in the middle of the sealed power cabin (31).

7. A quick-lifting device for municipal underground pipeline network inspection equipment according to claim 6, characterized in that, The U-shaped plate clamping assembly (4) includes a bottom support (41), which is mounted on the second slide (40). Left and right clamping assemblies (42) are mounted on both sides of the bottom support (41), and an upper pressing assembly (43) is mounted above the bottom support (41). A bottom bearing groove (411) is mounted in the middle of the bottom support (41).

8. A quick-lifting device for municipal underground pipeline network inspection equipment according to claim 7, characterized in that, The left and right clamping components (42) include a clamping drive motor (421), the output end of which is connected to an active rotating shaft (422), and the two sides of the active rotating shaft (422) are connected to driven rotating shafts (424) through a transmission component (423). Arc-shaped swing arms (425) are connected to the two driven rotating shafts (424).

9. A quick-lifting device for municipal underground pipeline network inspection equipment according to claim 8, characterized in that, The upper pressure assembly (43) includes an oil-immersed pressure-balanced electric push rod (431), which is located above the upper pressure frame (432). The telescopic end of the oil-immersed pressure-balanced electric push rod (431) is fixedly connected to a connecting plate (433), and the upper part of the connecting plate (433) is connected to the upper pressure main plate (435) through several return springs (434).

10. A quick-lifting device for municipal underground pipeline network inspection equipment according to claim 1, characterized in that, The hoisting assembly (6) includes a ring-shaped distribution frame (61), with several connecting hooks (62) below the ring-shaped distribution frame (61). Each of the several connecting hooks (62) is connected to a lifting lug (5), and each of the several connecting hooks (62) is provided with a wire rope (63). The ring-shaped distribution frame (61) is connected to a drive drum (64) via the wire rope (63), and the drive drum (64) is set on a ground platform (100).

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