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CN-117053020-B - Underground dredging air bag plugging robot

CN117053020BCN 117053020 BCN117053020 BCN 117053020BCN-117053020-B

Abstract

The invention discloses an underground dredging air bag plugging robot which comprises a running gear, a dredging device positioned at the front end of the running gear and a multi-chamber air bag positioned at the back of the running gear, wherein the running gear carries the dredging device and the multi-chamber air bag into a drain pipe, the dredging device cleans a plugging area in the drain pipe, after the dredging is completed, the multi-chamber air bag is separated from the running gear, the running gear carries the dredging device to withdraw from the drain pipe, and meanwhile, the multi-chamber air bag is inflated and expanded to enable the multi-chamber air bag to be tightly expanded in the wall of the drain pipe so as to plug a pipeline. The underground dredging air bag plugging robot disclosed by the invention can improve the working efficiency.

Inventors

  • YU ZHENZHONG
  • ZHAO XIULIN
  • SUN QIANG
  • ZHONG HUI
  • WANG WEI
  • YANG JING
  • Xue Jianghan

Assignees

  • 合肥哈工智灵智能科技有限公司

Dates

Publication Date
20260512
Application Date
20230828

Claims (8)

  1. 1. The underground dredging air bag plugging robot is characterized by comprising a traveling device (100), a dredging device (200) positioned at the front end of the traveling device (100) and a multi-chamber air bag (3400) positioned at the back of the traveling device (100), wherein the traveling device (100) carries the dredging device (200) and the multi-chamber air bag (3400) into a drain pipe, the dredging device (200) cleans a plugging area in the drain pipe, the multi-chamber air bag (3400) is separated from the traveling device (100) after cleaning is finished, the traveling device (100) carries the dredging device (200) out of the drain pipe, and simultaneously inflates the multi-chamber air bag (3400) to enable the multi-chamber air bag (3400) to be tensioned in the wall of the drain pipe so as to plug a pipeline; the multi-chamber airbag (3400) comprises two independent airbag cabins (300) which are connected in sequence, a transition chamber (400) is arranged between the two independent airbag cabins (300), each independent airbag cabin (300) comprises a cylinder body (310), a front plug (320) and a rear plug (330), the front plug (320) and the rear plug (330) are respectively connected with two ends of the cylinder body (310), the multi-chamber airbag (3400) further comprises a sealing connection disc (340) and an air nozzle (360), the sealing connection disc (340) is detachably connected with the front plug (320), the sealing connection disc (340) is provided with a through air nozzle (350), the through air nozzle (350) is connected with the air nozzle (360) through a connecting pipe (370), and the independent airbag cabin (300) and the transition chamber (400) are connected with the airbag charging and discharging device (500) through the through air nozzle (350) and the air nozzle (360); An axial middle crease (311), a radial crease (312) and an axial outer crease (313) are arranged on the multi-chamber air bag (3400), wherein the axial middle crease (311) is positioned between the central axis of the multi-chamber air bag (3400) and the outer edge of the multi-chamber air bag (3400), the axial outer crease (313) is positioned at the outer edge of the multi-chamber air bag (3400), the radial crease (312) is positioned on the independent air bag cabin (300) at the tail part, and the axial middle crease (311) and the axial outer crease (313) are folded towards the central axis of the multi-chamber air bag (3400) according to the crease directions of the axial middle crease (311) and the axial outer crease (313); the front plug (320) and the rear plug (330) are respectively provided with a plug radial crease (3230), the plug radial creases (3230) are respectively positioned at the middle positions of the front plug (320) and the rear plug (330), the length of the plug radial crease (3230) is smaller than the diameter of the cylinder body (310), and the folding direction of the plug radial crease (3230) is the inward concave direction of the front plug (320) and the rear plug (330) of each independent air bag cabin (300) to the cylinder body (310).
  2. 2. The underground dredging air bag plugging robot according to claim 1, wherein 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 traveling device (100), the spiral roller (220) is eccentrically assembled with the suction hopper (210), and the slurry pump (240) is located on the traveling device (100).
  3. 3. The underground dredging airbag plugging robot according to claim 2, wherein the suction hopper (210) comprises a top plate (211), a bottom plate (212), side plates (213), a front baffle plate (214), a rear baffle plate (215) and supporting wheels (216), two ends of the pair of side plates (213) are respectively connected with the top plate (211) and the bottom plate (212), the front baffle plate (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 ends of the plurality of rear baffle plates (215) are respectively connected with the top plate (211), the bottom plate (212) and the side plates (213), the other ends of the plurality of rear baffle plates (215) are gathered towards the direction of the travelling device (100) to form a suction port (230), the suction port (230) is connected with the slurry pump (240), the pair of supporting wheels (216) are respectively connected with the pair of side plates (213), and the suction hopper (210) is supported to move in a pipeline along with the travelling device (100).
  4. 4. A downhole dredging air bag plugging robot according to claim 3, 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), 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.
  5. 5. The downhole dredging balloon plugging robot according to claim 4, wherein the screw drum (220) is detachably connected with the suction hopper (210) through a drum mounting plate (250), wherein the screw drum (220) comprises a drum (221) and a pair of screw blades (222) fixedly wound on the drum (221), the pair of screw blades (222) are conically wound on the drum (221), and the screw directions of the pair of screw blades (222) are opposite to each other, so that the diameter of the screw drum (220) is maximized in a middle position in a longitudinal direction.
  6. 6. The downhole dredging balloon plugging robot according to claim 5, wherein a maximum radius of the spiral roller (220) is smaller than a radius of the drain pipe, and the supporting wheel (216) supports the dredging device (200) so that the spiral roller (220) maintains a certain gap (B) with a pipe wall of the drain pipe, and an upper radius difference (R) formed by a height of the pair of spiral blades (222) and an arc side of the front baffle (214) is larger than a lower radius difference formed by a height of the pair of spiral blades (222) and an arc side of the bottom plate (212), and a pitch (D) and an upper radius difference (R) of each spiral blade (222) are set according to a solid particulate matter passing capability of the slurry pump (240).
  7. 7. The underground dredging airbag plugging robot according to claim 1, wherein the sealing joint disc (340) comprises an inner joint disc (341) and an outer joint disc (342), the inner joint disc (341) and the outer joint disc (342) are detachably connected and clamped and buckled with the front plugging (320), the clamping and buckling surfaces of the inner joint disc (341) and the outer joint disc (342) are provided with matched circumferential concave-convex ring grooves (3412), and the straight-through air nozzle (350) is fixedly connected with the inner joint disc (341).
  8. 8. The downhole dredging airbag plugging robot according to claim 1, wherein the deformation according to the direction set by the crease is performed when the multi-chamber airbag (3400) is exhausted, and the method comprises the steps of sucking the independent airbag chambers (300) down, folding the multi-chamber airbag (3400) along the central axis direction according to the axial middle crease (311), simultaneously inwards concave the cylinder (310) according to the folding direction of the plugging radial crease (3230) by the front plug (320) and the rear plug (330) of each independent airbag chamber (300), stretching the connecting pipe (370) positioned in the transition chamber (400), and shrinking the connecting pipe (370) positioned in the independent airbag chamber (300) directly connected with the airbag charging and discharging device (500).

Description

Underground dredging air bag plugging robot Technical Field The invention relates to the technical field of pipeline plugging, in particular to an underground dredging air bag plugging robot. 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. In the prior art, the patent publication No. CN113309211A discloses a sewage pipeline plugging system suitable for high-water level operation and a use 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, before the air bag is plugged, dredging is performed on the pipeline inlet in advance through a dredging device, but the dredging device and the air bag installation device are two independent sets of equipment, and when the air bag plugging device works, after the dredging device firstly completes dredging work, the air bag needs to be withdrawn from the pit, and then the air bag installation device is put into the pit to plug the air bag, so that the working efficiency is low. And the gasbag is the single cabin structure, if the sediment removal device can't be fine clear away building sharp-pointed object or wall residue, very easily lead to the shutoff gasbag to puncture after inflating, the shutoff inefficacy leads to the fact property loss or the emergence of constructor personal casualties accident in pit, and the reliability of gasbag shutoff safety operation is lower. Disclosure of Invention The invention aims to solve the technical problems of integrating a dredging device with a plugging device, improving efficiency and improving reliability of airbag plugging safety operation. In order to solve the technical problems, the invention provides the following technical scheme: The underground dredging air bag plugging robot comprises a traveling device 100, a dredging device 200 positioned at the front end of the traveling device 100 and a multi-chamber air bag 3400 positioned at the back of the traveling device 100, wherein the traveling device 100 carries the dredging device 200 and the multi-chamber air bag 3400 into a drain pipe, the dredging device 200 cleans a plugging area in the drain pipe, after the dredging is completed, the multi-chamber air bag 3400 is separated from the traveling device 100, the traveling device 100 carries the dredging device 200 to withdraw from the drain pipe, and simultaneously inflates the multi-chamber air bag 3400 to enable the multi-chamber air bag 3400 to be tightly expanded in the wall of the drain pipe so as to plug a pipeline. The dredging device has the advantages that the dredging device cleans the blocking area, the multi-chamber air bag is used for blocking the pipeline in the blocking area, and the dredging device and the multi-chamber air bag are integrated on the travelling device, so that the industrial efficiency is improved. The dredging device cleans building sharp objects or wall residues and the like in a blocking area, so that multi-chamber air bags are prevented from being punctured, the reliability of air bag blocking is improved, the design of multiple cabins is adopted, the problem that a single cabin leaks due to reasons is solved, the residual air bags can still be blocked safely, and the reliability of air bag blocking is further improved. In an embodiment of the present invention, the dredging device 200 includes a suction hopper 210, a spiral roller 220 and a slurry pump 240, wherein the suction hopper 210 is connected with the traveling device 100, the spiral roller 220 is eccentrically assembled with the suction hopper 210, and the slurry pump 240 is positioned on the traveling device 100.