CN111237579A - Waterproof leakage repairing construction method for underground sewage pipe network - Google Patents

Waterproof leakage repairing construction method for underground sewage pipe network Download PDF

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Publication number
CN111237579A
CN111237579A CN202010117560.0A CN202010117560A CN111237579A CN 111237579 A CN111237579 A CN 111237579A CN 202010117560 A CN202010117560 A CN 202010117560A CN 111237579 A CN111237579 A CN 111237579A
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China
Prior art keywords
controller
leakage
resistor
box body
sewage pipe
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Granted
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CN202010117560.0A
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Chinese (zh)
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CN111237579B (en
Inventor
张书燕
周德祥
王菁
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Jiangsu Fengyang Construction Engineering Co Ltd
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Jiangsu Fengyang Construction Engineering Co Ltd
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Priority to CN202010117560.0A priority Critical patent/CN111237579B/en
Publication of CN111237579A publication Critical patent/CN111237579A/en
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
    • F16L55/28—Constructional aspects
    • F16L55/40—Constructional aspects of the body
    • E—FIXED CONSTRUCTIONS
    • E03—WATER SUPPLY; SEWERAGE
    • E03F—SEWERS; CESSPOOLS
    • E03F9/00—Arrangements or fixed installations methods or devices for cleaning or clearing sewer pipes, e.g. by flushing
    • E03F9/007—Devices providing a flushing surge
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • F16L55/16—Devices for covering leaks in pipes or hoses, e.g. hose-menders
    • F16L55/162—Devices for covering leaks in pipes or hoses, e.g. hose-menders from inside the pipe
    • F16L55/1645—Devices for covering leaks in pipes or hoses, e.g. hose-menders from inside the pipe a sealing material being introduced inside the pipe by means of a tool moving in the pipe
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • F16L55/16—Devices for covering leaks in pipes or hoses, e.g. hose-menders
    • F16L55/168—Devices for covering leaks in pipes or hoses, e.g. hose-menders from outside the pipe
    • F16L55/175—Devices for covering leaks in pipes or hoses, e.g. hose-menders from outside the pipe by using materials which fill a space around the pipe before hardening
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L2101/00—Uses or applications of pigs or moles
    • F16L2101/10—Treating the inside of pipes
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L2101/00—Uses or applications of pigs or moles
    • F16L2101/30—Inspecting, measuring or testing

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Hydrology & Water Resources (AREA)
  • Public Health (AREA)
  • Water Supply & Treatment (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Sewage (AREA)

Abstract

The invention provides a waterproof leakage repairing construction method for an underground sewage pipe network, which comprises the following steps: s1: preliminarily determining leakage points of the sewage pipe network by using an automatic walking type detection device; s2: cleaning the interior of a sewage pipe with a leakage point; s3: accurately determining the leakage point of the sewage pipe to be subjected to leakage repairing by using an automatic walking type detection device; s4: and (3) leakage repairing: including the internal plugging of the pipeline and the external surface plugging of the pipeline. Preliminarily determining leakage points of the sewage pipe network by using an automatic walking type detection device so as to determine specific sewage pipes with leakage in the sewage pipe network; then, after cleaning the sewage pipe with the leakage point, accurately determining the leakage point of the sewage pipe to be subjected to leakage repairing by using an automatic walking type detection device so as to determine the specific point needing leakage repairing, and setting a specific leakage repairing scheme according to the specific leakage repairing point; the automatic walking type detection device is used for determining the leakage point, so that the workload of manual leakage detection can be reduced, and the leakage detection efficiency is improved, and the working efficiency of the waterproof leakage repairing construction is improved.

Description

Waterproof leakage repairing construction method for underground sewage pipe network
Technical Field
The invention relates to the technical field of pipeline leakage repairing, in particular to a waterproof leakage repairing construction method for an underground sewage pipe network.
Background
Underground sewage pipe networks are widely applied to the current urban basic construction, but due to the concealment of the underground sewage pipe networks, the sewage pipe leaks after being used for a long time, and the defects of underground water waste and environmental pollution exist. Therefore need carry out waterproof mending leak to secret sewer pipe network, through artifical leak hunting and artifical mending leak in the waterproof mending leak construction of current sewer pipe network, if listen the leak through the manual work and leak hunting, manual work load is big, has reduced the efficiency of construction.
Disclosure of Invention
The invention provides a waterproof leakage-repairing construction method for an underground sewage pipe network, which is used for solving at least one of the technical problems.
A waterproof leakage repairing construction method for an underground sewage pipe network comprises the following steps:
s1: preliminarily determining leakage points of the sewage pipe network by using an automatic walking type detection device;
s2: cleaning the interior of a sewage pipe with a leakage point;
s3: accurately determining the leakage point of the sewage pipe to be subjected to leakage repairing by using an automatic walking type detection device;
s4: and (3) leakage repairing: including the internal plugging of the pipeline and the external surface plugging of the pipeline.
Preferably, the S3 includes: cleaning the interior of the sewage pipe with leakage points by an automatic cleaning device;
the automatic cleaning device includes:
the device comprises a movable trolley, wherein a mounting box body is arranged on the movable trolley, a spray head, a third camera and a second illuminating lamp are arranged on the mounting box body, the spray head is connected with a water source on the ground through a water source connecting pipe, a water pump is arranged on the water source connecting pipe, a first controller is also arranged on the ground, and the water pump is connected with the first controller;
the third controller and the storage battery are arranged in the installation box body, the third controller is electrically connected with the third camera, the second illuminating lamp, the mobile trolley and the storage battery, the third controller is wirelessly connected with the first controller, and the installation box body is further connected with a ground traction part.
Preferably, the internal leak-stopping comprises:
installing an elastic inflatable container on a mobile device, connecting the elastic inflatable container with an automatic air pumping and inflating device, pre-inflating the elastic inflatable container, and wrapping a plugging material on the outer side wall of the elastic inflatable container;
connecting a mobile device with a ground traction part, placing one end of a sewage pipe to be plugged, and then controlling the mobile device to move in the sewage pipe to be plugged on the ground through wireless control;
when the elastic inflatable container moves to a position to be plugged, the mobile device is controlled to stop moving through wireless, then the elastic inflatable container is automatically pumped, inflated and inflated on the ground through wireless control until the outer side wall of the elastic inflatable container is in contact with the pipe wall of the leakage position, the controller controls the elastic inflatable container to deflate after a first preset time, and then the elastic inflatable container moves back on the ground through the wireless control mobile device.
Preferably, the plugging material for internal plugging comprises the following components: 70-72% of polyurethane prepolymer; 20-27% of a curing agent; 1-3% of defoaming agent; 1-2% of polyurethane toughening agent; 1-2% of silicon carbide; 1-2% of carbon;
the polyurethane prepolymer comprises: 12-16% of polyether polyol; 9-11% of polycarbonate diol; 65-72% of diphenylmethane diisocyanate; 12-15% of polymethylene polyphenyl isocyanate.
Preferably, the self-propelled detecting device includes: a signal receiving device and a detecting device;
the S1 includes:
s11: installing a signal receiving device at a water inlet of a sewage pipe;
s12: and after the detection device is started, the detection device is placed in the water inlet of the sewage pipe for detection.
Preferably, the detection device includes:
a first floating hull;
a second camera disposed outside the first buoyant housing;
a first illumination lamp connected to the first floating housing;
a traveling mechanism disposed on the first floating housing;
the second controller, the storage battery and the ultrasonic generator are all arranged in the first floating shell, the second controller is connected with a memory, and the second controller is respectively and electrically connected with the first illuminating lamp, the storage battery, the second camera, the ultrasonic generator and the travelling mechanism;
the signal receiving device includes: the ultrasonic receiver is electrically connected with the industrial personal computer, and the second controller is wirelessly connected with the industrial personal computer.
Preferably, the traveling mechanism includes:
two second floating shells which are respectively connected with two sides of the first floating shell;
a surface drive device, the surface drive device comprising:
the first motor is arranged in the second floating shell in a mode that an output shaft is vertically arranged;
the first gear is fixedly sleeved on the output shaft of the first motor;
the telescopic rod is vertically arranged in the second floating shell, the fixed end of the telescopic rod is rotatably connected with the inner walls of the upper end and the lower end of the second floating shell, and the telescopic end of the lower end of the telescopic rod penetrates below the lower end of the second floating shell;
the second gear is fixedly sleeved on the first rotating shaft and positioned in the second floating shell, and the first gear and the second gear are in meshing transmission;
the third floating shell is fixedly connected with the telescopic end of the telescopic rod;
the second motor is arranged in the third floating shell in a mode that an output shaft is vertically arranged, and a third bevel gear is fixedly sleeved on the output shaft of the second motor;
the rotating shaft is horizontally arranged in the third floating shell, two ends of the rotating shaft are rotatably connected with two sides of the third floating shell and penetrate through two sides of the third floating shell, a fourth bevel gear is sleeved in the rotating shaft positioned in the third floating shell, and the fourth bevel gear is in meshing transmission with the third bevel gear;
the two ends of the rotating shaft are detachably connected with the wheel body or the propeller;
the first motor and the second motor are both electrically connected with the second controller.
Preferably, the detection device further includes:
the gas sensor, the signal emitter and the first signal receiver are all arranged on the first floating shell and are respectively and electrically connected with the second controller;
the second controller is connected with a power supply through a power supply circuit, and the power supply circuit comprises:
one end of the second capacitor is connected with the positive electrode of the power supply, the other end of the second capacitor is connected with the negative electrode of the power supply, and the negative electrode of the power supply is grounded;
one end of the first capacitor is connected with the positive electrode of the power supply, and the other end of the first capacitor is connected with the negative electrode of the power supply;
one end of the second diode is connected with the anode of the power supply;
a first end of the sixth resistor is connected with the cathode of the second diode;
the cathode of the first diode is connected with the second end of the sixth resistor, and the anode of the first diode is grounded;
one end of the seventh capacitor is connected with the second end of the sixth resistor, and the other end of the seventh capacitor is grounded;
the first end of the sixth capacitor is connected with the second end of the sixth resistor and the second controller, and the second end of the sixth capacitor is grounded;
be equipped with detection circuitry on the first floating shell body, detection circuitry includes:
one end of the fifth resistor is connected with the output end of the second controller;
a cathode of the third diode is connected with the other end of the fifth resistor, an anode of the third diode is connected with one end of the fourth resistor, a first end of the third capacitor and a first end of the sixth capacitor, and a second end of the third capacitor is grounded;
the first end of the signal receiver is connected with the anode of the third diode, and the second end of the signal receiver is grounded through a second resistor and is connected with the input end of the second controller;
the first end of the signal emitter is connected with the anode of the third diode, and the second end of the signal emitter is grounded;
one end of the third resistor is connected with the other end of the fourth resistor and the input end of the second controller, and the other end of the third resistor is grounded;
the non-inverting input end of the operational amplifier is connected with the gas sensor and is connected with the reference voltage through an eleventh resistor, and the output end of the operational amplifier is connected with the second controller;
one end of the tenth resistor is connected with the reference voltage, and the other end of the tenth resistor is connected with the inverting input end of the operational amplifier;
one end of the ninth resistor is connected with the inverting input end of the operational amplifier, and the other end of the ninth resistor is connected with the output end of the operational amplifier;
an eighth capacitor, one end of which is connected with the inverting input end of the operational amplifier and the other end of which is connected with the output end of the operational amplifier;
one end of the fifth capacitor is connected with the second controller, and the other end of the fifth capacitor is grounded;
one end of the twelfth resistor is connected with the second controller;
the first end of the seventh resistor is connected with the other end of the twelfth resistor;
one end of the eighth resistor is connected with the second end of the seventh resistor;
and one end of the fourth capacitor is connected with the other end of the eighth resistor and the first end of the sixth capacitor through a thirteenth resistor, and the other end of the fourth capacitor is connected with the other end of the eighth resistor and grounded.
Preferably, the automatic cleaning device further comprises:
the cleaning box body is fixedly connected to the top end of the mounting box body, the cleaning box body is used for storing cleaning liquid, and the third camera and the second illuminating lamp are arranged at the top end of the cleaning box body;
the cylinder body is fixedly connected to the top end of the mounting box body and is positioned on one side of the cleaning box body, and a liquid outlet is formed in the lower end of the cylinder body;
the first rotating rod is horizontally arranged in the cleaning box body, the second end penetrates out of one side, close to the cylinder body, of the cleaning box body, and the first rotating rod is rotatably connected with two sides of the cleaning box body;
the first fixed block is fixedly connected to the top end of the cylinder body, and the first rotating rod is rotatably connected with the first fixed block;
the second fixed block is fixedly connected to the top end of the cleaning box body and is positioned on one side, far away from the cleaning box body, of the cylinder body, the first rotating rod is rotatably connected with the second fixed block at the position close to the second end, and the part, located between the first fixed block and the second fixed block, of the first rotating rod is a threaded rod section;
the third motor is fixedly connected to the top end of the cleaning box body and is positioned on one side, away from the cylinder body, of the second fixing block, an output shaft of the third motor is arranged vertically upwards, and the third motor is electrically connected with the third controller;
the first bevel gear is fixedly sleeved on an output shaft of the third motor;
the second bevel gear is fixedly sleeved at the second end of the first rotating rod and is in meshing transmission with the first bevel gear;
the sliding block is provided with a horizontal thread through hole, and the horizontal thread through hole is in threaded sleeve joint with the threaded rod section;
a piston slidably connected within the cylinder;
the first end of the horizontal rod is fixedly connected with one side of the piston, and the second end of the horizontal rod is slidably connected with one side wall of the cylinder body and fixedly connected with the sliding block after penetrating through one side wall of the cylinder body;
one end of the liquid outlet pipe is connected with the liquid outlet, and the other end of the liquid outlet pipe is connected with the spray head;
the stirring blades are fixedly connected to the first rotating rod and are positioned on the outer wall of the cleaning box body part;
one end of the connecting pipeline is connected with one side of the lower part of the cleaning box body, a liquid inlet is formed in one side wall, close to the cleaning box body, of the cylinder body, and the liquid inlet is connected with the other end of the connecting pipeline.
Preferably, the method further comprises the following steps:
the third fixed block is fixedly connected to the front side of the upper end of the mounting box body;
the fixed end of the first mechanical arm is fixedly connected to the third fixing block, and the working end of the first mechanical arm is provided with the spray head;
the fourth fixed block is fixedly connected to the front side of the upper end of the mounting box body;
the fixed end of the second mechanical arm is fixedly connected to the fourth fixed block, and the working end of the second mechanical arm is provided with a crushing assembly;
the size reduction assembly includes: connecting the shell; the fourth motor is fixedly connected in the connecting shell, and an output shaft of the fourth motor is horizontally arranged; the first end of the second rotating rod is fixedly connected with the fourth motor, and the second end of the second rotating rod is positioned outside the connecting shell; the crushing blade is connected with the peripheral side wall of the second rotating rod, which is positioned at the outer part of the connecting shell; the polishing head is fixedly connected to the end head of the second end of the second rotating rod;
the first mechanical arm, the second mechanical arm and the fourth motor are respectively and electrically connected with a third controller.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and drawings.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a flow chart of the present invention.
Figure 2 is a schematic view of an automatic cleaning device being placed into a sewer pipe to be leak-mended.
Fig. 3 is a schematic structural diagram of the detection device.
Fig. 4 is a schematic view of the travel mechanism of fig. 3.
FIG. 5 is a schematic diagram of an embodiment of an automatic cleaning device.
FIG. 6 is a schematic structural diagram of another embodiment of an automatic cleaning device.
Figure 7 is a schematic diagram of an embodiment of a size reduction assembly.
Fig. 8 is a schematic view of the flexible inflatable container being placed into a sewer pipe to be leak-repaired.
FIG. 9 is a circuit diagram of a power circuit and a detection circuit of the present invention.
In the figure: 1. automatically cleaning the device; 11. moving the trolley; 12. installing a box body; 13. a spray head; 14. a third camera; 15. a second illumination lamp; 16. a ground-engaging member; 161. a ground tractor; 162. a hauling rope; 17. cleaning the box body; 18. a cylinder body; 19. a first rotating lever; 110. a threaded rod section; 111. a first fixed block; 112. a second fixed block; 113. a third motor; 114. a first bevel gear; 115. a second bevel gear; 116. a slider; 117. a piston; 118. a horizontal bar; 119. a liquid outlet pipe; 120. a stirring blade; 121. connecting a pipeline; 122. a third fixed block; 123. a fourth fixed block; 124. a first robot arm; 125. a second mechanical arm; 126. a size reduction assembly; 1261. connecting the shell; 1262. a fourth motor; 1263. a second rotating lever; 1264. crushing the leaves; 1265. polishing head; 2. an elastic inflatable container; 3. an automatic walking type detection device; 31. a detection device; 311. a first floating hull; 312. a second camera; 313. a first illumination lamp; 314. a traveling mechanism; 3141. a second floating hull; 3142. a first motor; 3143. a first gear; 3144. a second gear; 3145. a telescopic rod; 3146. a third floating hull; 3147. a second motor; 31471. a third bevel gear; 3148. a rotating shaft; 31481. a fourth bevel gear; 3149. a wheel or propeller; 4. a water source connecting pipe; 5. a sewage pipe to be leak-repaired; 6. a water well; r1, a first resistor; r2, a second resistor; r3, third resistor; r4, fourth resistor; r5, fifth resistor; r6, sixth resistor; r7, seventh resistor; r8, eighth resistor; r9, ninth resistor; r10, tenth resistor; r11, eleventh resistor; r12, twelfth resistor; r13, thirteenth resistor; c1, a first capacitance; c2, a second capacitor; c3, a third capacitance; c4, a fourth capacitance; c5, a fifth capacitance; c6, a sixth capacitor; c7, a seventh capacitance; c8, an eighth capacitor; d1, a first diode; d2, a second diode; d3, a third diode; u1, operational amplifier; v1, reference voltage.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
In addition, the descriptions related to the first, the second, etc. in the present invention are only used for description purposes, do not particularly refer to an order or sequence, and do not limit the present invention, but only distinguish components or operations described in the same technical terms, and are not understood to indicate or imply relative importance or implicitly indicate the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions and technical features between various embodiments can be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not be within the protection scope of the present invention.
The embodiment of the invention provides a waterproof leakage-repairing construction method for an underground sewage pipe network, which comprises the following steps as shown in figure 1:
s1: preliminarily determining leakage points of the sewage pipe network by using an automatic walking type detection device; preferably, the automatic walking detection device can also adopt the existing automatic walking detection device.
S2: cleaning the interior of a sewage pipe with a leakage point;
s3: accurately determining the leakage point of the sewage pipe to be subjected to leakage repairing by using an automatic walking type detection device;
s4: and (3) leakage repairing: including the internal plugging of the pipeline and the external surface plugging of the pipeline.
Preferably, the leakage inside the pipeline can be repaired by a CIPP curing method (CIPP reverse lining method); the leaking stoppage of the outer surface of the pipeline comprises the following steps: drilling a grouting hole and backfilling and grouting cement slurry, namely drilling the grouting hole firstly, and then performing backfilling and grouting cement slurry on the drilled grouting hole, wherein the grouting adopts an automatic grouting machine for grouting.
The working principle and the beneficial effects of the technical scheme are as follows: preliminarily determining leakage points of the sewage pipe network by using an automatic walking type detection device so as to determine specific sewage pipes with leakage in the sewage pipe network; then, after cleaning the sewage pipe with the leakage point, accurately determining the leakage point of the sewage pipe to be subjected to leakage repairing by using an automatic walking type detection device so as to determine the specific point needing leakage repairing, and setting a specific leakage repairing scheme according to the specific leakage repairing point; in the technical scheme, the automatic walking type detection device preliminarily and accurately determines the leakage point, so that the workload of manual leakage detection can be reduced, and the leakage detection efficiency is improved, so that the construction efficiency of the whole process of waterproof leakage repair is improved; the leakage repairing comprises the internal leakage repairing of the pipeline and the external leakage repairing of the pipeline, and the leakage repairing effect can be ensured.
In one embodiment, the S3 includes: plugging two ends of a sewage pipe 5 to be subjected to leakage repairing (specifically, plugging baffle plates are arranged at the existing drainage wells communicated with the sewage pipe at the two ends of the sewage pipe 5 to be subjected to leakage repairing, water through holes are formed in the baffle plates, sundry dirt is cleaned to one end of the sewage pipe through a cleaning device, then the sundry dirt is manually taken out through the drainage well at one end of the sewage pipe by adopting a machine), and cleaning the interior of the sewage pipe with a leakage point through an automatic cleaning device 1;
as shown in fig. 2, 5-6, the automatic cleaning device 1 comprises:
the mobile trolley 11 is provided with an installation box body 12, the installation box body 12 is provided with a spray head 13, a third camera 14 and a second illuminating lamp 15, the spray head 13 is connected with an above-ground water source (a cleaning water source for cleaning the interior of the pipe) through a water source connecting pipe 4, a water pump is arranged on the water source connecting pipe 4, a first controller is also arranged on the ground, and the water pump is connected with the first controller;
the third controller and the storage battery are arranged in the installation box body 12, the third controller is electrically connected with the third camera 14, the second illuminating lamp 15, the mobile trolley 11 and the storage battery, the third controller is wirelessly connected with the first controller, and the installation box body 12 is further connected with a ground traction part 16 (as shown in fig. 2, the traction part comprises a ground tractor 161 and a traction rope 162 connected with the ground tractor, preferably, a fixed pulley can be arranged on the ground for sliding of the traction rope, and the traction rope is connected with the mobile trolley for placing the mobile trolley into or taking the mobile trolley out of a sewage pipe).
The working principle and the beneficial effects of the technical scheme are as follows: when the interior of a sewage pipe to be subjected to leakage repairing is cleaned, the movable trolley is placed into the sewage pipe to be subjected to leakage repairing through the traction component, then an operator controls the third controller to work through the first controller, the movable trolley is controlled to move in the sewage pipe to be subjected to leakage repairing through the third controller, meanwhile, the third controller controls the third camera and the second illuminating lamp to work, the internal environment of the sewage pipe is photographed, image information is transmitted to the first controller, the first controller is convenient to control the third controller, the water pump is controlled to work through the first controller, and miscellaneous sewage of the sewage pipe to be subjected to leakage repairing is washed. According to the technical scheme, the sewage enters the sewage pipe through the automatic cleaning device to be automatically cleaned, so that the workload of workers is reduced, and the working efficiency of the construction is improved.
In one embodiment, referring to fig. 8, the internal leak-stopping comprises:
installing an elastic inflating container (the elastic inflating container can be an air bag) on a moving device (preferably, the moving device can be the moving trolley), connecting the elastic inflating container with an automatic inflating and pumping device (such as an existing automatic inflating and pumping pump), pre-inflating the elastic inflating container, and wrapping the outer side wall of the elastic inflating container with a plugging material (the wrapping position can be specifically set according to the position of a specific leakage point on the sewage pipe wall);
connecting a mobile device with a ground traction part 16, placing one end of a sewage pipe to be blocked, and then wirelessly controlling the mobile device (specifically, a first controller is arranged on the ground, the mobile device is provided with a fourth controller and a storage battery, the fourth controller is electrically connected with the mobile device, the storage battery and an automatic pumping and inflating device, and the fourth controller is wirelessly connected with the first controller) to move in the sewage pipe to be blocked;
when the elastic inflatable container moves to a position to be plugged, the mobile device is controlled to stop moving through wireless, then the elastic inflatable container is automatically pumped, inflated and inflated on the ground through wireless control until the outer side wall of the elastic inflatable container is in contact with the pipe wall of the leakage position, the controller controls the elastic inflatable container to deflate after a first preset time, and then the elastic inflatable container moves back on the ground through the wireless control mobile device. Preferably, when the detection device 31 of the automatic walking detection device 3 moves to the position of a leakage repairing point during accurate leakage detection, the traction rope is marked, and then the same traction rope is used for marking the same position so as to determine that the moving device reaches the point to be subjected to leakage repairing; or a camera and a distance measuring sensor can be arranged on the mobile device to determine that the point to be missed is reached.
The working principle and the beneficial effects of the technical scheme are as follows: above-mentioned technical scheme is through moving the device at ground wireless control and at the automatic mending leak in underground, and does not need artifical the interior sewer pipe that gets into of sewer pipe to remove the mending leak, reduces artifical working strength, and work efficiency is high, and is safer to operating personnel.
In one embodiment, the internal plugging material comprises the following components: 70-72 parts of polyurethane prepolymer; 20-27% of a curing agent; 1-3% of defoaming agent; 1-2% of polyurethane toughening agent; 1-2% of silicon carbide; 1-2% of carbon;
the polyurethane prepolymer comprises: 12-16% of polyether polyol; 9-11% of polycarbonate diol; 65-72% of diphenylmethane diisocyanate; 12-15% of polymethylene polyphenyl isocyanate.
The working principle and the beneficial effects of the technical scheme are as follows: the plugging material has the advantages of wear resistance and impact resistance, has good mechanical property, and can be used for plugging under the condition that water exists in the sewage pipe.
In one embodiment, the self-propelled detection device 3 includes: a signal receiving device and detecting device 31;
the S1 includes:
s11: installing a signal receiving device at a water inlet of a sewage pipe (network);
s12: after the detection device 31 is started, the detection device 31 is placed in the water inlet of the sewage pipe for detection.
The detection device 31 includes:
a first floating shell 311;
a second camera 312 disposed outside the first floating housing 311;
a first illumination lamp 313 connected to the first floating housing 311;
a traveling mechanism 314 provided on the first floating housing; the running gear can be an existing running gear.
The second controller, the storage battery and the ultrasonic generator are all arranged in the first floating shell 311, the second controller is connected with a memory, and the second controller is respectively and electrically connected with the first illuminating lamp 313, the storage battery, the second camera 312, the ultrasonic generator and the travelling mechanism 314;
the signal receiving device includes: the ultrasonic receiver is electrically connected with the industrial personal computer, and the second controller is wirelessly connected with the industrial personal computer. The industrial personal computer is positioned on the ground;
the working principle and the beneficial effects of the technical scheme are as follows: s11: installing a signal receiving device at a water inlet of a sewage pipe, namely installing an ultrasonic receiver at the water inlet of the sewage pipe;
s12: after the detection device 31 is started, the detection device 31 is placed in a sewage pipe water inlet for detection; in the detection device, the walking mechanism is used for driving the first floating shell to move in the sewage pipe, the first floating shell shoots the interior of the sewage pipe through the camera when moving in the sewage pipe to shoot, the illuminating lamp is started so that the camera can shoot clearly, the camera transmits shot image information to the second controller, the second controller wirelessly transmits the shot image information to the industrial personal computer, and the industrial personal computer judges whether a leakage point exists in the sewage pipe according to the image information; meanwhile, when the first floating shell moves, the second controller controls the ultrasonic generator to emit ultrasonic waves, the ultrasonic waves are received by the ultrasonic receiver, the ultrasonic receiver transmits received ultrasonic information to the industrial personal computer, the industrial personal computer converts the ultrasonic information (receiving time information) into corresponding distance (distance from the water inlet) information, the corresponding distance information corresponds to image information in real time, and the position of a specific sewage pipe corresponding to a leakage point in the sewage pipe network is conveniently found by referring to a pipeline drawing when the sewage pipe network is installed. The technical scheme is convenient for automatic leak detection in the pipe, manual leak detection is not needed, and leak detection can be carried out without excavation, so that the working efficiency of construction is improved, and the method is safer.
In one embodiment, as shown in fig. 3-4, the walking mechanism 314 includes:
two second floating hulls 3141 connected to both sides of the first floating hull 311, respectively;
a surface drive device, the surface drive device comprising:
a first motor 3142 installed in the second floating housing 3141 in such a manner that an output shaft is vertically disposed;
a first gear 3143 fixedly sleeved on an output shaft of the first motor 3142;
the telescopic rod 3145 is vertically arranged in the second floating shell 3141, the fixed end of the telescopic rod 3145 is rotatably connected with the inner walls of the upper end and the lower end of the second floating shell 3141, and the telescopic end of the lower end of the telescopic rod 3145 penetrates below the lower end of the second floating shell 3141;
a second gear 3144 fixedly sleeved on the first rotating shaft 3148 and positioned on the inner part of the second floating shell 3141, wherein the first gear 3143 is in meshing transmission with the second gear 3144;
a third floating housing 3146 fixedly connected to the telescopic end of the telescopic rod 3145;
the second motor 3147 is installed in the third floating shell 3146 in a way that an output shaft is vertically arranged, and a third bevel gear 31471 is fixedly sleeved on the output shaft of the second motor 3147;
the rotating shaft 3148 is horizontally arranged in the third floating shell 3146, two ends of the rotating shaft 3148 are rotatably connected with two sides of the third floating shell 3146 and penetrate through two sides of the third floating shell 3146, a fourth bevel gear 31481 is sleeved in the part, located in the third floating shell 3146, of the rotating shaft 3148, and the fourth bevel gear 31481 is in meshing transmission with the third bevel gear 31471;
two ends of the rotating shaft 3148 are detachably connected with a wheel body or a propeller 3149;
the first motor 3142 and the second motor 3147 are electrically connected with the second controller.
The working principle and the beneficial effects of the technical scheme are as follows: the two ends of the rotating shaft 3148 are detachably connected with the wheel bodies or the propellers 3149, so that the rotating shaft can be connected with the wheel bodies or the propellers conveniently, specifically, the propellers are used when S1 primarily determines a leakage point of a sewage pipe network, and the wheel bodies are used when S3 is performed, so that primary and accurate detection can be realized by using one detection device, and the cost can be reduced. The height of the propeller and the wheel body can be adjusted according to the arrangement of the telescopic rod when the propeller and the wheel body are used.
The first motor is controlled to rotate through the second controller, the first motor drives the telescopic rod to rotate, the third floating shell is driven to turn, the second motor is controlled to rotate through the second controller, the electric rotating shaft of the second motor rotates, the wheel body or the propeller on the rotating shaft rotates, the first floating shell is driven, and the structure is simple and the driving is convenient.
In one embodiment, the detection device 31 further comprises:
the gas sensor, the signal emitter and the first signal receiver are all arranged on the first floating shell 311 and are respectively and electrically connected with the second controller; preferably, the signal transmitter is an infrared transmitter, and the receiver is an infrared receiver;
as shown in fig. 9, the second controller is connected to a power supply through a power supply circuit, and the power supply circuit includes:
one end of the second capacitor C2 is connected with the positive electrode of the power supply, the other end of the second capacitor C2 is connected with the negative electrode of the power supply, and the negative electrode of the power supply is grounded;
one end of the first capacitor C1 is connected with the positive electrode of the power supply, and the other end of the first capacitor C1 is connected with the negative electrode of the power supply;
one end of the second diode is connected with the anode of the power supply;
a first end of the sixth resistor R6 is connected with the cathode of the second diode;
the cathode of the first diode D1 is connected with the second end of the sixth resistor R6, and the anode of the first diode D1 is grounded;
one end of the seventh capacitor C7 is connected with the second end of the sixth resistor R6, and the other end of the seventh capacitor C7 is grounded;
a sixth capacitor C6, having a first end connected to the second end of the sixth resistor R6 and to the second controller, and a second end grounded;
be equipped with detection circuitry on the first floating shell body, detection circuitry includes:
one end of the fifth resistor R5 is connected with the output end of the second controller;
a cathode of the third diode D3 is connected to the other end of the fifth resistor R5, an anode of the third diode D3 is connected to one end of the fourth resistor R4, a first end of the third capacitor C3 and a first end of the sixth capacitor C6, and a second end of the third capacitor C3 is grounded;
the first end of the signal receiver is connected with the anode of the third diode D3, and the second end of the signal receiver is grounded through a second resistor R2 and connected with the input end of the second controller;
the first end of the signal emitter is connected with the anode of the third diode D3, and the second end of the signal emitter is grounded;
one end of the third resistor R3 is connected with the other end of the fourth resistor R4 and the input end of the second controller, and the other end of the third resistor R3 is grounded;
the non-inverting input end of the operational amplifier U1 is connected with the gas sensor and is connected with the reference voltage V1 through an eleventh resistor R11, and the output end of the operational amplifier U1 is connected with the second controller;
a tenth resistor R10, having one end connected to the reference voltage V1 and the other end connected to the inverting input terminal of the operational amplifier U1;
a ninth resistor R9, one end of which is connected with the inverting input end of the operational amplifier U1 and the other end of which is connected with the output end of the operational amplifier U1;
an eighth capacitor C8, one end of which is connected to the inverting input terminal of the operational amplifier U1 and the other end of which is connected to the output terminal of the operational amplifier U1;
one end of the fifth capacitor C5 is connected with the second controller, and the other end of the fifth capacitor C5 is grounded;
a twelfth resistor R12 which is a temperature sensitive resistor, wherein one end of the twelfth resistor R12 is connected with the second controller;
a first end of the seventh resistor R7 is connected with the other end of the twelfth resistor R12;
an eighth resistor R8, one end of which is connected with the second end of the seventh resistor R7;
and one end of the fourth capacitor C4 is connected to the other end of the eighth resistor R8 and the first end of the sixth capacitor C6 through a thirteenth resistor R13, and the other end of the fourth capacitor C4 is connected to the other end of the eighth resistor R8 and the ground.
The working principle and the beneficial effects of the technical scheme are as follows: in the technical scheme, the signal emitter emits a signal in real time, when a shielding object exists in the sewage pipe in the moving direction of the detection device, the signal is reflected and received by the signal receiver, the signal receiver transmits the signal to the second controller, and the second controller intelligently controls the traveling mechanism to turn according to the received information so as to avoid the shielding object, so that the detection device is protected more conveniently, and the detection is more convenient; the power supply circuit is stabilized in voltage through the actions of C1, C2, C6, C7 and D1, so that stable power supply is facilitated, the gas sensor is used for detecting concentration value information of toxic and harmful gases in the sewage pipe and transmitting the concentration value information to the second controller, and an operator can select a leakage stoppage scheme according to the concentration value information, so that when the concentration value is too high, the operator is prevented from entering the sewage pipe to stop leakage, or when the operator needs to enter the pipeline to do partial work, the internal environment of the pipeline is firstly purified through the gas purification mechanism; the detection circuit amplifies signals through U1, filters through C6 and C2, stabilizes the voltage through D3 filtering, realizes temperature compensation through the effects of R12, C4 and C5, and ensures the reliability of gas detection. The technical scheme is more convenient for the reliable work of the invention so as to improve the working efficiency.
In one embodiment, as shown in fig. 5-7, the automatic cleaning device 1 further comprises:
the cleaning box body 17 is fixedly connected to the top end of the installation box body 12, the cleaning box body 17 is used for storing cleaning liquid, and the third camera 14 and the second illuminating lamp 15 are arranged at the top end of the cleaning box body 17;
the cylinder body 18 is fixedly connected to the top end of the mounting box body 12 and is positioned on one side of the cleaning box body 17, and a liquid outlet is formed in the lower end of the cylinder body 18;
the first rotating rod 19 is horizontally arranged in the cleaning box body 17 at the first end, the second end penetrates out of one side, close to the cylinder body 18, of the cleaning box body 17, and the first rotating rod 19 is rotatably connected with the two sides of the cleaning box body 17;
the first fixed block 111 is fixedly connected to the top end of the cylinder body 18, and the first rotating rod 19 is rotatably connected with the first fixed block 111;
a second fixed block 112 fixedly connected to the top end of the cleaning box 17 and located on the side of the cylinder block 18 far away from the cleaning box 17, the first rotating rod 19 is rotatably connected to the second fixed block (e.g. rotatably connected through a bearing, as in the prior art) near the second end, and the portion of the first rotating rod 19 located between the first fixed block 111 and the second fixed block 112 is a threaded rod segment 110;
the third motor 113 is fixedly connected to the top end of the cleaning box body 17 and is positioned on one side, away from the cylinder body 18, of the second fixed block 112, an output shaft of the third motor 113 is vertically arranged upwards, and the third motor is electrically connected with a third controller;
a first bevel gear 114 fixedly sleeved on an output shaft of the third motor 113;
a second bevel gear 115 fixedly sleeved at the second end of the first rotating rod 19, wherein the second bevel gear 115 is in meshing transmission with the first bevel gear 114;
the sliding block 116 is provided with a horizontal thread through hole which is sleeved on the threaded rod section 110 in a threaded manner;
a piston 117 slidably connected within the cylinder 18;
a horizontal rod 118, a first end of which is fixedly connected with one side of the piston 117, and a second end of the horizontal rod 118 is slidably connected (hermetically and slidably connected) with one side wall of the cylinder 18, and penetrates through the one side wall of the cylinder 18 and is fixedly connected with the sliding block 116;
one end of the liquid outlet pipe 119 is connected with the liquid outlet, and the other end of the liquid outlet pipe is connected with the spray head 13;
the stirring blades 120 are fixedly connected to the outer wall of the part, located on the cleaning box body 17, of the first rotating rod 19;
one end of the connecting pipeline 121 is connected with one side of the lower portion of the cleaning box body 17, a liquid inlet is formed in one side wall, close to the cleaning box body 17, of the cylinder body 18, and the liquid inlet is connected with the other end of the connecting pipeline 121.
The working principle and the beneficial effects of the technical scheme are as follows:
the cleaning box 17 is used for storing cleaning liquid, such as liquid capable of reacting with toxic and harmful gas in the sewage pipe, and this embodiment can be adopted when an operator has to enter the inside of the sewage pipe for relevant operations (such as the problem that the cleaning of partial area automatic cleaning devices cannot be performed), and the internal environment of the sewage pipe needs to be treated;
in the structure, cleaning liquid is not needed, namely when the third motor is not started, the piston blocks the liquid inlet (the piston is positioned at the leftmost side), and water is pumped to the spray head by the water pump to flush the sewage pipe;
when the cleaning solution is needed to be used, the third controller is wirelessly controlled to work through the first controller (a control command is sent to the third controller), the third controller controls the third motor to rotate, the first rotating rod is driven to rotate, the stirring blades uniformly stir the cleaning solution, meanwhile, the threaded rod section is arranged to drive the sliding block to move on the threaded rod section along the threaded rod (left and right movement is corresponding to the movement in the figure 5), the piston is driven to move rightwards, the cleaning solution enters the cylinder body through the liquid inlet pipe and enters the spray head through the liquid outlet pipe, and is sprayed out together with water in the spray head to react and clean the interior of the sewage pipe.
In one embodiment, as shown in fig. 7, further includes:
a third fixing block 122 fixedly connected to the front side of the upper end of the installation case 12;
a fixed end of the first mechanical arm 124 is fixedly connected to the third fixing block 122, and a working end of the first mechanical arm 124 is provided with the spray head 13;
a fourth fixing block 123 fixedly connected to the front side of the upper end of the installation case 12;
a second mechanical arm 125, a fixed end of which is fixedly connected to the fourth fixed block 123, and a working end of the second mechanical arm 125 is provided with a crushing assembly;
the size reduction assembly 126 includes: a connection housing 1261; a fourth motor 1262 fixedly connected to the inside of the connecting housing 1261, an output shaft of the fourth motor 1261 being horizontally disposed; a second rotating rod 1263 horizontally disposed, a first end of which is rotatably connected to the inside of the connecting housing 1261, a first end of the second rotating rod 1263 is fixedly connected to the fourth motor 1262, and a second end of the second rotating rod 1263 is located outside the connecting housing 1261; a pulverizing blade 1265 connected to a peripheral sidewall of the second rotating shaft 1263 located at an outer portion of the connecting housing 1261; the polishing head 1265 is fixedly connected to the end head of the second end of the second rotating rod;
the first mechanical arm, the second mechanical arm and the fourth motor are respectively and electrically connected with a third controller.
The working principle and the beneficial effects of the technical scheme are as follows: the first mechanical arm and the second mechanical arm are arranged, so that the angles of the spray head and the crushing assembly can be adjusted conveniently, and the efficiency of cleaning the interior of the sewage pipe is improved. The fourth motor is controlled to rotate through the third controller in the crushing assembly, the crushing blades are driven to rotate, impurities in the sewage pipe can be washed conveniently, the polishing head is arranged, the pipe wall can be polished when needed, and the pipeline is convenient to mend.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.

Claims (10)

1. A waterproof leakage repairing construction method for an underground sewage pipe network is characterized by comprising the following steps:
s1: preliminarily determining leakage points of the sewage pipe network by using the automatic walking type detection device (3);
s2: cleaning the interior of a sewage pipe with a leakage point;
s3: accurately determining the leakage point of the sewage pipe (5) to be subjected to leakage repairing by using the automatic walking type detection device (3);
s4: and (3) leakage repairing: including the internal plugging of the pipeline and the external surface plugging of the pipeline.
2. The underground sewer pipe network waterproof and leakage-repairing construction method of claim 1, wherein the S3 includes: cleaning the interior of the sewage pipe with leakage points by an automatic cleaning device (1);
the automatic cleaning device (1) comprises:
the device comprises a mobile trolley (11), wherein an installation box body (12) is arranged on the mobile trolley (11), a spray head (13), a third camera (14) and a second illuminating lamp (15) are arranged on the installation box body (12), the spray head (13) is connected with a water source on the ground through a water source connecting pipe (4), a water pump is arranged on the water source connecting pipe (4), a first controller is also arranged on the ground, and the water pump is connected with the first controller;
the third controller and the storage battery are arranged in the installation box body (12), the third controller is electrically connected with the third camera (14), the second illuminating lamp (15), the mobile trolley (11) and the storage battery, the third controller is wirelessly connected with the first controller, and the installation box body (12) is further connected with a ground traction part (16).
3. The underground sewer pipe network waterproof leakage repair construction method according to claim 1, wherein the internal leakage repair comprises:
installing an elastic inflating container (2) on a moving device, connecting the elastic inflating container (2) with an automatic inflating and deflating device, pre-inflating the elastic inflating container (2), and wrapping the outer side wall of the elastic inflating container (2) with a plugging material;
after being connected with a ground traction part (16), the mobile device is placed at one end of the sewage pipe to be plugged, and then the mobile device is controlled to move in the sewage pipe to be plugged in a wireless mode on the ground;
when the elastic inflatable container moves to a position to be plugged, the mobile device is controlled to stop moving through wireless, then the elastic inflatable container (2) is automatically pumped, inflated and inflated on the ground through wireless control until the outer side wall of the elastic inflatable container is contacted with the pipe wall of the leakage position, the controller controls the elastic inflatable container (2) to deflate after a first preset time, and then the elastic inflatable container moves back through the wireless control mobile device on the ground.
4. The method of any one of claims 1 to 3, wherein the method comprises the steps of,
the plugging material for internal plugging comprises the following components: 70-72% of polyurethane prepolymer; 20-27% of a curing agent; 1-3% of defoaming agent; 1-2% of polyurethane toughening agent; 1-2% of silicon carbide; 1-2% of carbon;
the polyurethane prepolymer comprises: 12-16% of polyether polyol; 9-11% of polycarbonate diol; 65-72% of diphenylmethane diisocyanate; 12-15% of polymethylene polyphenyl isocyanate.
5. The underground sewer network water-proofing and leakage-repairing construction method according to claim 1, wherein the automatic walking type detection device (3) comprises: a signal receiving device and a detecting device (31);
the S1 includes:
s11: installing a signal receiving device at a water inlet of a sewage pipe;
s12: after the detection device (31) is started, the detection device (31) is placed in the water inlet of the sewage pipe for detection.
6. The underground sewer network water-proofing and leakage-repairing construction method according to claim 5, wherein the detection device (31) comprises:
a first floating shell (311);
a second camera (312) disposed outside the first floating case (311);
a first illumination lamp (313) connected to the first floating housing (311);
a traveling mechanism (314) provided on the first floating housing (311);
the second controller, the storage battery and the ultrasonic generator are all arranged in the first floating shell (311), the second controller is connected with a memory, and the second controller is respectively and electrically connected with the first illuminating lamp (313), the storage battery, the second camera (312), the ultrasonic generator and the travelling mechanism (314);
the signal receiving device includes: the ultrasonic receiver is electrically connected with the industrial personal computer, and the second controller is wirelessly connected with the industrial personal computer.
7. The underground sewer network water-proofing and leakage-repairing construction method according to claim 2, wherein the walking mechanism (314) comprises:
two second floating cases (3141) respectively connected to both sides of the first floating case (311);
a surface drive device, the surface drive device comprising:
a first motor (3142) installed in the second floating case (3141) in such a manner that an output shaft is vertically disposed;
a first gear (3143) fixedly sleeved on an output shaft of the first motor (3142);
the telescopic rod (3145) is vertically arranged in the second floating shell (3141), the fixed end of the telescopic rod (3145) is rotatably connected with the inner walls of the upper end and the lower end of the second floating shell (3141), and the telescopic end of the lower end of the telescopic rod (3145) penetrates below the lower end of the second floating shell (3141);
the second gear (3144) is fixedly sleeved on the first rotating shaft (3148) and positioned on the inner part of the second floating shell (3141), and the first gear (3143) is in meshing transmission with the second gear (3144);
a third floating shell (3146) fixedly connected with the telescopic end of the telescopic rod (3145);
the second motor (3147) is arranged in the third floating shell (3146) in a mode that an output shaft is vertically arranged, and a third bevel gear (31471) is fixedly sleeved on the output shaft of the second motor (3147);
the rotating shaft (3148) is horizontally arranged in the third floating shell (3146), two ends of the rotating shaft (3148) are rotatably connected with two sides of the third floating shell (3146) and penetrate through two sides of the third floating shell (3146), a fourth bevel gear (31481) is sleeved in the rotating shaft (3148) positioned in the third floating shell (3146), and the fourth bevel gear (31481) and the third bevel gear (31471) are in meshing transmission;
two ends of the rotating shaft (3148) are detachably connected with a wheel body or a propeller (3149);
the first motor (3142) and the second motor (3147) are electrically connected with the second controller.
8. The underground sewer network water-proofing and leakage-repairing construction method according to claim 6, wherein the detection device (31) further comprises:
the gas sensor, the signal transmitter and the first signal receiver are all arranged on the first floating shell (311) and are respectively and electrically connected with the second controller;
the second controller is connected with a power supply through a power supply circuit, and the power supply circuit comprises:
a second capacitor (C2), one end of which is connected with the positive pole of the power supply, the other end of which is connected with the negative pole of the power supply, and the negative pole of the power supply is grounded;
a first capacitor (C1), one end of which is connected with the positive pole of the power supply and the other end is connected with the negative pole of the power supply;
a second diode (D2) having one end connected to the positive electrode of the power supply;
a sixth resistor (R6) with a first end connected to the cathode of the second diode (D3);
the cathode of the first diode (D1) is connected with the second end of the sixth resistor (R6), and the anode of the first diode is grounded;
a seventh capacitor (C7), one end of which is connected with the second end of the sixth resistor (R6), and the other end of which is grounded;
a sixth capacitor (C6), the first end of which is connected with the second end of the sixth resistor (R6) and the second controller, and the second end of which is grounded;
be equipped with detection circuitry on the first floating shell body, detection circuitry includes:
a fifth resistor (R5) having one end connected to the second controller output;
a third diode (D3), the cathode of which is connected with the other end of the fifth resistor (R5), the anode of which is connected with one end of the fourth resistor (R4), the first end of the third capacitor (C3) and the first end of the sixth capacitor (C6), and the second end of the third capacitor (C3) is grounded;
the first end of the signal receiver is connected with the anode of the third diode (D3), and the second end of the signal receiver is grounded through a second resistor (R2) and connected with the input end of the second controller;
the first end of the signal emitter is connected with the anode of the third diode (D3), and the second end of the signal emitter is grounded;
one end of the third resistor (R3) is connected with the other end of the fourth resistor (R4) and the input end of the second controller, and the other end of the third resistor (R3) is grounded;
the non-inverting input end of the operational amplifier (U1) is connected with the gas sensor and is connected with the reference voltage (V1) through an eleventh resistor (R11), and the output end of the operational amplifier is connected with the second controller;
a tenth resistor (R10) having one end connected to the reference voltage (V1) and the other end connected to the inverting input terminal of the operational amplifier (U1);
a ninth resistor (R9), one end of which is connected with the inverting input end of the operational amplifier (U1), and the other end of which is connected with the output end of the operational amplifier (U1);
an eighth capacitor (C8), one end of which is connected with the inverting input end of the operational amplifier (U1), and the other end of which is connected with the output end of the operational amplifier (U1);
a fifth capacitor (C5), one end of which is connected with the second controller and the other end of which is grounded;
a twelfth resistor (R12) having one end connected to the second controller;
a seventh resistor (R7), the first end of which is connected with the other end of the twelfth resistor (R12);
an eighth resistor (R8) having one end connected to the second end of the seventh resistor (R7);
and one end of the fourth capacitor (C4) is connected with the other end of the eighth resistor (R8) and the first end of the sixth capacitor (C6) through a thirteenth resistor (R13), and the other end of the fourth capacitor (C4) is connected with the other end of the eighth resistor (R8) and the ground.
9. The method of claim 2, wherein the method comprises the steps of,
the automatic cleaning device (1) further comprises:
the cleaning box body (17) is fixedly connected to the top end of the mounting box body (12), the cleaning box body (17) is used for storing cleaning liquid, and the third camera (14) and the second illuminating lamp (15) are arranged at the top end of the cleaning box body (17);
the cylinder body (18) is fixedly connected to the top end of the mounting box body (12) and is positioned on one side of the cleaning box body (17), and a liquid outlet is formed in the lower end of the cylinder body (18);
the first rotating rod (19) is horizontally arranged in the cleaning box body (17), the second end of the first rotating rod penetrates through the cleaning box body (17) and is out of one side, close to the cylinder body (18), of the cleaning box body (17), and the first rotating rod (19) is rotatably connected with the two sides of the cleaning box body (17);
the first fixing block (111) is fixedly connected to the top end of the cylinder body (18), and the first rotating rod (19) is rotatably connected with the first fixing block (111);
the second fixed block (112) is fixedly connected to the top end of the cleaning box body (17) and is positioned on one side, far away from the cleaning box body (17), of the cylinder body (18), the first rotating rod (19) is connected with the second fixed block (112) in a rotating mode near the second end, and the part, located between the first fixed block (111) and the second fixed block (112), of the first rotating rod (19) is a threaded rod section (110);
the third motor (113) is fixedly connected to the top end of the cleaning box body (17) and is positioned on one side, away from the cylinder body (18), of the second fixing block (112), an output shaft of the third motor (113) is arranged vertically upwards, and the third motor (113) is electrically connected with the third controller;
the first bevel gear (114) is fixedly sleeved on an output shaft of the third motor (113);
the second bevel gear (115) is fixedly sleeved at the second end of the first rotating rod (19), and the second bevel gear (115) is in meshing transmission with the first bevel gear (114);
the sliding block (116) is provided with a horizontal thread through hole, and the horizontal thread through hole is sleeved on the threaded rod section (110) in a threaded manner;
a piston (117) slidably connected within the cylinder (18);
the first end of the horizontal rod (118) is fixedly connected with one side of the piston (117), and the second end of the horizontal rod (118) is connected with one side wall of the cylinder body (18) in a sliding manner, penetrates through the one side wall of the cylinder body (18) and is fixedly connected with the sliding block (116);
one end of the liquid outlet pipe (119) is connected with the liquid outlet, and the other end of the liquid outlet pipe is connected with the spray head (13);
the stirring blades (120) are fixedly connected to the outer wall of the part, located on the cleaning box body (17), of the first rotating rod (19);
connecting tube (121), one end is connected with cleaning box (17) lower part one side, a lateral wall that cylinder body (18) is close to cleaning box (17) is equipped with the inlet, the inlet with the connecting tube (121) other end is connected.
10. The method of claim 9, wherein the method comprises the steps of,
further comprising:
the third fixed block (122) is fixedly connected to the front side of the upper end of the mounting box body (12);
a fixed end of the first mechanical arm (124) is fixedly connected to the third fixing block (122), and the working end of the first mechanical arm (124) is provided with the spray head (13);
the fourth fixed block (123) is fixedly connected to the front side of the upper end of the mounting box body (12);
the fixed end of the second mechanical arm (125) is fixedly connected to the fourth fixed block (123), and the working end of the second mechanical arm (125) is provided with a crushing assembly (126);
the size reduction assembly (126) comprises: a connection housing (1261); a fourth motor (1262) fixedly connected in the connecting shell (1261), wherein an output shaft of the fourth motor (1262) is horizontally arranged; the first end of the second rotating rod (1263) is connected in the connecting shell (1261) in a rotating mode, the first end of the second rotating rod (1263) is fixedly connected with the fourth motor (1262), and the second end of the second rotating rod (1263) is located outside the connecting shell (1261); a crushing blade (1264) connected to a peripheral side wall of the second rotating rod (1263) located at the outer part of the connecting shell (1261); the polishing head (1265) is fixedly connected to the second end head of the second rotating rod (1263);
the first mechanical arm (124), the second mechanical arm (125) and the fourth motor (1262) are respectively and electrically connected with a third controller.
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