CCTV detection and spraying repair integrated pipeline trenchless repair robot

Abstract

The application discloses a pipeline trenchless repair robot integrating CCTV detection and spraying repair, a walking mechanism is installed on a robot rack main body and is used for driving the robot to travel in a pipeline; a CCTV detection device is installed on the upper portion of the robot rack main body and is used for collecting a pipeline inner wall image in real time and transmitting the image to a ground control terminal; a spraying repair device is installed on the front side of the robot rack main body and is used for spraying repair of the pipeline; an electrical control system is electrically connected with the CCTV detection device and the spraying repair device respectively and is used for controlling walking, detection and spraying repair work of the robot; tail cable lines are connected with the robot rack main body and the ground control equipment respectively and are internally integrated with power supply lines, control signal lines and video signal lines and are simultaneously used as traction cables for recycling the robot. The application integrates the detection and repair functions and can be self-adapted to different pipe diameters, and the efficiency and quality of pipeline trenchless repair work are obviously improved.

Description

Technical Field

[0001] This invention relates to the field of trenchless pipeline repair technology, specifically to a pipeline repair robot that integrates CCTV inspection and spray repair functions, suitable for detecting and immediately spraying repair defects in the inner walls of urban drainage networks, water supply networks, and other industrial pipelines. Background Technology

[0002] With the rapid pace of urbanization in my country, urban underground pipeline networks have expanded rapidly. In recent years, the number of pipelines nearing the end of their service life has been increasing, and problems such as aging, cracking, leakage, and corrosion have become increasingly prominent. Traditional methods of excavating roads to replace and repair pipelines are not only costly but also severely impact urban traffic and residents' lives. Therefore, trenchless pipeline repair technology has become an important development direction for pipeline network maintenance.

[0003] Currently, two main equipment systems are used in the field of trenchless pipeline repair: one is CCTV pipeline inspection robots, used for video inspection and defect location of the pipeline's internal condition; the other is independent pipeline repair equipment, such as devices that use airbags combined with resin-impregnated fiberglass materials for localized curing repair. This step-by-step approach of inspection and repair has the following shortcomings:

[0004] (1) Inspection and repair are two separate work processes. After the inspection finds a problem, the inspection robot must be taken out of the pipe and then put into the repair equipment. The process conversion time is long and the work efficiency is low.

[0005] (2) Existing spray-type repair equipment mostly adopts a pre-mixed feeding method. The resin and curing agent are mixed before entering the pipeline, which can easily cause premature curing and pipeline blockage during long-distance transportation.

[0006] (3) Existing repair equipment is not well adapted to different pipe diameters, and it is usually necessary to replace the equipment or accessories with the corresponding specifications for different pipe diameters.

[0007] (4) The lack of real-time visual feedback during the repair operation makes it difficult for operators to accurately assess the spraying quality.

[0008] Among existing related patent technologies, such as the pipeline repair robot disclosed in patent document (CN213065137U), this patent only sets up a "storage box (8)" to fill "repair slurry" and transports it to the spray block through a centrifugal pump (16) and a connecting pipe (17). If the single-box premixing method of this patent is adopted, the material is already mixed before entering the pipeline. Due to the "gel time" of the material, the slurry is very likely to solidify / crystallize prematurely in the storage box, hose or centrifugal pump during long-distance culvert transportation or robot operation stoppage. This will not only cause the pipeline to be completely blocked and the expensive centrifugal pump to be scrapped, but also cause a lot of material waste. This patent adopts a wheel chassis structure of "fixed base plate + four grooved wheels (3)". The wheel structure cannot actively adjust the height. When facing different pipe diameters, or when the pipeline is elliptical or partially collapsed, the equipment cannot adapt to fit, and is prone to jamming or overturning. The robotic arm of this patent is an "open-loop" position adjustment, which cannot maintain a constant distance between the nozzle and the pipe wall in real time. Too close a distance can cause slurry buildup and sagging, while too far a distance can result in insufficient coating or wasted material due to rebound. Furthermore, the lack of a closed-loop linkage between the centrifugal pump's flow rate and the robotic arm's movement speed makes it difficult to ensure uniformity in the repair layer's thickness.

[0009] Therefore, there is an urgent need for a trenchless pipeline repair device that integrates detection and repair functions, can adapt to different pipe diameters, and can achieve precise spraying repair. Summary of the Invention

[0010] The purpose of this invention is to provide a trenchless pipeline repair robot that integrates CCTV inspection and spraying repair, in order to solve the technical problems in the prior art, such as low efficiency of separate inspection and repair operations, easy solidification and blockage of spraying materials during long-distance transportation, poor pipe diameter adaptability, and lack of real-time visual feedback in the repair process.

[0011] To achieve the above objectives, the present invention adopts the following technical solution: A trenchless pipeline repair robot integrating CCTV inspection and spray repair includes: a robot frame body, a walking mechanism, a CCTV inspection device, a spray repair device, an electrical control system, and a tail cable; The walking mechanism is mounted on the robot frame body and is used to drive the robot to move inside the pipe; The CCTV inspection device is installed on the upper part of the robot frame body and is used to collect images of the inner wall of the pipeline in real time and transmit them to the ground control terminal. The spraying repair device is installed on the front side of the robot frame body and is used for spraying repair of pipes; The electrical control system is electrically connected to the CCTV inspection device and the spraying and repair device, respectively, and is used to control the robot's walking, inspection, and spraying and repair operations. The tail cable is fixedly connected at one end to the tail of the robot frame and at the other end to the ground control equipment. The tail cable integrates power supply lines, control signal lines and video signal lines, and also serves as a traction cable for robot retrieval.

[0012] Furthermore, the walking mechanism includes at least two sets of drive wheel sets arranged at intervals along the robot's axis. Each set of drive wheel sets includes at least one wheel body evenly distributed in the circumferential direction. The wheel body is connected to the main frame body through an elastic suspension mechanism.

[0013] Furthermore, the CCTV inspection device includes a high-definition camera unit, an illumination unit, a pan-tilt mechanism, and a height-adjustable bracket; the high-definition camera unit is mounted on the main frame via the height-adjustable bracket, which is used to adjust the radial height of the high-definition camera unit relative to the inner wall of the pipe; the pan-tilt mechanism is used to drive the high-definition camera unit to rotate in the horizontal and / or pitch directions.

[0014] Furthermore, the CCTV inspection device 3 also includes a lidar scanning module for acquiring three-dimensional contour data of the inner wall of the pipe.

[0015] Furthermore, the spraying repair device includes a robotic arm, an integrated spray head, a rotary drive mechanism, and a telescopic adjustment mechanism; the integrated spray head is installed at the end of the robotic arm, the telescopic adjustment mechanism is used to adjust the radial extension distance of the integrated spray head relative to the inner wall of the pipe, and the rotary drive mechanism is used to drive the integrated spray head to rotate around the pipe axis.

[0016] Furthermore, the robotic arm adopts a multi-joint hinge structure, and the integrated spray head is installed at its end; the rotary drive mechanism is driven by the integrated spray head and is used to drive the integrated spray head to rotate and spray in the circumferential direction of the pipeline.

[0017] Furthermore, the telescopic adjustment mechanism is a miniature electric push rod or cylinder, one end of which is fixedly connected to the main frame and the other end is connected to the robotic arm. It is used to adjust the radial extension length of the integrated nozzle according to the inner diameter of the pipe, so that the integrated nozzle and the inner wall of the pipe maintain a preset spraying distance. The rotary drive mechanism is a small servo geared motor or air pump driven rotary device, which is used to drive the integrated nozzle to rotate around the pipe axis to achieve circumferential full coverage spraying of the inner wall of the pipe.

[0018] Furthermore, the integrated nozzle adopts an external mixing spraying structure, including a glass fiber cutter, a compressed air chamber, a resin supply channel, a curing agent supply channel, and a compressed air channel; the glass fiber cutter is used to cut continuous glass fibers into short fibers; the outlets of the resin supply channel and the curing agent supply channel are respectively connected to the compressed air chamber to form a mixed spraying material; the outlet of the compressed air channel is coaxially or offset from the material outlet, and the compressed air is used to atomize the mixed material and spray it onto the inner wall of the pipe.

[0019] Furthermore, the output control signals of the electrical control system include at least: a first control signal for controlling the extension and retraction length of the miniature electric push rod or cylinder to adapt to different pipe inner diameters; and a second control signal for controlling the rotation speed and angle of the small servo geared motor or air pump driven rotation device.

[0020] Furthermore, the robot also includes a positioning module connected to the electrical control system, used to record the robot's travel distance and the coordinates of the defect location within the pipeline.

[0021] Compared with the prior art, the present invention has the following significant advantages: (1) Integrated detection and repair functions: This invention integrates CCTV detection device and spray repair device on the same robot platform. Defects can be detected in real time and spray repair can be carried out immediately during the process of moving in the pipeline. There is no need to replace equipment and reposition, which significantly shortens the operation cycle and improves repair efficiency.

[0022] (2) External mixing spraying avoids pipeline curing and blockage: The present invention adopts an external mixing spraying method in which resin and curing agent are mixed at the integrated nozzle. The two components are transported independently before entering the compressed air chamber and are mixed only momentarily before spraying, which effectively avoids the problem of material curing and blocking pipelines in advance during long-distance transportation in the existing premixing method.

[0023] (3) Adaptive pipe diameter adjustment: The present invention uses a micro electric push rod or cylinder to drive the extension and retraction adjustment of the robotic arm, which can automatically adjust the spraying distance between the integrated nozzle and the pipe wall according to the actual inner diameter of the pipe, so as to achieve precise spraying repair of pipes with different diameters without the need to replace equipment or accessories, thus improving the equipment versatility.

[0024] (4) Real-time visual monitoring of repair quality: The CCTV inspection device works continuously during the repair process and can collect images of the repair area in real time. Operators can intuitively evaluate the spray thickness, uniformity and coverage effect through video feedback to ensure repair quality.

[0025] (5) High operational safety: No personnel need to enter the pipeline during the entire inspection and repair process, making it safe and reliable. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the overall structure of the trenchless pipeline repair robot in an embodiment of the present invention; Figure 2 for Figure 1 Enlarged schematic diagram of the structure of the spray repair device; Figure 3 This is a schematic diagram of the robot's working state inside the pipeline in an embodiment of the present invention. Detailed Implementation

[0027] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments.

[0028] like Figures 1 to 3 As shown in the figure, the present invention provides a trenchless pipeline repair robot that integrates CCTV inspection and spraying repair, including: robot frame body 1, walking mechanism 2, CCTV inspection device 3, spraying repair device 4, electrical control system 5, tail cable 6, etc.

[0029] The walking mechanism 2 is installed on the robot frame body 1 and is used to drive the robot to move inside the pipe; CCTV inspection device 3 is installed on the upper part of the robot frame body 1 and is used to collect images of the inner wall of the pipe in real time. The spraying repair device 4 is installed on the front side of the robot frame body 1 and is used for spraying repair of pipes. The electrical control system 5 is electrically connected to the CCTV inspection device 3 and the spraying and repair device 4 respectively, and is used to control the robot's walking, inspection, and spraying and repair operations. Tail cable 6, one end of which is fixedly connected to the tail of the robot frame body 1, and the other end is connected to the ground control equipment, is used to transmit signals and as a traction cable for robot recovery.

[0030] The repair robot also includes a positioning module, which is connected to the electrical control system 5, to record the robot's travel distance and the coordinates of the defect location within the pipeline.

[0031] The walking mechanism 2 includes at least two sets of drive wheel sets 21 arranged at intervals along the robot axis. Each set of drive wheel sets includes at least one wheel body evenly distributed in the circumferential direction. The wheel body is connected to the frame body 1 through an elastic suspension mechanism.

[0032] The CCTV inspection device 3 includes a high-definition camera unit 31, an illumination unit 32, a pan-tilt rotation mechanism 33, and a height-adjustable bracket 34. The high-definition camera unit 31 is mounted on the frame body 1 via the height-adjustable bracket 34 and is used to adjust the radial height of the high-definition camera unit 31 relative to the inner wall of the pipe. The pan-tilt rotation mechanism 33 is used to drive the high-definition camera unit 31 to rotate in the horizontal and / or pitch directions.

[0033] Furthermore, the CCTV inspection device 3 also includes a lidar scanning module for acquiring three-dimensional contour data of the inner wall of the pipe.

[0034] like Figure 3As shown, the spraying repair device 4 includes a robotic arm 41, an integrated spray head 42, a rotary drive mechanism 43, and a telescopic adjustment mechanism 44. The integrated spray head 42 is installed at the end of the robotic arm 41. The telescopic adjustment mechanism 44 is used to adjust the radial extension distance of the integrated spray head 42 relative to the inner wall of the pipe. The rotary drive mechanism 43 is used to drive the integrated spray head 42 to rotate around the pipe axis.

[0035] Preferably, the robotic arm 41 has a multi-joint hinge structure.

[0036] Preferably, the telescopic adjustment mechanism 44 is a miniature electric push rod or cylinder, one end of which is fixedly connected to the frame body 1 and the other end is connected to the robotic arm 41. It is used to adjust the radial extension length of the integrated spray head 42 according to the inner diameter of the pipe, so that the integrated spray head 42 and the inner wall of the pipe maintain a preset spraying distance.

[0037] Preferably, the rotary drive mechanism 43 is a small servo geared motor or an air pump driven rotary device, which is connected to the integrated spray head 42 through a transmission mechanism to drive the integrated spray head 42 to rotate around the pipe axis, thereby achieving circumferential full coverage spraying of the inner wall of the pipe.

[0038] like Figure 2 As shown, the integrated nozzle 42 adopts an external mixing spraying structure, including a glass fiber cutter 421, a compressed air chamber 422, a resin supply channel 423, a curing agent supply channel 424, and a compressed air channel 425. The glass fiber cutter 421 is used to cut continuous glass fibers into short fibers. The outlets of the resin supply channel 423 and the curing agent supply channel 424 are connected to the compressed air chamber 422 to form a mixed spraying material. The outlet of the compressed air channel 425 is arranged adjacent to the material outlet of the compressed air chamber 422. The outlet of the compressed air channel 425 and the material outlet are arranged coaxially or offset, and the mixed material is atomized and sprayed onto the inner wall of the pipe using compressed air.

[0039] Furthermore, the glass fiber cutter 421 includes a fiber feeding mechanism and a cutting assembly for cutting continuous glass fibers into short fibers and ejecting them from a nozzle.

[0040] The electrical control system 5 outputs at least: a first control signal for controlling the telescopic adjustment mechanism 44 to adapt to different pipe inner diameters; and a second control signal for controlling the rotation speed and / or rotation angle of the rotary drive mechanism 43.

[0041] Furthermore, the tail cable 6 is a multi-core composite cable, which integrates power supply lines, control signal lines, video signal lines, and material pipelines for conveying resin and curing agent.

[0042] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the invention. Those skilled in the art can make various changes and modifications without departing from the concept and scope of the present invention. Therefore, all technical solutions obtained by equivalent substitution or equivalent transformation fall within the protection scope of the present invention.

Claims

1. A trenchless pipeline repair robot integrating CCTV inspection and spray repair, characterized in that, include: Robot frame body, walking mechanism, CCTV inspection device, spraying and repair device, electrical control system, tail cable; The walking mechanism is mounted on the robot frame body and is used to drive the robot to move inside the pipe; The CCTV inspection device is installed on the upper part of the robot frame body and is used to collect images of the inner wall of the pipeline in real time and transmit them to the ground control terminal. The spraying repair device is installed on the front side of the robot frame body and is used for spraying repair of pipes; The electrical control system is electrically connected to the CCTV inspection device and the spraying and repair device, respectively, and is used to control the robot's walking, inspection, and spraying and repair operations. The tail cable is fixedly connected at one end to the tail of the robot frame and at the other end to the ground control equipment. The tail cable integrates power supply lines, control signal lines and video signal lines, and also serves as a traction cable for robot retrieval.

2. The trenchless pipeline repair robot integrating CCTV inspection and spray repair as described in claim 1, characterized in that, The walking mechanism includes at least two sets of drive wheel sets arranged at intervals along the robot's axis. Each set of drive wheel sets includes at least one wheel body evenly distributed in the circumferential direction. The wheel body is connected to the main frame body through an elastic suspension mechanism.

3. The trenchless pipeline repair robot integrating CCTV inspection and spray repair as described in claim 1, characterized in that, The CCTV inspection device includes a high-definition camera unit, an illumination unit, a pan-tilt mechanism, and a height-adjustable bracket. The high-definition camera unit is mounted on the main frame via the height-adjustable bracket, which is used to adjust the radial height of the high-definition camera unit relative to the inner wall of the pipe. The pan-tilt mechanism is used to drive the high-definition camera unit to rotate in the horizontal and / or pitch directions.

4. The trenchless pipeline repair robot integrating CCTV inspection and spray repair as described in claim 3, characterized in that, The CCTV inspection device 3 also includes a lidar scanning module for acquiring three-dimensional contour data of the inner wall of the pipe.

5. The trenchless pipeline repair robot integrating CCTV inspection and spray repair as described in claim 1, characterized in that, The spray repair device includes a robotic arm, an integrated nozzle, a rotary drive mechanism, and a telescopic adjustment mechanism. The integrated nozzle is installed at the end of the robotic arm, the telescopic adjustment mechanism is used to adjust the radial extension distance of the integrated nozzle relative to the inner wall of the pipe, and the rotary drive mechanism is used to drive the integrated nozzle to rotate around the pipe axis.

6. The trenchless pipeline repair robot integrating CCTV inspection and spray repair as described in claim 5, characterized in that, The robotic arm adopts a multi-joint hinge structure, and the integrated spray head is installed at its end; the rotary drive mechanism is connected to the integrated spray head and is used to drive the integrated spray head to rotate and spray in the circumferential direction of the pipeline.

7. The trenchless pipeline repair robot integrating CCTV inspection and spray repair as described in claim 5, characterized in that, The telescopic adjustment mechanism is a miniature electric push rod or cylinder, one end of which is fixedly connected to the main frame and the other end is connected to the robotic arm. It is used to adjust the radial extension length of the integrated nozzle according to the inner diameter of the pipe, so that the integrated nozzle and the inner wall of the pipe maintain a preset spraying distance. The rotary drive mechanism is a small servo geared motor or air pump driven rotary device, which is used to drive the integrated nozzle to rotate around the pipe axis to achieve circumferential full coverage spraying of the inner wall of the pipe.

8. The trenchless pipeline repair robot integrating CCTV inspection and spray repair as described in claim 5, characterized in that, The integrated nozzle adopts an external mixing spraying structure, including a glass fiber cutter, a compressed air chamber, a resin supply channel, a curing agent supply channel, and a compressed air channel; The glass fiber cutter is used to cut continuous glass fibers into short fibers; the outlets of the resin supply channel and the curing agent supply channel are respectively connected to the compressed air cavity to form a mixed spray material; the outlet of the compressed air channel is coaxial or offset from the material outlet, and the mixed material is atomized and sprayed onto the inner wall of the pipe using compressed air.

9. The trenchless pipeline repair robot integrating CCTV inspection and spray repair as described in claim 1, characterized in that, The output control signals of the electrical control system include at least: a first control signal for controlling the extension and retraction length of the miniature electric push rod or cylinder to adapt to different pipe inner diameters; and a second control signal for controlling the rotation speed and angle of the small servo geared motor or air pump driven rotation device.

10. The trenchless pipeline repair robot integrating CCTV inspection and spray repair as described in claim 1, characterized in that, The robot also includes a positioning module connected to the electrical control system, used to record the robot's travel distance and the coordinates of the defect location within the pipeline.

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