CN117051956A - Underground pipeline dredging robot and dredging method - Google Patents

Abstract

The application discloses an underground pipeline dredging robot and a dredging method, wherein the robot comprises a running gear and a dredging device positioned at the front end of the running gear; the walking device carries the dredging device to enter a drain pipe, and the dredging device cleans hard sludge in the drain pipe; the dredging device comprises a suction hopper, a spiral roller and a slurry pump; the suction hopper is connected with the slurry pump; the spiral roller is eccentrically assembled with the suction hopper; the walking device is flexibly connected with the upper part of the suction hopper and hinged with the lower part of the suction hopper. The underground pipeline dredging robot disclosed by the application can improve the working efficiency of cleaning hard sludge.

Description

Underground pipeline dredging robot and dredging method

Technical Field

The application relates to the technical field of pipeline plugging, in particular to an underground pipeline dredging robot and a dredging method.

Background

At present, the operation of dredging, detection, repair, water closing test and the like of the drainage pipeline all need an air bag to block the pipeline opening. The plugging air bag is a hollow product processed by rubber or pvc sandwich mesh cloth material through a bonding process, and is plugged by filling compressed air and tensioning on the wall of a drainage pipeline, so that the plugging air bag is the most commonly used pipeline plugging tool. The common air bags are of a single cabin structure, a large amount of sediment, household garbage, construction garbage and other objects exist in the complex drainage pipeline environment, and the air bags are easily leaked or even burst due to external force factors such as materials and processing, so that the blocking failure is caused, and the safety of constructors and equipment is seriously influenced. The irregular shape and the size of the air bag after the air bag is exhausted are inconvenient for the frogman to carry, and the air bag is not suitable for carrying and constructing a robot.

At present, the dredging robot mainly takes a flat and open scene, has larger weight and volume, is more biased to the direction of engineering machinery, and is not suitable for a narrow and relatively closed underground pipeline environment. In the prior art, the patent publication No. CN1103309211A discloses a sewage pipeline plugging system suitable for high-water-level operation and a using method, firstly, a dredging device is used for cleaning an inlet of a sewage pipeline, sediment and the like on the surface of the pipeline are scraped off under the action of a surface hairbrush of a rotary cleaning head so as to ensure that an air bag can be tightly attached to the inner wall of the pipeline when expanding, and then the air bag is remotely mounted to the inlet part of the sewage pipeline by an air bag mounting device. In the prior art, the dredging device only cleans sediment on the inner wall surface of the pipeline, and the inflated air bag is prevented from being pricked by the sediment on the inner wall of the pipeline. However, in daily life, sundries such as masonry, garbage, soil and the like on urban roads often fall into urban pipelines through inspection shafts, and as the sundries are accumulated in the pipelines more and more, the sundries form hard sludge in the pipelines, and the prior art cannot clean the hard sludge deposited in the pipelines. In the prior art, the dredging area is limited by the length of the rotating shaft, and only the area near the vertical wellhead can be cleaned, so that a plugging area is cleaned.

Disclosure of Invention

The technical problems to be solved by the application are as follows: the problem of the hard silt clearance of deposit in the pipeline, and not restriction clearance area is solved.

In order to solve the technical problems, the application provides the following technical scheme:

an underground pipeline dredging robot comprising: the dredging device comprises a walking device (100) and a dredging device (200) positioned at the front end of the walking device (100); the walking device (100) carries the dredging device (200) into a drain pipe, and the dredging device (200) cleans hard sediment in the drain pipe; the dredging device (200) comprises a suction hopper (210), a spiral roller (220) and a slurry pump (240); the suction hopper (210) is connected with the slurry pump (240); the spiral roller (220) is eccentrically assembled with the suction hopper (210); the walking device (100) is flexibly connected with the upper part of the suction hopper (210) and hinged with the lower part of the suction hopper (210).

The advantages are that: the dredging device is used for chopping hard sludge precipitated at the bottom of the drainage pipeline, mixing the hard sludge with water, stirring the mixture into slurry, and pumping the slurry out of the plugging area. The solid small-particle garbage is filtered by the dredging device and is stirred with the silt to form slurry, the slurry is sucked away by a slurry pump and discharged, and the solid large-particle garbage is pushed out of the plugging area by the dredging device. The dredging device is integrated on the vehicle body, so that the dredging device does not limit a cleaning area.

In an embodiment of the application, the walking device (100) comprises a walking trunk (110), an accommodating space (111) is formed at the bottom of the walking trunk (110), and a slurry pump (240) of the dredging device (200) is located in the accommodating space (111) and fixedly connected with the walking trunk (110).

In an embodiment of the application, the walking device (100) further comprises an air bag connection device (120) located above the walking trunk (110); the airbag connecting device (120) comprises a connecting shell (121), concave parts (122) are arranged on two sides of the middle part of the connecting shell (121), a convex part (123) is formed between the two concave parts (122), and a front shell (124) and a rear shell (125) which are connected with the convex parts (123).

In an embodiment of the present application, the front housing (124) is provided with a sewage inlet (1241), the rear housing (125) is provided with a sewage outlet (1251), the sewage inlet (1241) is communicated with the inside of the convex part (123) and the sewage outlet (1251) to form a sewage drainage channel, the mud outlet (241) of the mud pump (240) is connected with a sewage drain pipe (242), and the sewage drain pipe (242) passes through the mud drainage channel to drain the mud out of the sewage drain pipe.

In one embodiment of the application, the suction hopper (210) comprises a top plate (211), a bottom plate (212), side plates (312), a front baffle (214), a rear baffle (215) and a supporting wheel (216); both ends of a pair of the side plates (213) are respectively connected to the top plate (211) and the bottom plate (212); the front baffle (214) is connected with the top plate (211) and the pair of side plates (213) and is on the same side as the spiral roller (220); one end of each of the rear baffles (215) is respectively connected with the top plate (211), the bottom plate (212) and the side plates (213), and the other end of each of the rear baffles is folded towards the direction of the traveling device (100) to form a material sucking opening (230), and the material sucking opening (230) is connected with the slurry pump (240) in a pipe way; a pair of support wheels (216) are respectively connected with the pair of side plates (213), and support the suction hopper (210) to move in the pipeline along with the running gear (100).

In an embodiment of the present application, an angle (a) between a connecting edge of the side plate (213) and the top plate (211) and a connecting edge of the side plate (213) and the front baffle (214) is an obtuse angle, so that the front baffle (214) has a certain gradient, the bottom plate (212) is vertically connected with the side plate (213), so that the suction hopper (210) is arranged in an eccentric funnel shape, and sides of the front baffle (214) and the bottom plate (212) close to the spiral roller (220) are all arranged in an arc shape.

In one embodiment of the application, the spiral roller (220) is detachably connected with the suction hopper (210) through a roller mounting plate (250); the spiral roller (220) comprises a roller (221) and a pair of spiral blades (222) fixedly arranged on the roller (221), the pair of spiral blades (222) are wound on the roller (221) in a conical shape, and the spiral directions of the pair of spiral blades (222) are opposite, so that the diameter of the spiral roller (220) in the longitudinal direction is the largest in the middle position.

In one embodiment of the application, the maximum radius of the spiral roller (220) is smaller than the radius of the drain pipe, and the supporting wheel (216) supports the dredging device (200) so that a certain gap (B) is kept between the spiral roller (220) and the pipe wall of the drain pipe; and an upper radius difference (R) formed by the height of the pair of spiral blades (222) and the circular arc side edge of the front baffle (214) is greater than a lower radius difference formed by the height of the pair of spiral blades (222) and the circular arc side edge of the bottom plate (212); the pitch (D) of each of the helical blades (222) and the upper radius difference (R) are set according to the solid particulate matter throughput capacity of the mud pump (240).

A dredging method based on the underground pipeline dredging robot comprises the following steps: the robot enters the drain pipe (600) and starts the dredging device (200); rotating the spiral blade (222) to cut up hard sludge at the bottom of the drain pipe (600) and stir the crushed sludge with water to form pasty slurry; the spiral directions of the pair of spiral blades (222) are opposite, mud is gathered from the middle positions opposite to the suction openings (230), and is sucked and discharged by the mud pump (240).

In an embodiment of the application, when the dredging device (200) dredges a pipeline and encounters large solid particles, the rotation direction of the spiral roller (220) is opposite to the rotation direction of the travelling wheel (130) of the travelling device (100), and the spiral roller (220) lifts and rolls the large solid particles upwards; when the dredging device (200) cannot push the large solid particles, the rotating direction of the spiral roller (220) is the same as the rotating direction of the travelling wheel (130), and the large solid particles climb over to surmount the obstacle.

Compared with the prior art, the application has the beneficial effects that:

the suction hopper is hinged with the lower part of the walking device, the upper part of the suction hopper is flexibly connected, and meanwhile, the suction port is connected with the inlet of the slurry pump through a hose, so that the suction hopper can swing upwards around the intersection point. The silt is cut and stirred on the sediment by the gravity pressure of the dredging device, so that the phenomenon that the rotation driving resistance is too large caused by the gravity pressure of the robot body on the spiral roller is avoided, the spiral roller is too high in hardness garbage, the back walking wheel support and the middle and front walking wheels of the dredging device and the walking device are suspended, and the walking driving force of the robot is greatly reduced.

The spiral blades are wound on the roller in a conical shape, and the spiral directions of the pair of spiral blades are opposite, so that the diameter of the middle position of the spiral roller is the largest in the longitudinal direction, and the position of the largest diameter of the spiral roller is opposite to the material sucking opening. In the rotating process of the spiral blades, hard sludge at the bottom of the drainage pipeline is cut up and stirred with water to form pasty slurry, the slurry is gathered at the middle position opposite to the material suction openings from the two sides by rotating the spiral blades in different spiral directions, and the pasty slurry is pumped and discharged by the slurry pump.

The difference between the height of the pair of helical blades and the upper radius formed by the circular arc side edge of the front baffle is larger than the difference between the height of the pair of helical blades and the lower radius formed by the circular arc side edge of the bottom plate. The suction hopper is arranged in an eccentric funnel shape, the spiral roller is different from the radius formed under the front baffle and the bottom plate, the upper part is large, the lower part is small, the feeding is loose, the discharging damping is adapted, the characteristics of large feeding space at the upper part and small discharging space at the lower part are realized, the ineffective dredging is reduced, and the dredging efficiency is improved. And the material sucking port is a front large and rear small shrinkage port to generate a certain guiding extrusion force for the sludge.

The pitch of each helical blade and the upper radius difference are set according to the solid particle passing capability of the slurry pump, and the upper radius difference is designed according to the solid particle passing capability smaller than the slurry pump, so that the larger solid particles are blocked. When larger solid particles are clamped between the spiral blade and the suction hopper, the solid particles are extruded by the reverse rotation of the spiral roller.

The design of three cabins with unequal distances solves the problem of safety blocking, reduces the length of the air bag, and is convenient to carry in and out of a hoistway. And the three cabins are distributed in unequal intervals, the two large cabins at the two ends and the small cabin in the middle can meet the plugging capability requirement. When the air bag is not leaked, the three cabins are simultaneously tensioned on the inner wall of the drainage pipeline, so that the safety coefficient is increased. When a single cabin leaks or a foreign object punctures a certain partition in the middle to cause the leakage of the middle small cabin and the adjacent large cabin, the remaining large cabin is normally blocked. The middle small cabin is designed to be relatively three large cabins, so that the length of the air bag is shortened, and the safety blocking is not influenced when two adjacent cabins leak.

The deformation requirements to the two sides are cut off when the air bag is exhausted and sucked to be flat by properly lengthening the length of the cabin penetrating air pipe of the middle cabin.

In order to ensure that the rear folding part can not be propped against the pipe wall and can not be unfolded and straightened and the air pipe of the transition chamber can not be stretched to influence the inflation when the airbag is inflated in the folding state, the inflation sequence is the sequence of connecting the independent airbag cabin and the transition chamber in sequence. In order to ensure that the air bag can be flattened during the air exhaust and the air suction, the sequence during the air exhaust is as follows: the independent air bag cabins are firstly arranged in a row, and then the transition chamber is arranged in a row.

Prevent that the gasbag from breathing in, the gasbag from inhaling when flat middle partition irregular pile together and forming the swell, influence the gasbag folding, then axial middle crease, axial outer fringe crease and shutoff radial crease play the guide effect, shutoff radial crease warp according to crease settlement direction when breathing in and exhausting.

The straight-through air tap is used for being connected with the multi-core air pipe assembly rapidly, and is used for inflating and deflating the air bag, the inner connecting disc and the outer connecting disc clamp the air bag plugging layer to be buckled, and the matched circumferential concave-convex ring grooves are designed at the clamping matching surface, so that the air bag plugging layer is clamped and the sealing performance is enhanced.

Drawings

Fig. 1 is a schematic diagram of an underground pipeline dredging robot according to an embodiment of the application.

Fig. 2 is a schematic view of an airbag connecting device according to an embodiment of the application.

FIG. 3 is a schematic diagram of a dredging apparatus according to an embodiment of the application.

Fig. 4 is a schematic view of a suction hopper according to an embodiment of the present application.

Fig. 5 is a cross-sectional view of a drum in accordance with an embodiment of the present application.

FIG. 6 is a schematic diagram of a spiral roller and a pipe according to an embodiment of the present application.

Fig. 7 is a schematic diagram of a robotic dredging device according to an embodiment of the application.

Fig. 8 is a schematic view of robot obstacle clearing in an embodiment of the application.

Fig. 9 is a schematic diagram of a robot obstacle crossing according to an embodiment of the application.

Fig. 10 is a schematic diagram of embodiment 2 of the present application.

FIG. 11 is a schematic view of a multi-chamber airbag according to an embodiment of the application.

Fig. 12 is an enlarged view of a portion of a sealing adapter according to an embodiment of the present application.

Fig. 13 and 14 are schematic diagrams of folds according to embodiments of the present application.

Fig. 15 to 17 are schematic views showing a multi-chamber airbag down-hole folding process according to an embodiment of the present application.

Fig. 18 and 19 are folded schematic views of the multi-chamber balloon after downhole venting in accordance with an embodiment of the present application.

Fig. 20 to 23 are schematic views of an airbag charging and discharging device according to an embodiment of the application.

Fig. 24 to 26 are schematic views showing various working states of the multi-chamber airbag according to the embodiment of the present application.

Detailed Description

In order to facilitate the understanding of the technical scheme of the present application by those skilled in the art, the technical scheme of the present application will be further described with reference to the accompanying drawings.

The terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

Example 1

Referring to fig. 1 and 2, the present application provides an underground pipeline dredging robot, comprising: running gear 100 and dredging device 200 that is located running gear 100 front end. The running gear 100 carries the dredging device 200 into the drain pipe, and the dredging device 200 cleans hard sludge in the drain pipe. The dredging device 200 comprises a suction hopper 210, a spiral roller 220 and a slurry pump 240, wherein the suction hopper 210 is connected with the slurry pump 240. The spiral roller 220 is eccentrically assembled with the suction hopper 210. The traveling device 100 is flexibly connected to the upper part of the suction hopper 210 and hinged to the lower part of the suction hopper 210.

Referring to fig. 1 and 2, in an embodiment of the present application, a walking device 100 includes a walking body 110 and an airbag connection device 120 located above the walking body 110. The bottom of the walking trunk 110 is provided with an accommodating space 111, and a slurry pump 240 of the dredging device 200 is positioned in the accommodating space 111 and fixedly connected with the walking trunk 110. The afterbody of walking truck 110 sets up rings 111 in the back, and both sides are provided with magnetic force rings 112, when the robot is about to go into the well, is fixed in on rings 111 in the back and magnetic force rings 112 through the lifting rope, and when the robot was placed in the inspection shaft bottom through gallows and lifting rope, magnetic force rings 112 loses the electricity, breaks away from with walking truck 110, and the robot gets into in the drain pipe, starts desilting device 200, clears up out the shutoff region.

Referring to fig. 1 and 2, in an embodiment of the present application, the airbag connecting device 120 includes a connecting housing 121, recesses 122 provided at both sides of a middle portion of the connecting housing 121, such that a protrusion 123 is formed between the two recesses 122, and a front housing 124 and a rear housing 125 connected to the protrusion 123. And the front housing 124 is provided with a sewage inlet 1241, the rear housing 125 is provided with a sewage outlet 1251, the sewage inlet 1241 is communicated with the inside of the convex part 123 and the sewage outlet 1251 to form a sewage channel, the sludge outlet 241 of the sludge pump 240 is connected with the sewage pipe 242, and the sewage pipe 242 penetrates through the sludge channel to discharge sludge out of the water drain pipe. The sewage outlet 1251 is located on the rear housing 125 and is connected with the sludge outlet 241 in a pipe way, and when the sludge pump 240 works, a larger reaction force is generated in the process of discharging sludge, and the reaction force is converted into a driving force for the robot forwards, so that the power of a driving motor of the robot is reduced.

Referring to fig. 1 and 2, in an embodiment of the present application, the air bag connection device 120 further includes a plurality of pin removal assemblies 126 and roller assemblies 127, and a plurality of recesses 122 in which the pin removal assemblies 126 and roller assemblies 127 are located. A plurality of pin stripper assemblies 126 are provided with telescoping rods 1261 on opposite ends of the front and rear housings 124, 125.

Referring to fig. 1 and 2, in an embodiment of the present application, a running gear 100 is capable of steering, advancing, and retracting downhole. At both ends of the front case 124 and the rear case 125, a body illumination lamp 1245 and a down-hole camera 1246 are provided. And a pair of body lights 1245 are provided on both sides of each of the downhole cameras 1246. A pair of body lights 1245 are offset illuminated at 45 to prevent light from being reflected in the same direction to affect the down-hole camera 1246. The downhole camera 1246 is a wide angle camera for taking pictures of conditions in the pipeline. Radar (not shown) and power signal connector 113 are also provided on the traveling trunk 110, and the dredging device 200, the radar, the pin removal assembly 126, the roller assembly 127, the body illumination lamp 1245, the downhole camera 1246 and the driving device on the traveling device 100 are connected with the controller on the well through the power signal connector 113.

Referring to fig. 1 to 6, in an embodiment of the present application, the suction hopper 210 includes a top plate 211, a bottom plate 212, side plates 213, a front baffle 214, a rear baffle 215, and a support wheel 216. Both ends of the pair of side plates 213 are connected to the top plate 211 and the bottom plate 212, respectively, and the front baffle 214 is connected to the top plate 211 and the pair of side plates 213, and is on the same side as the spiral drum 220. One end of each of the plurality of rear baffles 215 is connected to the top plate 211, the bottom plate 212 and the side plates 213, and the other end is folded toward the traveling device 100 to form a suction port 230, and the suction port 230 is connected to the slurry pump 240. The pair of support wheels 216 are connected to the pair of side plates 213, respectively, and support the suction hopper 210 so as to move in the pipe along with the running gear 100. Wherein, a hopper connector 2111 is provided on the top plate 211, and is flexibly connected with the connection housing 121 through the hopper connector 2111. The side plate 213 is provided with a lug 2131, and is connected with the walking body 110 through a dredging connecting plate 260, in particular, the dredging connecting plate 260 is detachably connected with the walking body 110 and is hinged with the lug 2131. The support wheel 216 positions the dredging device 200 and the bottom of the pipeline relative to each other, preventing the spiral blade 222 from rubbing against the bottom of the pipeline.

Referring to fig. 1 to 6, in an embodiment of the application, an angle a between a connecting edge of the side plate 213 and the top plate 211 and a connecting edge of the side plate 213 and the front baffle 214 is an obtuse angle, so that the front baffle 214 has a certain gradient, the bottom plate 212 is vertically connected to the side plate 213, the suction hopper 210 is arranged in an "eccentric funnel shape", and the sides of the front baffle 214 and the bottom plate 212 near the spiral roller 220 are all arranged in an arc shape.

Referring to fig. 1 to 6, in an embodiment of the present application, the spiral roller 220 is detachably connected to the suction hopper 210 through a roller mounting plate 250. A plurality of groups of adjustment holes 251 are provided on the drum mounting plate 250 to adjust the gap between the spiral drum 220 and the pipe wall. The spiral roller 220 includes a roller 221 and a pair of spiral blades 222 wound and fixed on the roller 221, wherein the pair of spiral blades 222 are wound on the roller 221 in a conical shape, and the spiral directions of the pair of spiral blades 222 are opposite, so that the diameter of the spiral roller 220 in the longitudinal direction is the largest, and the position of the largest diameter of the spiral roller 220 is opposite to the material suction opening 230.

Referring to fig. 1 to 6, in an embodiment of the present application, a drum motor 2211 and a conductive slip ring 2212 are disposed in a drum 221, and two sides of the drum 221 are sealed by a rotary oil seal and an O-ring of an end cover, so that the structure is compact and the sealing is reliable. The power cable 2213 is connected with the conductive slip ring 2212 to transmit signals and power to the drum motor 2211, and the drum motor 2211 rotates to drive the spiral drum 220 to rotate.

Referring to fig. 1 to 6, in an embodiment of the application, the maximum radius of the spiral roller 220 is smaller than the radius of the drain pipe, and the supporting wheel 216 supports the dredging device 200, so that a certain gap B is kept between the spiral roller 220 and the wall of the drain pipe, and the spiral roller 220 is prevented from rotating to scratch the wall of the pipe. The upper radius difference R between the height of the pair of helical blades 222 and the circular arc side of the front baffle 214 is greater than the lower radius difference (not shown) between the height of the pair of helical blades 222 and the circular arc side of the bottom plate 212. The suction hopper 210 is arranged in an eccentric funnel shape, the spiral roller 220 is different from the radius formed under the front baffle 214 and the bottom plate 212, the upper part is large, the lower part is small, the adaptation feeding is loose, the discharging damping is realized, the characteristics of large upper feeding space and small lower discharging space are realized, the ineffective dredging is reduced, and the dredging efficiency is improved. And the material sucking port 230 is a front large and rear small shrinkage port to generate a certain guiding extrusion force for the sludge.

Referring to fig. 1-6, in one embodiment of the present application, the pitch D and the upper radius difference R of each helical blade 222 are set according to the solid particulate matter throughput of the mud pump 240. The upper radius difference R is designed to be smaller than the solids throughput capacity of the mud pump 240 to act as a barrier to larger solids. When larger solid particles are caught between the screw blade 223 and the suction hopper 210, the extrusion is reversely rotated by the screw drum 220.

Referring to fig. 1 to 9, the present application further provides a dredging method for an underground pipeline dredging robot, wherein the robot enters a drain pipe 600 to start a dredging device 200. The screw blade 222 rotates to cut up the hard sludge at the bottom of the drain pipe 600 and agitate the same with water to form a pasty slurry. The pair of screw blades 222 are rotated in opposite directions to collect the slurry from the middle position facing the suction ports 230 from both sides, and suction and discharge the slurry by the slurry pump 240, as shown in fig. 7. When the dredging device 200 dredges the pipeline and encounters large solid particles, the rotation direction of the spiral roller 220 is opposite to the rotation direction of the travelling wheel 130 of the travelling device 100, and the spiral roller 220 lifts and rolls the large solid particles upwards, as shown in fig. 8. When the dredging device 200 cannot push the large solid particles, the rotation direction of the spiral roller 220 is the same as the rotation direction of the travelling wheel 130, and the large solid particles climb over to get over the obstacle, as shown in fig. 9. In this embodiment, the maximum solid particulate matter throughput of the mud pump 240 is 20mm, and the pitch D and the upper radius difference R of the helical blades 222 is less than 20mm. Not only ensures that the mud and the solid particles smaller than 20mm can be sucked away and removed by the mud pump 240, but also can push away the larger solid particles while blocking the forward movement.

Example 2

In pipeline plugging, the dredging device and the air bag installation device are two independent sets of equipment. When the dredging device works, after the dredging device firstly completes dredging work, the dredging device needs to exit from the pit, and then the air bag installation device is put into the pit to carry out air bag plugging, the dredging device and the air bag installation device are two independent devices, cannot be integrated, and have low working efficiency. Referring to fig. 1 to 10, the application further provides a robot for dredging an underground pipeline and plugging an air bag, and further comprises a multi-chamber air bag 3400. The multi-chamber airbag 3400 is located at the multi-chamber airbag 3400 at the back of the running gear 100. The running gear 100 carries the dredging device 200 and the multi-chamber air bag 3400 to enter the drain pipe, the dredging device 200 cleans a plugging area in the drain pipe, after cleaning is completed, the multi-chamber air bag 3400 is separated from the running gear 100, the running gear 100 carries the dredging device 200 to exit the drain pipe, and meanwhile the multi-chamber air bag 3400 is inflated, so that the multi-chamber air bag 3400 is tightly inflated in the wall of the drain pipe to plug the pipeline.

Referring to fig. 1 to 10, in an embodiment of the present application, when the running gear 100 carries the multi-chamber air bag 3400, the hanging ring 301 on the multi-chamber air bag 3400 is sleeved on the telescopic rod 1261 as shown in fig. 17, so as to ensure that the multi-chamber air bag 3400 and the running gear 100 are integrated when the running gear goes down the well. The roller assembly 127 is positioned between the pin removal assembly 126 and the boss 123, and when the multi-chamber air bag 3400 is disengaged from the running gear 100, the roller assembly 127 is in rolling friction with the multi-chamber air bag 3400.

Referring to fig. 1-10, in one embodiment of the present application, telescoping rod 1261 is opened and multi-chamber air bag 3400 is decoupled from running gear 100. Under the working conditions of high water level, full water or larger pipeline diameter, the multi-chamber air bag 3400 is separated from the running gear 100 to float upwards, at the moment, the separating power of the roller assembly 127 is an unpowered roller, and the roller assembly can freely rotate, so that the sliding friction of the multi-chamber air bag 3400, which is not completely separated from the running gear 100, is changed into rolling friction, and the running gear 100 is prevented from dragging the multi-chamber air bag 3400 out. The running gear 100 is withdrawn from the lower portion of the multi-chamber airbag 3400 to the manhole and lifted to the entrance by the hoist rope. The multi-chamber air bag 3400 is inflated and expanded by the air bag inflation and release device 500 shown in fig. 24, and the plastic adhesive tape is broken to be bound and tensioned on the pipe wall, so that the sealing is completed. In the case of a low water level or small pipe diameter, the disengagement power of the roller assembly 127 is a powered roller. When the running gear 100 releases the multi-chamber air bag 3400 to be withdrawn through the pin removing assembly 126, the roller assembly 127 reversely rotates, namely, rotates in the direction opposite to the withdrawal direction of the running gear 100, and generates forward moving force for poking the multi-chamber air bag 3400, so that the multi-chamber air bag 3400 is prevented from being separated from the running gear 100 thoroughly and not being withdrawn. The multi-chamber airbag 3400 and the traveling apparatus 100 are separated by the rotational conveyance of the roller assembly 127, and the traveling apparatus 100 is withdrawn to the manhole. The multi-chamber air bag 3400 inflates and expands the air bag through the air bag inflation and release device 500, and breaks through the constraint and the tension of the plastic adhesive tape to complete the sealing on the pipe wall.

Referring to fig. 1, 10 and 14, in one embodiment of the present application, a multi-chamber airbag 3400 includes two independent airbag chambers 300 connected in sequence, and a transition chamber 400 is provided between the two independent airbag chambers 300. Wherein each independent airbag module 300 includes a cylinder 310, a front block 320 and a rear block 330, and the front block 320 and the rear block 330 are respectively connected to both ends of the cylinder 310. The multi-chamber airbag 3400 further comprises a sealing joint disc 340 and an air tap 360, wherein the sealing joint disc 340 is detachably connected with the front plug 320, and a through air tap 350 is arranged on the sealing joint disc 340, and the through air tap 350 is connected with the air tap 360 through a connecting pipe 370. The independent airbag chamber 300 and the transition chamber 400 are connected to the airbag cushion 500 by a straight-through tap 350 and a tap 360.

Referring to fig. 1, 10 and 14, in one embodiment of the present application, the number of air nozzles 360 is plural, and the air nozzles 360 are respectively fixed on the rear plug 330 of the independent air bag chamber 300 directly connected to the air bag charging and discharging device 500, and also on the front plug 320 of the independent air bag chamber 300 indirectly connected to the air bag charging and discharging device 500. The through air tap 350 is connected with the air tap 360 and the air charging and discharging device 500 respectively according to the number of the independent air bag cabins 300 and the transition chambers 400 through the through air tap 350, so as to charge and discharge the independent air bag cabins 300 and the transition chambers 400. Wherein, the straight-through air tap 350 and the air tap 360 are connected by a connecting pipe 370 to charge and discharge the independent air bag cabin 300 and the transition chamber 400.

Referring to fig. 1, 10 and 14, in an embodiment of the present application, the requirement of the deformation of the inflatable bag and the change of the length of the air tube is met, and the connecting tube 370 is, for example, a spiral telescopic air tube. The independent air bag cabins 300 and the transition chambers 400 are distributed in three cabins which are not equidistant, the independent air bag cabins 300 at two ends are large cabins, and the transition chambers 400 are small cabins. The multi-chamber airbag 3400 solves the problem of safety blocking and reduces the length of the airbag through the design of non-equidistant three cabins, and is convenient to carry in and out of a hoistway, and in the embodiment, the length of the multi-chamber airbag 3400 is less than 2 meters. And guaranteed. The outer diameter of the cylinder 310 of the multi-chamber air bag 3400 is slightly larger than the inner diameter of the pipeline on the premise that no wrinkles appear on the pipe wall, so that the anti-explosion and anti-puncture capacity of the air bag is improved.

Referring to fig. 1, 10 and 14, in an embodiment of the application, the sealing adapter 340 includes an inner adapter 341 and an outer adapter 342, the inner adapter 341 and the outer adapter 342 are detachably connected and clamped to the front plug 320, the clamping and fastening surfaces of the inner adapter 341 and the outer adapter 342 are provided with identical circumferential concave-convex ring grooves 3412, and the through air nozzle 350 is fixedly connected with the inner adapter 341.

Referring to fig. 1, 10 and 14, in one embodiment of the present application, an axial middle fold 311 and a radial fold 312 and an axial outer edge fold 313 are provided on a multi-chamber airbag 3400. Wherein the axial middle fold 311 is located between the central axis of the multi-chamber balloon 3400 and the outer edge of the multi-chamber balloon 3400. The axial outer edge fold 313 is located at the outer edge of the multi-chamber balloon 3400. Radial folds 312 are located on the aft independent airbag compartment 300, i.e., on the independent airbag compartment 300 indirectly connected to the airbag cushion 500. The fold directions of the axial middle fold 311 and the axial outer edge fold 313 are folded toward the central axis of the multi-chamber airbag 3400.

Referring to fig. 1, 10 and 14, in an embodiment of the present application, a seal radial crease 3230 is provided on each of the front seal 320 and the rear seal 330, the seal radial crease 3230 is located at an intermediate position of the front seal 320 and the rear seal 330, and a length of the seal radial crease 3230 is smaller than a diameter of the cylinder 310. The folding direction of the blocking radial crease 3230 is the direction in which the front blocking 320 and the rear blocking 330 of each individual airbag module 300 are recessed inward of the barrel 310.

Referring to fig. 1, 10 and 17, in an embodiment of the present application, before the robot goes down the well, the multi-chamber airbag 3400 is folded, firstly the multi-chamber airbag 3400 is tiled, then the two sides of the multi-chamber airbag 3400 are folded in half according to the axial middle folds 311, then the multi-chamber airbag 3400 is folded in half according to the radial folds 312, and is bound by the plastic wrapping tape 302. The bundled multi-chamber airbag 3400 is fixed on the walking device 100 through the hanging ring 301, and the multi-chamber airbag 3400 is pulled into and out of the manhole through the front hanging belt 303 on the multi-chamber airbag 3400 and fixed at the wellhead to prevent the multi-chamber airbag 3400 from being washed away by water. When the multi-chamber airbag 3400 is separated from the running gear 100, the airbag inflation and release device 500 inflates the multi-chamber airbag 3400, and in order to ensure that the rear folded part does not abut against the pipe wall and cannot be unfolded and straightened and the air pipe of the transition chamber 400 cannot be unfolded to influence the inflation when the airbag is inflated in the folded state, the inflation sequence is the sequence in which the independent airbag cabin 300 and the transition chamber 400 are connected in sequence. The multi-chamber air bag 3400 is inflated through the air bag inflation and deflation device 500, and the plastic winding adhesive tape 302 is broken through to be bound and tensioned on the pipe wall so as to complete the sealing.

Referring to fig. 1, 10 and 19, in one embodiment of the present application, when the multi-chamber balloon 3400 needs to be deflated, to ensure that the balloon can be flattened during the deflation and deflation, the sequence of the deflation is: the individual airbag compartments 300 are first arranged, followed by the transition chamber 400.

Referring to fig. 1, 10 and 19, in an embodiment of the present application, the middle partition is prevented from irregularly piling up to form a bulge when the air bag is inflated and deflated, and the air bag folding is affected, so that the axial middle crease 311, the axial outer crease 313 and the blocking radial crease 3230 play a guiding role, and the blocking radial crease 3230 deforms according to the crease setting direction when the air bag is inflated and deflated. Wherein, the crease can be realized by plastic permanent deformation generated by cold pressing or high-temperature pressurization by external force.

When the multi-chamber airbag 3400 is deflated, the deformation is performed in the direction set by the folds, and the method includes: the individual airbag compartments 300 are deflated, folded in the direction of the central axis of the multi-compartment airbag 3400 according to the axial middle fold 311, and simultaneously the front and rear stoppers 320 and 330 of each individual airbag compartment 300 are inwardly recessed toward the cylinder body 310 according to the folding direction of the stopper radial fold 3230, and the connection tube 370 located in the transition compartment 400 is stretched, and the connection tube 370 located in the individual airbag compartment 300 directly connected to the airbag deployment device 500 is contracted and deformed.

Referring to fig. 20 to 25, in an embodiment of the present application, an airbag charging and discharging device 500 is located on a well, and includes a charging and discharging device 510, a monitoring device 520 and a multi-chamber air tube assembly 530, wherein the charging and discharging device 510 is connected with the multi-chamber air tube 3400 through the multi-chamber air tube assembly 530 or the monitoring device 520 is connected with the multi-chamber air tube 3400 through the multi-chamber air tube assembly 530 according to the working state of the multi-chamber air tube 3400.

Referring to fig. 20 to 25, in an embodiment of the present application, the charging and discharging device 510 includes a gas source device 511, a gas storage tank 512, a barometer 513, a vacuum generator 514, a switch valve body 515, and a multi-pipe gas distribution device 516. The air storage tank 512 is respectively connected with the air source device 511 and the vacuum generator 514, the vacuum generator 514 is connected with the inlet of the multi-pipeline air dividing device 516, and the multi-core air pipe assembly 530 is connected with the outlet of the multi-pipeline air dividing device 516. The air pressure gauge 513 is connected to the air tank 512, the air source device 511 compresses air (positive pressure), the air tank 512 stores the compressed air, and the air pressure gauge 513 is used for displaying the pressure of the compressed air in real time. The switching valve body 515 is connected to the vacuum generator 514, and the vacuum generator 514 generates vacuum suction force (negative pressure) when high-pressure air circulates, and the switching valve body 515 is used to open or close an exhaust port of the vacuum generator 514. The multi-line gas distribution device 516 is used to open or close the gas path with the multi-chamber airbag 3400. Wherein, a first thimble through joint 5120 is arranged on the outlet of the multi-pipeline gas distribution device 516, the multi-pipeline gas distribution device 516 is a combined two-position two-way electromagnetic valve or a multi-pipeline gas distribution row, and the multi-pipeline gas distribution row is straight-through and is divided into multiple paths. Specifically, the multi-line gas distribution apparatus 516 has several lines depending on the number of independent airbag chambers 300 and transition chambers 400. The air source device 511 is, for example, an air compressor.

Referring to fig. 20 to 25, in an embodiment of the present application, the monitoring device 520 includes a pressure display component 521, a pressure measuring component 522, a siren 523, a warning light 524, and a second thimble through connector 5121. Both the siren 523 and the warning lamp 524 are connected to the pressure display assembly 521, and the pressure measurement assembly 522 is connected to the pressure display assembly 521 and the second thimble straight-through connector 5121, respectively. The pressure display assembly 521 monitors the pressure maintaining condition of the multi-chamber airbag 3400 through the connection of the second thimble through joint 5121 and the multi-chamber air pipe assembly 530, wherein each chamber is tested by the corresponding pressure measuring assembly 522, the pressure value of each chamber is displayed on the pressure display assembly 521, and when the pressure is lower than a set safety value, the siren 523 and the warning lamp 524 act simultaneously to give out an audible and visual alarm. Specifically, pressure sensing assembly 522 is a pressure sensor.

Referring to fig. 20-25, in one embodiment of the present application, a multicore air pipe assembly 530 includes multicore unidirectional connector 531, multicore air pipe 532, and third multicore straight through connector 533. The two ends of the multicore air pipe 532 are respectively connected with the multicore one-way joint 531 and the third multicore straight-through joint 533 in a pipe way, the other end of the multicore one-way joint 531 is connected with the first thimble straight-through joint 5120 or the second thimble straight-through joint 5121 in a pipe way, and the other end of the third multicore straight-through joint 533 is connected with the straight-through air nozzle 350 in a pipe way. The multicore one-way joint 531 is the check valve subassembly, is in the confined state when not connecting other parts.

Referring to fig. 1 and fig. 20 to 25, in an embodiment of the present application, when the multi-chamber airbag 3400 is required to be in a pipeline plugging state, a robot enters a drain pipe, and after the dredging device 200 cleans out a plugging area, the multi-chamber airbag 3400 is separated from the traveling device 100. Simultaneously, the source device 511 is opened, the switch valve body 515 is closed, the multi-pipeline gas distribution device 516 is opened, the source device 511 inflates the multi-chamber airbag 3400 through the vacuum generator 514, the multi-pipeline gas distribution device 516 and the multi-pipeline gas pipe assembly 530, and the multi-chamber airbag 3400 inflates to set pressure to seal a pipeline.

Referring to fig. 20 to 24, in an embodiment of the present application, when the multi-chamber airbag 3400 is in a pressure maintaining and plugging state, after the multi-chamber airbag 3400 is inflated to a plugging state, the quick plug connector between the charging and discharging device 510 and the multi-core tracheal assembly 530 is disconnected, and the charging and discharging device 510 is removed, and the multi-chamber airbag 3400 is in a pressure maintaining and plugging state. The monitoring device 520 is connected with the multi-core air pipe assembly 530, so that the air pressure of each cabin is independently displayed, and the pressure is lower than a set safety value and the sound and light alarm is carried out. The charging and discharging device 510 can be connected with a mobile terminal through wireless communication, and remote monitoring is realized through the mobile terminal.

Referring to fig. 20 to 24, in an embodiment of the present application, when the multi-chamber airbag 3400 is required to be exhausted, the monitoring device 520 is removed and the charging and discharging device 510 is reconnected. When the switch valve body 515 is opened, the multi-pipeline gas distribution device 516 is opened, the gas source device 511 sucks gas from the multi-chamber gas bag 3400 through the vacuum generator 514 and the multi-pipeline gas distribution device 516 and discharges the gas from the vacuum generator 514, the gas suction volume of the multi-chamber gas bag 3400 is reduced, and the gas is taken out from the plugging pipeline.

It will be evident to those skilled in the art that the application is not limited to the details of the foregoing illustrative embodiments, and that the present application may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.

The above-described embodiments merely represent embodiments of the application, the scope of the application is not limited to the above-described embodiments, and it is obvious to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application.

Claims (10)

1. An underground pipeline dredging robot, comprising: the dredging device comprises a walking device (100) and a dredging device (200) positioned at the front end of the walking device (100); the walking device (100) carries the dredging device (200) into a drain pipe, and the dredging device (200) cleans hard sediment in the drain pipe; the dredging device (200) comprises a suction hopper (210), a spiral roller (220) and a slurry pump (240); the suction hopper (210) is connected with the slurry pump (240); the spiral roller (220) is eccentrically assembled with the suction hopper (210); the walking device (100) is flexibly connected with the upper part of the suction hopper (210) and hinged with the lower part of the suction hopper (210).

2. The underground pipeline dredging robot according to claim 1, wherein the walking device (100) comprises a walking trunk (110), an accommodating space (111) is arranged at the bottom of the walking trunk (110), and a slurry pump (240) of the dredging device (200) is located in the accommodating space (111) and fixedly connected with the walking trunk (110).

3. The underground piping dredging robot according to claim 2, wherein the travelling device (100) further comprises an air bag connection device (120) located above the travelling trunk (110); the airbag connecting device (120) comprises a connecting shell (121), concave parts (122) are arranged on two sides of the middle part of the connecting shell (121), a convex part (123) is formed between the two concave parts (122), and a front shell (124) and a rear shell (125) which are connected with the convex parts (123).

4. A dredging robot for underground pipes according to claim 3, wherein the front housing (124) is provided with a sewage inlet (1241), the rear housing (125) is provided with a sewage outlet (1251), the sewage inlet (1241) is communicated with the inside of the convex part (123) and the sewage outlet (1251) to form a sewage drain, a sewage drain pipe (242) is connected to a sludge outlet (241) of the sludge pump (240), and the sewage drain pipe (242) passes through the sewage drain to drain sludge out of the water drain pipe.

5. The underground piping dredging robot of claim 4, wherein the suction hopper (210) comprises a top plate (211), a bottom plate (212), side plates (312), a front baffle (214), a rear baffle (215), and a support wheel (216); both ends of a pair of the side plates (213) are respectively connected to the top plate (211) and the bottom plate (212); the front baffle (214) is connected with the top plate (211) and the pair of side plates (213) and is on the same side as the spiral roller (220); one end of each of the rear baffles (215) is respectively connected with the top plate (211), the bottom plate (212) and the side plates (213), and the other end of each of the rear baffles is folded towards the direction of the traveling device (100) to form a material sucking opening (230), and the material sucking opening (230) is connected with the slurry pump (240) in a pipe way; a pair of support wheels (216) are respectively connected with the pair of side plates (213), and support the suction hopper (210) to move in the pipeline along with the running gear (100).

6. The underground pipeline dredging robot as recited in claim 5, wherein an angle (a) between a connecting edge of the side plate (213) and the top plate (211) and a connecting edge of the side plate (213) and the front baffle (214) is an obtuse angle, so that the front baffle (214) has a certain gradient, the bottom plate (212) is vertically connected with the side plate (213), so that the suction hopper (210) is arranged in an eccentric funnel shape, and sides of the front baffle (214) and the bottom plate (212) close to the spiral roller (220) are all arranged in an arc shape.

7. The underground piping dredging robot of claim 6, wherein the spiral roller (220) is detachably connected with the suction hopper (210) through a roller mounting plate (250); the spiral roller (220) comprises a roller (221) and a pair of spiral blades (222) fixedly arranged on the roller (221), the pair of spiral blades (222) are wound on the roller (221) in a conical shape, and the spiral directions of the pair of spiral blades (222) are opposite, so that the diameter of the spiral roller (220) in the longitudinal direction is the largest in the middle position.

8. The underground pipe dredging robot as recited in claim 7, wherein the maximum radius of the spiral roller (220) is smaller than the radius of the drain pipe, and the support wheel (216) supports the dredging device (200) such that the spiral roller (220) maintains a certain clearance (B) with the pipe wall of the drain pipe; and an upper radius difference (R) formed by the height of the pair of spiral blades (222) and the circular arc side edge of the front baffle (214) is greater than a lower radius difference formed by the height of the pair of spiral blades (222) and the circular arc side edge of the bottom plate (212); the pitch (D) of each of the helical blades (222) and the upper radius difference (R) are set according to the solid particulate matter throughput capacity of the mud pump (240).

9. A dredging method of an underground piping dredging robot according to any one of claims 1 to 8, comprising: the robot enters the drain pipe (600) and starts the dredging device (200); rotating the spiral blade (222) to cut up hard sludge at the bottom of the drain pipe (600) and stir the crushed sludge with water to form pasty slurry; the spiral directions of the pair of spiral blades (222) are opposite, mud is gathered from the middle positions opposite to the suction openings (230), and is sucked and discharged by the mud pump (240).

10. The dredging method of the underground pipeline dredging robot according to claim 9, wherein when the dredging device (200) dredges along a pipeline and encounters large solid particles, the rotation direction of the spiral roller (220) is opposite to the rotation direction of the travelling wheel (130) of the travelling device (100), and the spiral roller (220) lifts and rolls the large solid particles upwards; when the dredging device (200) cannot push the large solid particles, the rotating direction of the spiral roller (220) is the same as the rotating direction of the travelling wheel (130), and the large solid particles climb over to surmount the obstacle.