CCTV piping robot escape and recovery device and recovery method

Abstract

The present invention discloses a CCTV pipe robot escape and recovery device and recovery method, which includes a platform assembly and an airbag support system, the airbag support system includes an air-filling pump, an air-filling pipe, an air-filling connection port, and an air-fillable airbag, the platform assembly includes an airbag-mounted platform, a stop lever fixing block, an upper clamp plate, a lower clamp plate, a gear, and a torsion spring, two stop lever fixing blocks are welded to two sides of the airbag-mounted platform, an upper clamp plate and a lower clamp plate are connected to the two stop lever fixing blocks on the same side, a gear is connected to both ends of each steel bar, and the gears on the upper clamp plate and the lower clamp plate are meshed in pairs, and the torsion spring is fitted into the upper clamp plate. The present invention uses the inflation of the airbag to support the robot to escape from the sinkhole, thereby avoiding the safety risks of open-cut mining and confined space work, saving construction time and costs, and improving the inspection efficiency of CCTV pipes.

Description

[Technical field]

[0001] The present invention relates to the technical field of drainage pipe network maintenance and management, and in particular to a device and method for escaping and recovering a CCTV pipe robot. [Background technology]

[0002] The current drainage pipe network system faces two major challenges. First, the scale of drainage pipes has increased in a disorderly manner with the rapid expansion of urbanization, and a large number of constructed pipes are complicatedly intertwined, making operation and maintenance difficult. Second, due to factors such as the long years of pipe laying, surrounding geological changes, and illegal operation and use, defects such as deformation, detachment, and bursting gradually occur, which seriously affect the normal operation of the pipes. In order to grasp the state of the pipe network system and ensure smooth drainage in urban areas, it is necessary to carry out regular inspection of the drainage pipes, and closed circuit television detection system (CCTV) is the most widely applied inspection technology at present. However, during the actual operation process, the robot often falls into the hole created by the collapse of the pipe, and cannot escape by being pulled by its own power or an external towing rope. In order to retrieve the robot, it is necessary to dig above the point where it fell to the bottom of the hole to retrieve it, which increases the time and construction costs sharply and poses a huge safety risk during the work.

[0003] In order to improve the above-mentioned work efficiency, save construction costs, and reduce safety risks during construction, it is necessary to invent an apparatus and method for assisting the CCTV piping robot in escaping and retrieving from the collapsed area. Summary of the Invention [Problem to be solved by the invention]

[0004] The objective of the present invention is to address the shortcomings of the prior art by proposing a CCTV piping robot escape and recovery device, which can quickly recover the CCTV piping robot when it falls into a pipe collapse, avoid the safety risks of open-cut mining and confined space work, save construction time and costs, and improve the efficiency of CCTV piping inspection. [Means for solving the problem]

[0005] The technical object of the present invention is achieved by the following technical solution, which is a CCTV piping robot escape and recovery device, comprising: a platform assembly for mounting a CCTV piping robot; and an airbag support system connected to the lower part of the platform assembly, the airbag support system comprising an air filling pump, an air filling pipe, an air filling connection port, and an air-fillable airbag, the air filling pump is connected to the air filling pipe and the air filling connection port to the air-fillable airbag, the platform assembly comprises an airbag mounting platform, a stop lever fixing block, an upper clamp plate, a lower clamp plate, a gear, and a torsion spring, and two sides of the airbag mounting platform are provided with two stop levers. two stop lever fixing blocks are welded to each other, and one of the upper clamp plate and one of the lower clamp plate are connected to the two stop lever fixing blocks on the same side, the upper clamp plate and the lower clamp plate both include a steel rod rotatably connected to the stop lever fixing block and a bent stop plate connected to the steel rod, one of the gears is connected to both ends of each steel rod, and the gears on the upper clamp plate and the lower clamp plate mesh in pairs, the torsion spring is fitted to the steel rod in the upper clamp plate and is located between the bent stop plate and the stop lever fixing block, the torsion spring rotates to generate torque for clamping the CCTV piping robot.

[0006] Preferably, the airbag mounting platform has a thin-walled cubic structure with a hollowed-out bottom, is made of stainless steel, and has a through hole for an air filling pipe on a side of the airbag mounting platform.

[0007] Preferably, the width of the folding stop plate of the upper clamping plate is 3-5 cm, and the width of the folding stop plate of the lower clamping plate is 8-10 cm.

[0008] Another object of the present invention is to provide a method for escaping and recovering a CCTV piping robot using the CCTV piping robot escape and recovery device, specifically, the method comprising: Step S1 of mounting a CCTV piping robot, clamping the side of the CCTV piping robot with an upper clamp plate under the action of a torsion spring in an initial mounted state, bringing an airbag mounting platform and a lower part of the CCTV piping robot into close contact, restraining the lower clamp plate with a gear to fix an air-fillable airbag, folding the air-fillable airbag inside the airbag mounting platform, and connecting the air-fillable airbag to an air-filling pump via an air-filling connection port and an air-filling pipe, thereby synchronously moving the CCTV piping robot escape and recovery device and the CCTV piping robot in the piping; If the CCTV piping robot falls into a sinking point of the pipe and cannot leave the hole by its own power or external towing, start the air filling pump to fill the air-fillable airbag with air, support and lift the airbag mounting platform and the CCTV piping robot, push open the lower clamp plate, and open the upper clamp plate by meshing the gears, so that the CCTV piping robot can be released from the airbag mounting platform. Further, observe the posture of the CCTV piping robot in the pipe through the camera of the CCTV piping robot. If the CCTV piping robot is supported to the height of the bottom of the pipe, pull the towing rope or operate the robot to complete the escape and recovery of the CCTV piping robot. and step S3, when recovery of the CCTV piping robot is completed, turning off the air filling pump to deflate the air-fillable airbag, pulling the air filling pipe to recover the CCTV piping robot escape and recovery device, and folding the air-fillable airbag to return it to its original position for reuse. Effect of the Invention

[0009] The present invention has the following advantageous effects compared to the prior art: 1. The present invention provides an apparatus and method for CCTV pipe robot escape and recovery, which uses airbag inflation to support the robot to escape from a sinkhole, thereby avoiding safety risks in open-cut mining and confined space work, saving construction time and costs, and improving the inspection efficiency of CCTV pipes.

[0010] 2. The present invention provides a CCTV pipe robot escape and recovery device and recovery method. The device is flat and lightweight, is closely attached to the bottom of the robot, and can move together with the robot without affecting the normal operation of the robot in the pipe.

[0011] 3. The present invention provides a CCTV piping robot escape and recovery device and recovery method. The device is easy to operate, and when used, the operator only needs to turn on the air filling pump, which can automatically complete the steps of supporting, detachment, etc. The device has a simple structure, is easy to install, and is highly reliable in operation.

[0012] 4. The present invention provides a CCTV piping robot escape and recovery device and recovery method, which can be repeatedly recovered and reused, with low operating costs, and will not block the piping network due to being unable to be recovered, resulting in secondary defects. [Brief description of the drawings]

[0013] [Figure 1] FIG. 2 is a schematic diagram showing a connection state according to an embodiment of the present invention. [Diagram 2] 1 is a schematic perspective view of a CCTV piping robot escape and recovery device according to one embodiment of the present invention. [Diagram 3] 1 is a schematic front view of a CCTV piping robot escape and recovery device according to an embodiment of the present invention; [Figure 4] 1 is a schematic plan view of a CCTV piping robot escape and recovery device according to one embodiment of the present invention. [Diagram 5] 1 is a schematic diagram showing a state after the air-fillable airbag according to an embodiment of the present invention is filled with air; FIG. [Figure 6] FIG. 1 is a schematic diagram of one embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0014] Hereinafter, the technical aspects of the embodiments of the present invention will be described clearly and completely in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and are not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative efforts belong to the scope of protection of the present invention.

[0015] 1 to 5, as a preferred embodiment of the present invention, this embodiment provides a CCTV piping robot escape and recovery device, which includes a platform assembly for mounting a CCTV piping robot 11, and an airbag support system connected to the lower part of the platform assembly, the airbag support system includes an air filling pump 1, an air filling pipe 2, an air filling connection port 3, and an air-fillable airbag 4, the air filling pump 1 is connected to the air filling pipe 2 and the air filling connection port 3 through the air filling pipe 2 and the air filling connection port 3, the platform assembly includes an airbag mounting platform 5, a stop lever fixing block 6, an upper clamp plate 7, a lower clamp plate 8, a gear 9, and a torsion spring 10, and two sides of the airbag mounting platform 5 are provided with a stop lever fixing block 6, an upper clamp plate 7, a lower clamp plate 8, a gear 9, and a torsion spring 10. Two stop lever fixing blocks 6 are welded respectively, and one upper clamp plate 7 and one lower clamp plate 8 are connected to the two stop lever fixing blocks 6 on the same side, the upper clamp plate 7 and the lower clamp plate 8 each include a steel rod rotatably connected to the stop lever fixing block 6 and a bent stop plate connected to the steel rod, a gear 9 is connected to both ends of each steel rod, and the gears 9 on the upper clamp plate 7 and the lower clamp plate 8 are meshed in pairs, the torsion spring 10 is fitted to the steel rod in the upper clamp plate 7 and is located between the bent stop plate and the stop lever fixing block 6, the torsion spring 10 rotates to generate torque, which is used to clamp the CCTV piping robot 11.

[0016] In the above embodiment, the air filling pump 1 is preferably an electric air pump for ease of portability and use, which is placed on the well during piping inspection and operated by an operator, the air filling pipe 2 is a PVC hose, the air filling connection port 3 is a stainless steel quick joint, the air-fillable airbag 4 is made of rubber, folded and glued to the inside of the airbag mounting platform 5, the air filling pump 1 is connected to the air filling pipe 2 and the air filling connection port 3 to the air-fillable airbag 4, and when in operation, the air filling pump 1 is operated to supply air to the air-fillable airbag 4, and the airbag is inflated to support the CCTV piping robot 11.

[0017] In the above embodiment, the width of the bent stop plate is 3cm, and it is located at 1 / 3 of the way on both sides of the steel bar, the upper clamp plate 7 is fixed to the upper hole of the stop lever fixing block, and the width of the bent stop plate of the lower clamp plate 8 is 10cm.

[0018] In a preferred embodiment of the present invention, the airbag mounting platform 5 is a thin-walled cubic structure with a hollowed-out bottom, made of stainless steel, and has a through hole on the side of the airbag mounting platform 5 for an air filling pipe.

[0019] In a preferred embodiment of the present invention, the width of the bent stop plate of the upper clamp plate 7 is 3-5 cm, and the width of the bent stop plate of the lower clamp plate 8 is 8-10 cm.

[0020] As another embodiment of the present invention, a method for escaping and recovering a CCTV piping robot is provided, which includes: Step S1 of installing the CCTV piping robot, referring to FIG. 1, in the initial state of installation, the side of the CCTV piping robot is clamped by the upper clamp plate 7 under the action of the torsion spring 10, the airbag mounting platform 5 and the lower part of the CCTV piping robot are closely attached, the lower clamp plate 7 is restrained by the gear 9 to fix the air-fillable airbag 4, the air-fillable airbag 4 is folded inside the airbag mounting platform 5, and the air-fillable airbag 4 is connected to the air-filling pump 1 through the air-filling connection port 3 and the air-filling pipe 2, thereby moving the CCTV piping robot escape and recovery device and the CCTV piping robot synchronously in the piping; If the CCTV piping robot falls into the sinking point of the pipe and cannot leave the hole by its own power or external towing, referring to FIG. 5 and FIG. 6, start the air filling pump 1 to fill the air-fillable airbag 4 with air, support and lift the airbag mounting platform 5 and the CCTV piping robot, push open the lower clamp plate 8, and open the upper clamp plate 7 by the engagement of the gear 9, so that the CCTV piping robot can be released from the airbag mounting platform 5. Further, observe the posture of the CCTV piping robot in the pipe through the camera of the CCTV piping robot. If the CCTV piping robot is supported to the height of the bottom of the pipe, pull the towing rope or operate the robot to complete the escape and recovery of the CCTV piping robot. When the recovery of the CCTV piping robot is completed, the step S3 includes turning off the air filling pump 1 to deflate the air from the air-fillable airbag 4, pulling the air filling pipe to recover the CCTV piping robot escape and recovery device, and folding the air-fillable airbag 4 and returning it to its original position for reuse.

[0021] Finally, although the above examples are used only to illustrate the technical aspects of the present invention and not to limit it, the present invention has been described in detail with reference to the preferred embodiments, but those skilled in the art may modify or equivalently replace the technical aspects of the present invention without departing from the spirit and scope of the technical aspects of the present invention, all of which are included in the scope of the claims of the present invention. [Explanation of symbols]

[0022] 1 air filling pump, 2 air filling pipe, 3 air filling connection port, 4 air-fillable airbag, 5 airbag mounting platform, 6 stop lever fixing block, 7 upper clamp plate, 8 lower clamp plate, 9 gear, 10 torsion spring, 11 CCTV piping robot

Claims

1. a platform assembly for mounting a CCTV piping robot; and an airbag support system connected to a lower portion of the platform assembly; The airbag support system includes an air filling pump (1), an air filling pipe (2), an air filling connection port (3), and an air-fillable airbag (4), the air filling pump (1) being connected to the air filling pipe (2) and the air filling connection port (3) to the air-fillable airbag (4); The platform assembly includes an airbag mounting platform (5), a stop lever fixing block (6), an upper clamp plate (7), a lower clamp plate (8), a gear (9), and a torsion spring (10). Two of the stop lever fixing blocks (6) are welded to two sides of the airbag mounting platform (5), and one of the upper clamp plates (7) and one of the lower clamp plates (8) are connected to the two stop lever fixing blocks (6) on the same sides. The upper clamp plate (7) and the lower clamp plate (8) are both fixed to the stop lever fixing block (6). a steel bar rotatably connected to a stop lever (6) and a bent stop plate connected to the steel bar, wherein one gear (9) is connected to each end of each steel bar, and the gears (9) on the upper clamp plate (7) and the lower clamp plate (8) are paired and mesh with each other, the torsion spring (10) is fitted to the steel bar in the upper clamp plate (7) and is located between the bent stop plate and the stop lever fixing block (6), and the torsion spring (10) rotates to generate torque and is used to clamp the CCTV piping robot.

2. The CCTV piping robot escape and recovery device as described in claim 1, characterized in that the airbag mounting platform (5) has a thin-walled cubic structure with a hollowed-out bottom and is made of stainless steel, and a through hole for an air filling pipe is opened on the side of the airbag mounting platform (5).

3. The CCTV piping robot escape and recovery device as described in claim 1, characterized in that the width of the bent stop plate of the upper clamp plate (7) is 3 to 5 cm, and the width of the bent stop plate of the lower clamp plate (8) is 8 to 10 cm.

4. A method for escaping and recovering a CCTV piping robot using the CCTV piping robot escape and recovery device according to any one of claims 1 to 3, specifically comprising: Step S1 of mounting a CCTV piping robot, clamping the side of the CCTV piping robot with an upper clamp plate (7) under the action of a torsion spring (10) in an initial mounted state, bringing an airbag mounting platform (5) and a lower part of the CCTV piping robot into close contact with each other, restraining the lower clamp plate (7) with a gear (9) to fix an air-fillable airbag (4), folding the air-fillable airbag (4) inside the airbag mounting platform (5), and connecting the air-fillable airbag (4) to an air-filling pump (1) via an air-filling connection port (3) and an air-filling pipe (2), thereby moving the CCTV piping robot escape and recovery device and the CCTV piping robot synchronously within the piping; If the CCTV piping robot falls into a sinking point of the pipe and cannot leave the hole by its own power or by towing from the outside, start the air filling pump (1) to fill the air-fillable airbag (4) with air, support and lift the airbag mounting platform (5) and the CCTV piping robot, push open the lower clamp plate (8), and open the upper clamp plate (7) by meshing with the gear (9), so that the CCTV piping robot can be released from the airbag mounting platform (5), and further observe the posture of the CCTV piping robot in the pipe through the camera of the CCTV piping robot, and if the CCTV piping robot is supported to the height of the bottom of the pipe, pull the towing rope or operate the robot to complete the escape and recovery of the CCTV piping robot. and when recovery of the CCTV piping robot is completed, a step S3 of turning off the air filling pump (1), releasing the air from the air-fillable airbag (4), pulling the air filling pipe to recover the CCTV piping robot escape and recovery device, and folding the air-fillable airbag (4) and returning it to its original position for reuse.

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