A ground remote control type inspection well pipe telescopic plugging device

Abstract

This application relates to the field of pipeline plugging, and in particular to a ground-remote-controlled telescopic plugging device for manholes. It includes a ground control unit, a ground mounting base, a telescopic sleeve, and a plugging execution head. The ground mounting base is located above the manhole opening, with its top end slidably connected to the telescopic sleeve. The plugging execution head is located at the bottom end of the telescopic sleeve. The plugging execution head includes an anchoring mechanism, a corrugated pipe airbag, a multi-stage sealing airbag, and a sensor module. The ground control unit includes a control terminal, a winch mechanism, and a power module. It also includes a ground mounting base structure that allows adjustment of the telescopic sleeve's position and orientation, a special fixing claw structure, multi-stage sealing airbags, and pneumatic control components. This application achieves ground-remote operation, enabling the plugging of laterally connected transverse pipelines within the manhole. It can collect downhole environmental data and achieve technical effects such as telescopic sleeve position adjustment, anchoring, sealing, and airbag inflation and depressurization control.

Description

Technical Field

[0001] This application relates to the field of pipeline plugging, and in particular to a ground-remote-controlled manhole pipeline telescopic plugging device. Background Technology

[0002] In the construction and maintenance of urban infrastructure, the sealing of manholes and pipes is crucial. With the acceleration of urbanization, underground pipe networks are becoming increasingly complex, and the number of manholes is constantly increasing, playing a key role in drainage, communications, power, and many other fields. Effective sealing of manholes and pipes can prevent sewage leaks and ensure the normal operation of pipe networks, which is of great significance for environmental protection and urban safety. However, current sealing technologies still face many challenges in practical applications and require continuous improvement and innovation.

[0003] Traditional methods for sealing manholes are relatively simple. Some methods involve manual entry into the manhole to install simple sealing plates or build walls to achieve sealing. This method is not only labor-intensive but also poses safety hazards, especially in environments with toxic or harmful gases, threatening the lives of the operators. Summary of the Invention

[0004] To overcome the above-mentioned technical problems, this application provides a ground-remote-controlled manhole pipe telescopic sealing device.

[0005] The ground-based remote-controlled manhole pipe telescopic sealing device provided in this application adopts the following technical solution:

[0006] A ground-controlled remote-controlled manhole pipe telescopic sealing device includes a ground control unit, a ground fixing base, a telescopic sleeve, and a sealing execution head. The ground fixing base is disposed above the manhole opening, the top end of the telescopic sleeve is slidably connected to the ground fixing base, and the sealing execution head is disposed at the bottom end of the telescopic sleeve. The sealing execution head includes an anchoring mechanism, which includes a fixing claw and a lower fixing claw. The fixing claw is used to abut and anchor against the longitudinally extending manhole wall. A corrugated air bladder is provided at the bottom of the fixing claw, and a multi-stage sealing air bladder is provided at the end of the corrugated air bladder. The corrugated air bladder is used to drive the multi-stage sealing air bladder to extend into the lateral phase of the manhole. Inside the connected transverse pipe, the multi-stage sealing airbag is used to seal against the pipe wall; a sensor module is provided above the fixing claw for collecting downhole environmental data; the ground control unit includes a control terminal, a winch mechanism, and a power module. The winch mechanism is used to control the lifting and lowering of the bottom end of the telescopic sleeve, and the winch mechanism is equipped with a position encoder for real-time feedback of the lowering depth; the control terminal is communicatively connected to the sensor module, the winch mechanism, the multi-stage sealing airbag, and the position encoder, respectively, and the power module is electrically connected to the control terminal, the sensor module, the winch mechanism, the multi-stage sealing airbag, and the position encoder, respectively.

[0007] By adopting the above technical solution, the ground control unit can remotely control the sealing device. The ground fixed seat provides stable support for the telescopic sleeve, which can drive the sealing execution head to rise and fall. The fixed claw abuts and anchors against the inspection well wall, so that the device is stably fixed downhole. The corrugated pipe airbag and the multi-stage sealing airbag work together to seal the transverse pipeline. The sensor module collects downhole environmental data, and the position encoder provides real-time feedback on the lowering depth of the telescopic sleeve, so as to achieve precise control of the sealing device.

[0008] Optionally, the corrugated airbag is arranged vertically when not inflated. The corrugated airbag is divided into a first air chamber, a second air chamber, and a third air chamber from top to bottom by two transverse flexible partitions. The second air chamber is divided into a second left air chamber, a second central air chamber, and a second right air chamber by two longitudinal flexible partitions.

[0009] By adopting the above technical solution, the multi-stage air chamber structure allows the corrugated pipe airbag to expand in segments and in a directional manner during inflation, thereby precisely controlling the extension of the multi-stage sealing airbag to the side of the target transverse pipe and improving the adaptability of the sealing.

[0010] Optionally, the ground fixing base includes a ring rail, a horizontal rail, and a vertical rail. The ring rail is mounted on the ground, and a turntable is slidably connected to the ring rail. There are two horizontal rails, which are parallel to each other and fixedly connected to the turntable. Each horizontal rail is provided with a horizontal slider. The two ends of the vertical rail are fixedly connected to the two horizontal sliders, and the vertical rail is provided with a vertical slider. The top end of the telescopic sleeve is fixedly connected to the vertical slider to realize the adjustment of the two-dimensional position and orientation of the telescopic sleeve in the horizontal plane.

[0011] By adopting the above technical solution, the turntable on the ring rail can slide, which can realize the adjustment of the orientation of the telescopic sleeve, so that the corrugated pipe airbag is accurately oriented towards the horizontal pipe. The horizontal slider on the horizontal rail and the vertical slider on the vertical rail can slide, which can realize the two-dimensional position adjustment of the telescopic sleeve in the horizontal plane. Even if the ring rail is not coaxial with the inspection well, the telescopic sleeve can be kept in the center position of the inspection well.

[0012] Optionally, the fixing claw includes an anchoring seat, multiple anchoring fingers, and multiple pushing members; the anchoring seat is provided with multiple outer rails, which are arranged radially along the anchoring seat and distributed in a circular array; each outer rail is slidably connected to an outer rail slider, the anchoring fingers are fixedly connected to the outer rail sliders, the body of the pushing member is connected to the anchoring seat, and the output end of the pushing member is connected to the anchoring fingers.

[0013] By adopting the above technical solution, the ground control unit can remotely control the sealing device. The ground fixed seat provides stable support for the telescopic sleeve, which can drive the sealing execution head to rise and fall. The fixed claw abuts and anchors against the manhole wall, making the device stable and fixed downhole. The corrugated pipe airbag and multi-stage sealing airbag work together to seal the transverse pipeline. The sensor module collects downhole environmental data, and the position encoder provides real-time feedback on the lowering depth of the telescopic sleeve, realizing precise control of the sealing device. The fixed claw adopts a structure including an anchoring seat, multiple anchoring fingers, and multiple pushing components. Utilizing the outer rails arranged radially on the anchoring seat in a circular array, the outer rail slider drives the anchoring fingers to slide along the outer rails. The pushing components can drive the anchoring fingers to move, realizing the abutment and anchoring of the fixed claw against the manhole wall, enhancing the stability of the sealing execution head in the manhole, and ensuring the reliable performance of the sealing work.

[0014] Optionally, the anchoring seat is further provided with multiple inner rails and multiple locking seats. The number of inner rails is the same as that of the outer rails and they are arranged in a one-to-one correspondence. The inner rails are located on the side of the outer rails close to the center of the anchoring seat. Each set of corresponding inner rails is arranged collinearly with the outer rails. Each inner rail is slidably connected to an inner rail slider. The inner rail slider is slidably connected to the inner rail in a lockable manner. The locking seat is fixedly connected to the inner rail slider. The body of the pusher is fixedly connected to the locking seat.

[0015] By adopting the above technical solution, the anchoring seat is equipped with inner rails of the same number as the outer rails, arranged collinearly, as well as a locking seat and an inner rail slider. The inner rail slider is slidably connected to the inner rail in a lockable manner, providing an additional unlocking structure for the movement of the anchoring finger. When it is necessary to release the engagement between the fixing claw and the well wall, the position of the pushing component and the anchoring finger can be changed by unlocking the inner rail slider, making the separation of the fixing claw from the well wall more flexible and convenient. This improves the efficiency of installation and disassembly of the sealing device in the inspection well, and enhances the convenience and operability of the device.

[0016] Optionally, a first electromagnet is provided at one end of the inner rail near the outer rail, and a second electromagnet, which cooperates with the first electromagnet, is provided on one side of the inner rail slider near the outer rail. The first electromagnet and the second electromagnet attract each other when energized. A first return spring is provided at one end of the inner rail away from the outer rail. One end of the first return spring is fixedly connected to the side of the inner rail slider away from the outer rail, and the other end is fixedly connected to the end of the inner rail. The free initial length of the first return spring is less than the distance between the side of the inner rail slider away from the outer rail and the end of the inner rail when the first electromagnet and the second electromagnet are energized and attracted.

[0017] By adopting the above technical solution, when the first electromagnet and the second electromagnet are energized, they attract each other, allowing the inner rail slider to overcome the elastic force of the first return spring under the action of external force, thereby making the anchoring finger of the fixed claw abut and anchor against the manhole wall, ensuring the stability of the sealing execution head in the manhole; when the power is off, the first electromagnet and the second electromagnet lose their attraction, and the first return spring pulls the inner rail slider back to its initial position due to its own elastic force, realizing the reset of the inner rail slider. Even if the pusher is de-energized and self-locked, the fixed claw can disengage from the manhole wall, avoiding the fixed claw from continuously abutting against the manhole wall and being unable to move the device normally, which facilitates the adjustment and recovery of the device and effectively improves the flexibility and reliability of the device.

[0018] Optionally, the outer surface of the anchoring finger is covered with a rubber pad or has anti-slip texture.

[0019] By adopting the above technical solution, covering the outer surface of the anchoring finger with a rubber pad or setting anti-slip texture, the friction coefficient between the anchoring finger and the manhole wall is increased, which can effectively prevent the anchoring finger from sliding or shifting when it comes into contact with the manhole wall. This makes the contact and anchoring of the fixing claw with the manhole wall more stable, thereby improving the stability of the sealing execution head in the manhole and ensuring that the sealing work can be carried out reliably and smoothly.

[0020] Optionally, the multi-stage sealing airbag includes an outer pre-sealing airbag, a middle main sealing airbag, and an inner emergency sealing airbag arranged sequentially from the outside to the inside.

[0021] By adopting the above technical solution, the multi-stage sealing airbag adopts a structure in which an outer pre-sealing airbag, a middle main sealing airbag, and an inner emergency sealing airbag are arranged in sequence. The outer pre-sealing airbag can perform preliminary sealing and reduce leakage in the transverse pipeline; the middle main sealing airbag can provide the main sealing effect and ensure reliable sealing of the transverse pipeline; the inner emergency sealing airbag can play an emergency sealing role in abnormal situations such as failure of the middle main sealing airbag, further improving the reliability and stability of the seal and ensuring effective sealing of the transverse pipeline connected to the manhole.

[0022] Optionally, a pneumatic control component is also included. This component comprises an air pump, solenoid valves, and pressure sensors. The air pump is pneumatically connected to the outer pre-sealed airbag, the middle main sealing airbag, and the inner emergency sealing airbag. Three solenoid valves are located in the air passages connecting the air pump to these three airbags. Three pressure sensors are also located in the outer pre-sealed airbag, the middle main sealing airbag, and the inner emergency sealing airbag. The pneumatic control component is communicatively connected to the control terminal and is used to control the independent inflation of each airbag in real time based on data fed back from the pressure sensors.

[0023] By adopting the above technical solution, the air pump in the pneumatic control component supplies air to the outer pre-sealed airbag, the middle main sealing airbag, and the inner emergency sealing airbag. The pressure sensor monitors the air pressure of each of the three airbags in real time and feeds the data back to the control terminal. The control terminal accurately controls the opening and closing of the three solenoid valves based on this feedback data, so as to realize the independent inflation of each airbag. The inflation volume of each airbag can be flexibly adjusted according to actual needs, improving the sealing effect and reliability of the transverse pipe and achieving more precise and effective sealing control.

[0024] Optionally, the pneumatic control assembly further includes a mechanical switch assembly, which includes a limiting slide groove, a lifting shaft, a second return spring, and a mechanical exhaust valve. The limiting slide groove is vertically located within the end of the telescopic sleeve, and the lifting shaft is slidably connected within the limiting slide groove. A limiting boss is provided at the top of the limiting slide groove. The winch mechanism is equipped with a recovery rope, the end of which is fixedly connected to the top of the lifting shaft. The second return spring is located at the bottom of the lifting shaft, with one end fixedly connected to the bottom of the lifting shaft and the other end fixedly connected to the bottom of the limiting slide groove. The air inlet of the mechanical exhaust valve is connected to the bellows airbag and the multi-stage sealing airbag via an air manifold. The valve core of the mechanical exhaust valve is mechanically linked to the lifting shaft. When the lifting shaft moves upward, it can mechanically trigger the valve core of the mechanical exhaust valve to open, thereby physically depressurizing all airbags.

[0025] By adopting the above technical solution, a vertical limiting groove is set inside the end of the telescopic sleeve, allowing the lifting shaft to slide within it, and the limiting boss at the top of the limiting groove can limit the displacement range of the lifting shaft. The recovery rope of the winch mechanism is connected to the top of the lifting shaft, which can pull the lifting shaft upward. The second return spring at the bottom of the lifting shaft ensures that it returns to its initial position when no external force is applied. The air inlet of the mechanical exhaust valve is connected to the bellows air bladder and the multi-stage sealing air bladder through the air passage manifold. The valve core is mechanically linked to the lifting shaft. When the lifting shaft moves upward, it can mechanically trigger the valve core to open, realizing the physical depressurization of all air bladders. This design can quickly and reliably depressurize the bellows air bladder and the multi-stage sealing air bladder when needed, improving the safety and reliability of the sealing device. At the same time, compared with electronic control and other methods, the mechanical linkage method has higher stability and anti-interference ability, and can work stably in complex downhole environments.

[0026] In summary, this application includes at least one of the following beneficial technical effects:

[0027] 1. The ground control unit can remotely control the plugging device, avoiding manual entry into the well for operation, reducing labor intensity and safety risks. The position encoder provides real-time feedback on the depth of the telescopic casing, enabling precise control of the plugging device.

[0028] 2. The fixing claws of the anchoring mechanism abut against the manhole wall for anchoring, so that the device is stably fixed downhole. The corrugated pipe airbag and the multi-stage sealing airbag work together to seal the transverse pipe, solving the problem of poor stability and sealing performance of ordinary airbags.

[0029] 3. The sensor module collects downhole environmental data, which can be used to adjust the plugging strategy in a timely manner according to the actual situation, thereby improving the reliability and effectiveness of the plugging work. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the structure of the ground-remote-controlled manhole pipe telescopic sealing device provided in the embodiments of this application, wherein the part located inside the manhole is not shown.

[0031] Figure 2 This is a schematic diagram of the structure of the ground-remote-controlled manhole pipe telescopic sealing device provided in the embodiments of this application.

[0032] Figure 3 This is a schematic diagram of the internal structure of the telescopic sleeve provided in the embodiments of this application.

[0033] Figure 4 This is a schematic diagram of the structure of the fixing claw provided in the embodiment of this application.

[0034] Figure 5 This is a structural schematic diagram of the fixing claw provided in an embodiment of this application from another angle.

[0035] Explanation of reference numerals in the attached drawings: 1-Ring rail; 101-Turntable; 2-Horizontal rail; 201-Horizontal slider; 3-Longitudinal rail; 301-Longitudinal slider; 4-Winding mechanism; 5-Inspection well; 6-Horizontal pipe; 7-Telescopic sleeve; 8-Fixing claw; 801-Anchor seat; 8011-Outer rail; 8012-Inner rail; 802-Anchor finger; 803-Pushing component; 804-Outer rail slider; 805-Inner rail slider; 806-Locking seat; 807-First electromagnet; 808-Second electromagnet; 809-First return spring; 9-Bellowed airbag; 10-Outer pre-sealed airbag; 11-Middle main sealing airbag; 12-Inner emergency sealing airbag; 13-Limiting groove; 14-Limiting boss; 15-Recovery rope; 16-Second return spring. Detailed Implementation

[0036] The following is in conjunction with the appendix Figure 1-5 This application will be described in further detail.

[0037] This application discloses a ground-remote-controlled manhole pipe telescopic sealing device.

[0038] like Figure 1 and Figure 2 As shown, the ground-remote-controlled manhole pipe telescopic plugging device includes a ground control unit, a ground fixed base, a telescopic sleeve 7, and a plugging execution head. The ground fixed base is set above the manhole 5 opening, providing a stable foundation for the device. The top end of the telescopic sleeve 7 is slidably connected to the ground fixed base, allowing it to slide and adjust its position flexibly on the ground fixed base. Its bottom end is connected to the plugging execution head, which is raised and lowered to realize the plugging operation of the underground pipe. The ground control unit can remotely control the entire device. Combined with the data collected by the sensor module and the depth feedback from the position encoder, the position and movement of the plugging execution head can be precisely controlled.

[0039] like Figure 1 and Figure 2As shown, the ground control unit includes a control terminal, a hoisting mechanism 4, and a power module. The control terminal is the core of the entire device, typically using a highly integrated control cabinet equipped with a microprocessor and control circuitry. It interacts with sensor modules, the hoisting mechanism 4, multi-stage sealed airbags, and position encoders via wireless communication modules (such as 4G, 5G, or WIFI). It features an intelligent operating interface, facilitating operator input of commands and monitoring of equipment status. Alternative control methods include industrial tablet PCs or PLC programmable controllers, selected based on different working scenarios and precision requirements. The hoisting mechanism 4 controls the lifting and lowering of the bottom of the telescopic sleeve 7. It generally consists of a motor, a reducer, and a wire rope drum. The motor is an AC servo motor or DC motor with appropriate power and good speed regulation performance. The reducer lowers the speed and increases the torque, driving the wire rope drum to rotate and achieve lifting and lowering control of the telescopic sleeve 7. Meanwhile, to cope with emergencies such as power outages and motor failures, the hoisting mechanism 4 can be equipped with a manual operation function. Typically, a manual crank and clutch (such as a mechanical clutch) are configured at the reducer or drum end. When operating manually, the motor power must first be cut off, the clutch is operated to separate the motor from the transmission system, and then the manual crank is inserted into the designated interface. By turning the crank, the wire rope drum is directly driven to rotate, thereby manually controlling the raising and lowering of the telescopic sleeve 7. After the operation is completed, the clutch is reset and the crank is removed to restore the electric control mode.

[0040] The power module is electrically connected to the control terminal, sensor module, hoisting mechanism 4, multi-stage sealed airbag, and position encoder, providing a stable and reliable power supply. The power module can use a lithium battery pack, lead-acid battery, or AC-DC switching power supply.

[0041] like Figure 1 and Figure 2As shown, the ground-mounted base includes a ring rail 1, horizontal rails 2, and vertical rails 3. The ring rail 1 is mounted on the ground and can be made of high-strength metal materials (such as carbon steel or stainless steel) to ensure structural stability and durability. A turntable 101 is slidably connected to the ring rail 1. The turntable 101 can be manually cranked to assist rotation, allowing for fine-tuning of its orientation and flexible adjustment of the telescopic sleeve 7's direction. Guide rail sliders, ball bearings, or rollers can be installed on the ring rail 1 to reduce friction and make the turntable 101 rotate more smoothly. There are two horizontal rails 2, which are parallel to each other and fixedly connected to the turntable 101. The connection is secured using welding, bolting, or riveting. Each horizontal rail 2 has a horizontal slider 201. The horizontal slider 201 and the horizontal rail 2 can be connected using dovetail grooves, T-slots, or other sliding fit methods to ensure smooth sliding of the slider on the horizontal rail 2. Both ends of the longitudinal rail 3 are fixedly connected to two transverse sliders 201, which can also be connected by welding or riveting. The longitudinal rail 3 is provided with a longitudinal slider 301, and the top end of the telescopic sleeve 7 is fixedly connected to the longitudinal slider 301. With this structure, the two-dimensional position and orientation of the telescopic sleeve 7 in the horizontal plane can be adjusted. Even if the ring rail 1 is not coaxial with the inspection well 5, the telescopic sleeve 7 can be accurately positioned in the center of the inspection well 5.

[0042] like Figures 1-3 As shown, the top of the telescopic casing 7 is fixedly connected to the longitudinal slider 301, and the bottom is equipped with a sealing actuator head. Lifting and lowering operations are achieved through the winch mechanism 4. The telescopic casing 7 can be made of high-strength alloy tubing to ensure its corrosion resistance downhole. The casing's telescopic structure adopts a multi-stage nested design, saving space and providing a large telescopic stroke. The winch mechanism 4 is equipped with a position encoder for real-time feedback of the lowering depth. The position encoder can be a rotary encoder, which detects changes in the angle of the wire rope drum and feeds the signal back to the control terminal, achieving precise control of the lowering depth.

[0043] like Figure 2 and Figure 4 and Figure 5As shown, the plugging actuator includes an anchoring mechanism, a bellows airbag 9, a multi-stage sealing airbag, and a sensor module. The anchoring mechanism includes a fixing claw 8, which is used to anchor against the longitudinally extending inspection well wall 5, keeping the plugging actuator stable downhole. The fixing claw 8 includes an anchoring seat 801, multiple anchoring fingers 802, and multiple pushing parts 803. The anchoring seat 801 is the basic structure of the entire fixing claw 8 and can be made using high-strength casting or forging processes to ensure sufficient strength and rigidity. The anchoring seat 801 is provided with multiple outer rails 8011, which are arranged radially along the anchoring seat 801 and distributed in a circular array. They are generally in the form of rectangular guide rail grooves, dovetail guide rail grooves, etc., to ensure that the sliders of the outer rails 8011 slide smoothly on them. Each outer rail 8011 is slidably connected to a slider. Anchoring fingers 802 are fixedly connected to the sliders and extend / retract with the sliding of the sliders. The outer surface of the anchoring fingers 802 is covered with rubber pads or has anti-slip textures, such as natural rubber or nitrile rubber pads, to increase friction with the manhole wall 5, making the anchoring more stable. The body of the pusher 803 is connected to the anchor seat 801, and its output end is connected to the anchoring fingers 802. The pusher 803 can be an electric push rod, a pneumatic cylinder, a hydraulic cylinder, etc., selected according to actual working conditions and power requirements.

[0044] In addition, the anchoring seat 801 is provided with multiple inner rails 8012 and multiple locking seats 806. The number of inner rails 8012 is the same as that of outer rails 8011 and they are arranged in a one-to-one correspondence. The inner rails 8012 are located on the side of the outer rails 8011 closer to the center of the anchoring seat 801. Each set of corresponding inner rails 8012 is collinear with the outer rails 8011. Each inner rail 8012 is slidably connected to an inner rail 8012 slider. The inner rail 8012 slider is slidably connected to the inner rail 8012 in a lockable manner. The locking seat 806 is fixedly connected to the inner rail 8012 slider, and the body of the pusher 803 is fixedly connected to the locking seat 806. A first electromagnet 807 is provided at one end of the inner rail 8012 near the outer rail 8011. A second electromagnet 808, which cooperates with the first electromagnet 807, is provided on the side of the inner rail 8012 slider near the outer rail 8011. The first electromagnet 807 and the second electromagnet 808 attract each other when energized. A first return spring 809 is provided at one end of the inner rail 8012 away from the outer rail 8011. One end of the first return spring 809 is fixedly connected to the side of the inner rail 8012 slider away from the outer rail 8011, and the other end is fixedly connected to the end of the inner rail 8012. The free initial length of the first return spring 809 is less than the distance between the side of the inner rail 8012 slider away from the outer rail 8011 and the end of the inner rail 8012 when the first electromagnet 807 and the second electromagnet 808 are energized and attracted. When the first electromagnet 807 and the second electromagnet 808 are energized and attracted, the slider of the inner rail 8012 overcomes the elastic force of the first return spring 809, and the anchoring finger 802 of the fixing claw 8 can abut and anchor against the wall of the inspection well 5; when the power is off, the first electromagnet 807 and the second electromagnet 808 lose their attraction, and the first return spring 809 pulls the slider of the inner rail 8012 back to its initial position, which facilitates the recovery of the device.

[0045] like Figure 2As shown, the bottom of the fixed claw 8 is equipped with a bellows airbag 9, which is vertically positioned when not inflated. The bellows airbag 9 can be made of elastic materials such as rubber or polyvinyl chloride, possessing good extensibility and flexibility. The bellows airbag is divided into a first, second, and third air chamber from top to bottom by two transverse flexible partitions. The second air chamber is further divided into a second left-side air chamber, a second central air chamber, and a second right-side air chamber by two longitudinal flexible partitions. Each air chamber is connected to an external air source through an independent air passage, allowing for independent inflation and deflation to adjust the radial expansion shape of the bellows airbag 9, thereby achieving downhole bending. The end of the bellows airbag 9 is equipped with a multi-stage sealing airbag, comprising an outer pre-sealing airbag 10, a middle main sealing airbag 11, and an inner emergency sealing airbag 12, arranged sequentially from top to bottom. Each airbag is made of rubber material, possessing high elasticity, wear resistance, and corrosion resistance. The device also includes a pneumatic control assembly, which comprises an air pump, solenoid valves, and pressure sensors. The air pump has sufficient inflation pressure and flow rate to meet the inflation requirements of each airbag layer. The air pump is pneumatically connected to the first air chamber, the second left air chamber, the second central air chamber, the second right air chamber, the third air chamber, the outer pre-sealed airbag 10, the middle main sealing airbag 11, and the inner emergency sealing airbag 12, respectively, to provide an air source for the airbags. Seven solenoid valves are installed in the branch channels of the air paths connecting the air pump to the first air chamber, the second left air chamber, the second central air chamber, the second right air chamber, the third air chamber, the outer pre-sealed airbag 10, the middle main sealing airbag 11, and the inner emergency sealing airbag 12, controlling the opening and closing of the air paths. Three pressure sensors are installed in the outer pre-sealed airbag 10, the middle main sealing airbag 11, and the inner emergency sealing airbag 12, respectively, to monitor the air pressure of each airbag layer in real time. The pneumatic control component is connected to the control terminal and controls the opening and closing of each solenoid valve in real time based on the data fed back by the pressure sensor, so as to realize the independent inflation of each layer of airbags, thereby providing more precise and effective sealing control.

[0046] In practical use, steering can be achieved by controlling the independent inflation and deflation of each air chamber within the bellows airbag 9. When steering is required, the air chamber corresponding to the target steering direction is deflated to make it contract, or no operation is performed to keep it in its original state, while the air chamber in the opposite direction is inflated to make it expand. By utilizing the difference in expansion and contraction of different air chambers, the bellows airbag bends towards the contraction side, thereby achieving downhole steering (e.g., when steering to the left, the second right air chamber is inflated and expanded, the second left air chamber is deflated and contracted, and the airbag bends to the left).

[0047] like Figure 2 and Figure 3As shown, the pneumatic control assembly also includes a mechanical switch assembly, which includes a limiting slide 13, a lifting shaft, a second return spring 16, and a mechanical exhaust valve. The limiting slide 13 is vertically located within the end of the telescopic sleeve 7 and is typically made of high-strength metal to ensure structural strength. The lifting shaft is slidably connected within the limiting slide 13, and a limiting boss 14 is provided at the top of the limiting slide 13 to prevent excessive upward movement of the lifting shaft. The winch mechanism 4 is equipped with a recovery rope 15, the end of which is fixedly connected to the top of the lifting shaft, allowing the lifting shaft to be pulled when needed. The second return spring 16 is located at the bottom of the lifting shaft, with one end fixedly connected to the bottom of the lifting shaft and the other end fixedly connected to the bottom of the limiting slide 13, ensuring that the lifting shaft returns to its initial position when no external force is applied. The air inlet of the mechanical exhaust valve is connected to the bellows airbag 9 and the multi-stage sealing airbag via an air manifold. The valve core of the mechanical exhaust valve is mechanically linked to the lifting shaft. When the lifting shaft moves upward, it mechanically triggers the valve core of the mechanical exhaust valve to open, achieving physical depressurization of all airbags. This mechanical linkage design offers higher stability and anti-interference capabilities compared to electronic control methods when dealing with complex downhole environments, ensuring rapid and reliable depressurization of the airbags in emergency situations.

[0048] In this embodiment, a linkage pin may be provided at the bottom of the lifting shaft. The mechanical exhaust valve is a direct-acting spring valve that opens upwards and is fixedly connected to the fixed claw 8; the linkage pin is fixedly connected to the top of the valve stem of the mechanical exhaust valve. When the wire rope pulls the lifting shaft upwards, after the lifting shaft moves upwards and completes its safe empty stroke, the linkage pin below it forcibly pulls the valve stem of the exhaust valve upwards, causing the valve to open and release pressure.

[0049] The sensor module is located above the fixed claw 8 and includes gas sensors and a camera (not shown in the figure). The gas sensors, such as oxygen sensors, hydrogen sulfide sensors, and carbon monoxide sensors, are used to detect the concentration of toxic and harmful gases in the well. The camera is used to detect the specific location of the pipelines in the well. Through these sensors, comprehensive environmental data in the well can be collected and transmitted to the control terminal in real time, so that operators can understand the environment in the well and take appropriate measures.

[0050] The implementation principle of the ground-remote-controlled manhole pipe telescopic sealing device in this application embodiment is as follows: The device is remotely controlled via a ground control unit. Combined with downhole environmental data collected by the sensor module and depth information fed back by the position encoder, the lifting and lowering of the telescopic sleeve 7 and the movement of the sealing actuator head can be precisely controlled. The ring rail 1, horizontal rail 2, and vertical rail 3 structure of the ground fixing base enable flexible adjustment of the telescopic sleeve 7 in the horizontal plane, enhancing the adaptability of the device. The fixing claw 8 of the anchoring mechanism adopts a special structure, combined with an electromagnet and a return spring, to reliably abut and anchor against the manhole wall 5, ensuring the stability of the device downhole. The combination of multi-stage sealing airbags and pneumatic control components provides a more precise and effective sealing method, adaptable to different working conditions. The design of the mechanical switch component allows for rapid depressurization of the airbags in emergency situations, improving the safety and reliability of the device. In summary, this device has advantages such as simple operation, safety and reliability, and strong adaptability, effectively meeting the needs of manhole pipe sealing in urban infrastructure construction and maintenance, and representing a significant improvement and enhancement compared to traditional technologies.

[0051] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A ground-based remote-controlled manhole pipe telescopic sealing device, characterized in that, include: Ground control unit, ground mounting base, telescopic sleeve (7), and sealing actuator; The ground fixing seat is set above the inspection well (5) opening, the top end of the telescopic sleeve (7) is slidably connected to the ground fixing seat, and the sealing execution head is set at the bottom end of the telescopic sleeve (7); The sealing execution head includes an anchoring mechanism, which includes a fixed claw (8) and a lower fixed claw (9). The fixed claw (8) is used to anchor against the longitudinally extending inspection well (5) wall. The bottom of the fixed claw (8) is provided with a corrugated airbag (9), and the end of the corrugated airbag (9) is provided with a multi-stage sealing airbag. The corrugated airbag (9) is used to drive the multi-stage sealing airbag to extend into the transverse pipe (6) connected to the inspection well (5) laterally. The multi-stage sealing airbag is used to fit and seal with the pipe wall. A sensor module is provided above the fixed claw (8) for collecting downhole environmental data; The ground control unit includes a control terminal, a winch mechanism (4), and a power module. The winch mechanism (4) is used to control the lifting and lowering of the bottom end of the telescopic sleeve (7). The winch mechanism (4) is equipped with a position encoder for real-time feedback of the lowering depth. The control terminal is communicatively connected to the sensor module, the winch mechanism (4), the multi-stage sealing airbag, and the position encoder. The power module is electrically connected to the control terminal, the sensor module, the winch mechanism (4), the multi-stage sealing airbag, and the position encoder.

2. The ground-based remote-controlled manhole pipe telescopic sealing device according to claim 1, characterized in that, The corrugated airbag (9) is set vertically when not inflated. The corrugated airbag is divided into a first air chamber, a second air chamber and a third air chamber from top to bottom by two transverse flexible partitions. The second air chamber is divided into a second left air chamber, a second central air chamber and a second right air chamber by two longitudinal flexible partitions.

3. The ground-based remote-controlled manhole pipe telescopic sealing device according to claim 1, characterized in that, The ground fixing base includes a ring rail (1), a horizontal rail (2) and a vertical rail (3). The ring rail (1) is mounted on the ground and a turntable (101) is slidably connected to the ring rail (1). There are two horizontal rails (2), and the two horizontal rails (2) are parallel to each other and are fixedly connected to the turntable (101); Each of the horizontal rails (2) is provided with a horizontal slider (201), and the two ends of the vertical rail (3) are respectively fixedly connected to the two horizontal sliders (201). The vertical rail (3) is provided with a vertical slider (301), and the top end of the telescopic sleeve (7) is fixedly connected to the vertical slider (301) to realize the adjustment of the two-dimensional position and orientation of the telescopic sleeve (7) in the horizontal plane.

4. The ground-based remote-controlled manhole pipe telescopic sealing device according to claim 1, characterized in that, The fixing claw (8) includes an anchoring seat (801), multiple anchoring fingers (802), and multiple pushers (803); The anchoring seat (801) is provided with a plurality of outer rails (8011), which are arranged radially along the anchoring seat (801) and distributed in a ring array. Each of the outer rails (8011) is slidably connected to an outer rail (8011) slider, the anchoring finger (802) is fixedly connected to the outer rail (8011) slider, the body of the pusher (803) is connected to the anchoring seat (801), and the output end of the pusher (803) is connected to the anchoring finger (802).

5. The ground-based remote-controlled manhole pipe telescopic sealing device according to claim 4, characterized in that, The anchoring seat (801) is also provided with a plurality of inner rails (8012) and a plurality of locking seats (806). The number of inner rails (8012) is the same as that of outer rails (8011) and they are arranged in a one-to-one correspondence. The inner rails (8012) are located on the side of the outer rails (8011) closer to the center of the anchoring seat (801). Each set of corresponding inner rails (8012) and outer rails (8011) are arranged collinearly. Each inner rail (8012) is slidably connected to an inner rail (8012) slider, the inner rail (8012) slider is slidably connected to the inner rail (8012) in a lockable manner, the locking seat (806) is fixedly connected to the inner rail (8012) slider, and the body of the pusher (803) is fixedly connected to the locking seat (806).

6. The ground-based remote-controlled manhole pipe telescopic sealing device according to claim 5, characterized in that, The inner rail (8012) is provided with a first electromagnet (807) at one end near the outer rail (8011), and the inner rail (8012) slider is provided with a second electromagnet (808) that cooperates with the first electromagnet (807) on the side near the outer rail (8011). The first electromagnet (807) and the second electromagnet (808) attract each other when energized. The inner rail (8012) is provided with a first return spring (809) at the end away from the outer rail (8011). One end of the first return spring (809) is fixedly connected to the side of the inner rail (8012) slider away from the outer rail (8011), and the other end is fixedly connected to the end of the inner rail (8012). The free initial length of the first return spring (809) is less than the distance between the side of the inner rail (8012) slider away from the outer rail (8011) and the end of the inner rail (8012) when the first electromagnet (807) and the second electromagnet (808) are energized and attracted.

7. The ground-based remote-controlled manhole pipe telescopic sealing device according to claim 4, characterized in that, The outer surface of the anchor finger (802) is covered with a rubber pad or has anti-slip texture.

8. The ground-based remote-controlled manhole pipe telescopic sealing device according to claim 1, characterized in that, The multi-stage sealing airbag includes an outer pre-sealing airbag (12), a middle main sealing airbag (13), and an inner emergency sealing airbag (14) arranged sequentially from the outside to the inside.

9. The ground-based remote-controlled manhole pipe telescopic sealing device according to claim 8, characterized in that, It also includes a pneumatic control assembly, which includes an air pump, a solenoid valve, and a pressure sensor. The air pump is pneumatically connected to the outer pre-sealed airbag (12), the middle main sealing airbag (13), and the inner emergency sealing airbag (14), respectively. There are three solenoid valves, which are respectively located in the air passages connected to the air pump and the outer pre-sealed airbag (12), the middle main sealing airbag (13), and the inner emergency sealing airbag (14). There are three pressure sensors, which are respectively located in the outer pre-sealed airbag (12), the middle main sealing airbag (13), and the inner emergency sealing airbag (14). The pneumatic control component is communicatively connected to the control terminal and is used to control the independent inflation of each airbag in real time based on the data fed back by the pressure sensor.

10. The ground-based remote-controlled manhole pipe telescopic sealing device according to claim 9, characterized in that, The pneumatic control assembly also includes a mechanical switch assembly, which includes a limit slide (13), a lifting shaft, a second return spring (16), and a mechanical exhaust valve. The limiting groove (13) is vertically located inside the end of the telescopic sleeve (7), and the lifting shaft is slidably connected inside the limiting groove (13). The top of the limiting groove (13) is provided with a limiting boss (14). The winch mechanism (4) is equipped with a recovery rope (15), and the end of the recovery rope (15) is fixedly connected to the top of the lifting shaft. The second return spring (16) is located at the bottom of the lifting shaft. One end of the second return spring (16) is fixedly connected to the bottom of the lifting shaft, and the other end is fixedly connected to the bottom of the limiting slide groove (13). The air inlet of the mechanical exhaust valve is connected to the bellows airbag (9) and the multi-stage sealing airbag through the air manifold, and the valve core of the mechanical exhaust valve is mechanically linked to the lifting shaft. When the lifting axis is displaced upward, it can mechanically trigger the valve core of the mechanical exhaust valve to open, thereby achieving physical depressurization of all airbags.

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