Air bag fixing device of air bag plugging robot

Abstract

The utility model discloses an air bag fixing device of an air bag plugging robot, which relates to the field of pipeline plugging and comprises a push rod component and a binding belt. The push rod assembly comprises a compression spring, a guide rod, a piston rod and a push rod cylinder, the push rod cylinder is provided with the piston rod and can drive the guide rod to stretch out and draw back through the piston rod, and the compression spring can be gradually compressed along with stretching of the guide rod; the binding belt is provided with a lantern ring used for being arranged on the guide rod in a sleeving mode, and the binding belt can fix the air bag in the folded state to the robot body. The device has the advantages that the compression spring is additionally arranged, so that compression energy storage is achieved when the guide rod stretches out, stretching assistance is achieved when the guide rod retracts, and it is guaranteed that the piston rod can drive the guide rod to overcome the friction force between the piston rod and a binding belt to retract smoothly under the condition that the power of the push rod cylinder body is small; therefore, the air bag in the folded state can be smoothly separated from the push rod assembly.

Description

Technical Field

[0001] The utility model relates to the field of pipeline plugging, in particular to an airbag fixing device of an airbag plugging robot. Background Art

[0002] Municipal drainage pipeline construction is divided into several categories, such as pipeline inspection, maintenance, and repair. In the early stage of high-water-level pipeline construction, the pipeline must be blocked before precipitation, drainage, and cleaning. Airbag blocking is one of the most commonly used methods for pipeline blocking. Since there are many branch outlets in the pipeline, rubber airbag-assisted blocking technology is used in the submersible blocking section to facilitate smooth construction and avoid unsafe drainage caused by elevation differences in some wells, which affects the normal dredging process.

[0003] In the past, workers standing on the ground at the wellhead of a vertical shaft with a probe rod inserted the airbag into the horizontal wellhead for a shaft depth of less than four meters. For shafts deeper than four meters, frogmen basically went down to carry out airbag plugging operations. The difficulties faced by frogmen in going down to the well include poor visibility in full water conditions, inability to see the condition of the pipe opening, and incomplete removal of garbage or foreign matter from the horizontal wellhead; and manual cleaning has limitations, and cannot effectively remove sharp objects in construction or wall residues; and there are also illegal operations where airbags are directly installed without cleaning, which can easily lead to puncture of the plugging airbag after inflation, resulting in plugging failure, causing property losses or personal injuries to underground construction workers.

[0004] At present, airbag plugging robots are used to carry airbags down the well for plugging. No personnel are required to go down the well, which improves the safety and reliability of the operation and avoids accidents. When the airbag plugging robot goes down the well with the airbag on its back, it is necessary to use a binding belt to fix the folded airbag to the robot body through an electric push rod. After reaching the pipeline plugging position, the electric push rod retracts to release the airbag. Due to space limitations, the power of the electric push rod cannot be too large. Therefore, after the binding belt is tightened and fixed, the existing electric push rod is easy to overcome the friction between the piston rod and the binding belt due to the small retraction force. The electric push rod is difficult to retract smoothly, resulting in the difficulty of disengaging the airbag. Utility Model Content

[0005] The technical problem to be solved by the utility model is how to ensure the smooth disengagement of the airbag.

[0006] The utility model solves the above technical problems through the following technical means: an airbag fixing device for an airbag blocking robot, comprising a push rod assembly and a binding belt; the push rod assembly comprises a compression spring, a guide rod, a piston rod and a push rod cylinder, the push rod cylinder is provided with a piston rod, the push rod cylinder can drive the guide rod to extend and retract through the piston rod, and the compression spring can be gradually compressed as the guide rod is extended; the binding belt is provided with a collar for sleeved on the guide rod, and the binding belt can fix the folded airbag on the robot body. The device realizes compression energy storage when the guide rod is extended and extension assistance when the guide rod is retracted by adding a compression spring, ensuring that the piston rod can drive the guide rod to overcome the friction between it and the binding belt and retract smoothly when the power of the push rod cylinder is low, so that the folded airbag can be smoothly disengaged from the push rod assembly.

[0007] As an optimized technical solution, the push rod assemblies are arranged in pairs, with two in each pair; the binding straps correspond to the push rod assemblies one by one, and the two binding straps on the two guide rods in a pair of push rod assemblies are fixed together after passing through the folded airbag.

[0008] As an optimized technical solution, the airbag fixing device of the airbag blocking robot further includes a mesh buckle, which is fixedly connected to the top of the airbag in the folded state, and two binding straps on two guide rods in a pair of push rod assemblies are passed around the airbag in the folded state and fixed together by a mesh buckle. The mesh buckle plays a role in adjusting the tension, which is convenient for adjusting the tension to fix the airbag in the folded state.

[0009] As an optimized technical solution, the push rod assembly further includes a connecting pin, through which the guide rod is hinged to the end of the piston rod. The guide rod is hinged to the piston rod through the connecting pin to prevent the radial tension of the binding belt from being transmitted to the piston rod, causing difficulty in extending or damaging the piston rod.

[0010] As an optimized technical solution, the push rod assembly further includes a guide sleeve, the guide rod passes through the guide sleeve, a stopper is provided on the guide rod, and the compression spring is compressed between the guide sleeve and the stopper. The guide sleeve can guide the extension and contraction of the guide rod and bear the radial tension of the binding belt.

[0011] As an optimized technical solution, the guide sleeve is made of self-lubricating material.

[0012] As an optimized technical solution, the push rod assembly also includes a push rod sleeve, the guide sleeve is fixedly connected to the open end of the push rod sleeve, the push rod cylinder body is fixedly connected inside the push rod sleeve, and the stop block is arranged on the part of the guide rod located inside the push rod sleeve.

[0013] As an optimized technical solution, the push rod assembly further includes a sealing ring, which is arranged between the guide sleeve and the guide rod. The sealing ring plays a sealing role to prevent external sewage, sand and dust from entering the push rod jacket and causing damage to components.

[0014] As an optimized technical solution, the push rod assembly further includes a countersunk screw, and the guide sleeve is fixedly connected to the open end of the push rod outer sleeve via the countersunk screw.

[0015] As an optimized technical solution, the push rod assembly further comprises a guide rod support seat, on which a plug hole is provided, into which the guide rod can be inserted after being extended. The guide rod support seat plays an auxiliary supporting role for the guide rod and increases the tensile resistance.

[0016] The advantages of the utility model are:

[0017] 1. The device adds a compression spring to store energy when the guide rod is extended and to extend the guide rod to assist when the guide rod is retracted, ensuring that when the power of the push rod cylinder is low, the piston rod can drive the guide rod to overcome the friction between it and the binding belt and retract smoothly, so that the folded airbag can be smoothly disengaged from the push rod assembly.

[0018] 2. The mesh buckle plays the role of adjusting the tensioning force, which is convenient for adjusting the tensioning force to fix the airbag in the folded state.

[0019] 3. The guide rod is hinged to the piston rod through a connecting pin to prevent the radial tension of the binding belt from being transmitted to the piston rod, causing difficulty in extending or retracting the piston rod or damage to the piston rod.

[0020] 4. The guide sleeve can guide the extension and retraction of the guide rod and bear the radial tension of the binding belt.

[0021] 5. The sealing ring acts as a seal to prevent external sewage, sand and dust from entering the push rod jacket and causing damage to components.

[0022] 6. The guide rod support seat provides auxiliary support for the guide rod and increases the tensile strength. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a cross-sectional view of the piston rod of the push rod assembly in the embodiment of the utility model in the retracted state.

[0024] Figure 2 This is a cross-sectional view of the piston rod of the push rod assembly according to an embodiment of the utility model in an extended state.

[0025] Figure 3 This is a front view cross-sectional view of an airbag fixing device of an airbag blocking robot according to an embodiment of the utility model fixing a folded airbag on a robot body.

[0026] Figure 4This is a cross-sectional view of the push rod assembly and the binding strap at the bottom of the folded airbag in an upward direction according to an embodiment of the utility model.

[0027] Figure 5 This is a left-view cross-sectional view of an airbag fixing device of an airbag blocking robot according to an embodiment of the utility model fixing a folded airbag on a robot body.

[0028] Figure 6 This is a top view of two binding straps fixed together by a mesh buckle according to an embodiment of the utility model. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical solution and advantages of the embodiment of the utility model clearer, the technical solution in the embodiment of the utility model will be clearly and completely described in combination with the embodiment of the utility model. Obviously, the described embodiment is a part of the embodiment of the utility model, not all the embodiments. Based on the embodiment of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the protection scope of the utility model.

[0030] like Figures 1 to 6 As shown, an embodiment of the utility model discloses an airbag fixing device of an airbag sealing robot, including a push rod assembly, a binding belt 11 and a mesh buckle 12, and the push rod assembly includes a guide rod support seat 1, a countersunk screw 2, a guide sleeve 3, a sealing ring 4, a compression spring 5, a guide rod 6, a connecting pin 7, a piston rod 8, a push rod cylinder body 9 and a push rod sleeve 10.

[0031] A socket is provided on the guide rod support seat 1, into which the guide rod 6 can be inserted after being extended. The guide rod support seat 1 plays an auxiliary supporting role for the guide rod 6 to increase the tensile force; the guide sleeve 3 is fixedly connected to the open end of the push rod sleeve 10 by a countersunk screw 2, and the push rod cylinder body 9 is fixedly connected to the push rod sleeve 10. The push rod sleeve 10 is a basic part for installing parts such as the push rod cylinder body 9; the guide rod 6 passes through the guide sleeve 3, which can guide the extension and retraction of the guide rod 6 and withstand the radial tension of the binding belt 11. The guide sleeve 3 is made of self-lubricating material; the sealing ring 4 is arranged between the guide sleeve 3 and the guide rod 6, and the sealing ring 4 plays a sealing role to prevent external sewage, sand and dust from entering the push rod sleeve The components inside the rod sleeve 10 are damaged; a block is provided on the guide rod 6, and the compression spring 5 is sleeved on the outside of the guide rod 6 and compressed between the guide sleeve 3 and the block. The compression spring 5 can be gradually compressed as the guide rod 6 is extended, so as to store energy when the guide rod 6 is extended and extend to assist when the guide rod 6 is retracted; the push rod cylinder body 9 is an electric cylinder body, and the push rod cylinder body 9 is provided with a piston rod 8. The push rod cylinder body 9 can drive the guide rod 6 to retract and retract through the piston rod 8; the guide rod 6 is hinged to the end of the piston rod 8 by a connecting pin 7. This connection method can prevent the radial tension of the binding belt 11 from being transmitted to the piston rod 8, causing difficulty in retracting or damage to the piston rod 8.

[0032] The push rod assemblies are arranged in pairs, with two in each pair; in this embodiment, there are two pairs of push rod assemblies, and the four push rod assemblies are respectively arranged at the four corners of the top of the robot body 14, and the guide rod support seat 1 and the push rod sleeve 10 are fixedly connected to the robot body 14 by bolts; there are four binding straps 11, which correspond to the push rod assemblies one by one, and one end of the binding strap 11 is provided with a ring for being sleeved on the guide rod 6; the mesh buckle 12 is fixedly connected to the top of the airbag 13 in the folded state, and the two binding straps 11 sleeved on the two guide rods 6 in a pair of push rod assemblies are fixed together through a mesh buckle 12 after passing through the airbag 13 in the folded state, so as to fix the airbag 13 in the folded state on the robot body 14, and the mesh buckle 12 plays a role in adjusting the tensioning force; the robot body 14 is used to carry the airbag 13 in the folded state and walk, enter the pipeline sealing part to complete the airbag sealing operation.

[0033] Working principle: before the robot body 14 is lowered into the well for operation, the collars of each binding belt 11 are placed in the gap between the guide rod support seat 1 and the guide sleeve 3 of the corresponding push rod assembly, and the push rod cylinder 9 drives the guide rod 6 to extend through the piston rod 8, so that the guide rod 6 passes through the collar and is inserted into the jack of the guide rod support seat 1, and at the same time, the block on the guide rod 6 compresses the compression spring 5 to store force; then the folded airbag 13 is placed on the top of the robot body 14, and the two binding belts 11 on the two guide rods 6 in a pair of push rod assemblies are passed around the folded airbag 13 and then passed through a mesh buckle 12, and the mesh buckle 12 is tightened to firmly fix the two binding belts 11, thereby fixing the folded airbag 13 on the top of the robot body 14. After the robot body 14 carries the folded airbag 13 and dives into the well to the set position, the push rod cylinder 9 drives the guide rod 6 to retract through the piston rod 8, and the guide rod 6 retracts under the pulling force of the piston rod 8 and the extension assistance of the compression spring 5, ensuring that the piston rod 8 can drive the guide rod 6 to overcome the friction between it and the binding belt 11 and retract smoothly when the power of the push rod cylinder 9 is small, so that the folded airbag 13 can be smoothly disengaged from the push rod assembly; after the airbag 13 is disengaged, it floats to the water surface under the action of its own buoyancy, and the robot body 14 withdraws from the bottom of the airbag 13 and returns to the outside of the pipeline well; then the airbag 13 is inflated by the air compressor, so that the airbag 13 is tightened against the pipeline wall to complete the pipeline blocking and water flow isolation.

[0034] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features thereof may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An airbag fixing device for an airbag blocking robot, characterized in that: It includes a push rod assembly and a binding belt; the push rod assembly includes a compression spring, a guide rod, a piston rod and a push rod cylinder; the push rod cylinder is provided with a piston rod, the push rod cylinder can drive the guide rod to extend and retract through the piston rod, and the compression spring can be gradually compressed as the guide rod is extended; the binding belt is provided with a ring for being sleeved on the guide rod, and the binding belt can fix the folded airbag on the robot body.

2. The airbag fixing device of the airbag blocking robot according to claim 1, characterized in that: The push rod assemblies are arranged in pairs, with two in each pair; the binding belts correspond to the push rod assemblies one by one, and the two binding belts sleeved on the two guide rods in a pair of push rod assemblies are fixed together after passing through the airbag in the folded state.

3. The airbag fixing device of the airbag blocking robot according to claim 2, characterized in that: The airbag fixing device of the airbag blocking robot also includes a mesh buckle, which is fixedly connected to the top of the airbag in the folded state. Two binding straps on two guide rods in a pair of push rod assemblies pass around the airbag in the folded state and are fixed together through a mesh buckle.

4. The airbag fixing device of the airbag blocking robot according to claim 1, characterized in that: The push rod assembly also includes a connecting pin, and the guide rod is hinged to the end of the piston rod through the connecting pin.

5. The airbag fixing device of the airbag blocking robot according to claim 1, characterized in that: The push rod assembly also includes a guide sleeve, the guide rod passes through the guide sleeve, a stopper is provided on the guide rod, and the compression spring is compressed between the guide sleeve and the stopper.

6. The airbag fixing device of the airbag blocking robot according to claim 5, characterized in that: The guide sleeve is made of self-lubricating material.

7. The airbag fixing device of the airbag blocking robot according to claim 5, characterized in that: The push rod assembly also includes a push rod sleeve, the guide sleeve is fixedly connected to the open end of the push rod sleeve, the push rod cylinder is fixedly connected inside the push rod sleeve, and the stopper is arranged on the part of the guide rod located inside the push rod sleeve.

8. The airbag fixing device of the airbag blocking robot according to claim 7, characterized in that: The push rod assembly also includes a sealing ring, which is arranged between the guide sleeve and the guide rod.

9. The airbag fixing device of the airbag blocking robot according to claim 7, characterized in that: The push rod assembly also includes a countersunk screw, and the guide sleeve is fixedly connected to the open end of the push rod outer sleeve through the countersunk screw.

10. The airbag fixing device of the airbag blocking robot according to claim 1, characterized in that: The push rod assembly also includes a guide rod support seat, and the guide rod support seat is provided with an insertion hole, and the guide rod can be inserted into the insertion hole after being extended.

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