CN112963663A

CN112963663A - Throwing device

Info

Publication number: CN112963663A
Application number: CN202110375356.3A
Authority: CN
Inventors: 代毅; 刘耀森; 余先利
Original assignee: Shenzhen Bominwell Robotics Co ltd
Current assignee: Shenzhen Bominwell Robotics Co ltd
Priority date: 2021-04-07
Filing date: 2021-04-07
Publication date: 2021-06-15

Abstract

The invention discloses a throwing device, which is connected with a pipeline to be detected and used for assisting a pipeline robot to be put into the pipeline to be detected, and comprises: a drop body having a drop space; the flexible anti-scraping sleeve is arranged in the throwing space and can extend to the interior of the pipeline to be detected along the extending direction of the throwing main body; the flexible scratch-proof sleeve is provided with a walking space, and the pipeline robot passes through the walking space to the interior of the pipeline to be detected. The technical scheme of the invention aims to put the robot into the pressurized pipeline and prevent the cable from being damaged.

Description

Throwing device

Technical Field

The invention relates to the technical field of pipeline detection auxiliary equipment, in particular to a throwing device which is used for throwing a pipeline robot into a pipeline to be detected.

Background

Along with the development of cities, underground pipelines are complicated and complicated, and the difficulty of overhauling and daily maintenance is increased. Because the pipeline is buried underground, the difficulty of pre-detecting the pipeline is increased, the pipeline can be found after being broken, and therefore serious economic loss and even serious casualty accidents are caused. Therefore, in order to prevent the trouble in the future and the carelessness, it is necessary to perform regular inspection and maintenance of the pipe. With the rapid development of modern technologies, detection equipment in limited space or specific space increasingly tends to be automatic and intelligent, for example, a pipeline robot for pipeline detection is connected through a cable, carries a camera module and defect detection equipment, goes deep into the pipeline, transmits images and detection data in the pipeline in real time, detects the working conditions of the inside and inner wall of the pipeline, and displays the working conditions to an external PC (personal computer) end.

In the related prior art, the robot and the cable are easily damaged by touching the launching device or the pipeline equipment in the launching process.

Disclosure of Invention

The invention mainly aims to provide a throwing device, aiming at throwing a robot into a pressurized pipeline and preventing a cable from being damaged.

In order to achieve the above object, the present invention provides a delivery device, which is connected to a pipeline to be inspected and used for assisting a pipeline robot to be lowered into the pipeline to be inspected, the delivery device comprising:

a drop body having a drop space;

the flexible scraping-proof sleeve is arranged in the throwing space and can extend into the object to be detected along the extending direction of the throwing main body; the flexible scratch-proof sleeve is provided with a walking space, and the pipeline robot passes through the walking space to the interior of the pipeline to be detected.

Optionally, the dosing body comprises a first end cap, a second end cap and a body section connected between the first end cap and the second end cap, the body section having the dosing space.

Optionally, the dosing body comprises a body section extending in an extension direction from the first end cap to the second end cap.

Optionally, the number of main body segments is at least two; at least two main body segments have different extension directions and at least two main body segments are connected, so that the launch space is curved.

Optionally, the launching device further comprises a cable sealing assembly, and the first end cover is connected with the cable sealing assembly in a sealing manner; and the second end cover is connected with the pipeline to be detected in a sealing way.

Optionally, the delivery device further comprises a manipulator and a waterproof assembly; the waterproof assembly with put in the main part and be connected for the manipulation piece is followed the outside of putting in the main part is sealed to be extended to put in the space, with the cover is prevented scraping in the flexibility is connected, is used for the cover is prevented scraping in the flexibility moves in putting in the space and provides power.

Optionally, the releasing device further comprises a manipulating assembly, wherein the manipulating assembly comprises the manipulating piece, a first roller and a fixing piece; the first roller is configured with a groove, and the operating piece is embedded into the groove; the first roller is rotatably connected with the fixed piece; the fixing piece and the waterproof assembly.

Optionally, the launch body comprises a first opening, the water-proof assembly comprises a water-proof body configured with a second opening, a first seal, a second seal configured with a third opening; the waterproof body is connected with the first opening through the first sealing piece; the waterproof body and the second opening are connected through the second seal; the control piece extends into the putting space through the third opening and is connected with the scratch-resistant sleeve.

Optionally, the cable sealing assembly comprises a third end cap, a fourth end cap and a locking tube clamp; the third end cover (hydraulic pipe connecting seat) is connected with the first end cover in a sealing mode, and the fourth end cover and the third end cover are clamped and fixed through the tight locking pipe clamp.

Optionally, one end of the third end cover integrally extends to form a first annular fixture block, the fourth end cover faces one end of the fourth end cover integrally extends to form a second annular fixture block, and the second annular fixture block is abutted to the first annular fixture block.

According to the technical scheme, the flexible anti-scraping sleeve capable of extending along the extending direction of the throwing space is arranged in the throwing space of the throwing main body, and the flexible anti-scraping sleeve extends into the pipeline before the pipeline robot is put under the pipeline under-pressure detection operation. When putting pipeline robot under, pipeline robot removes in the walking space of cover is prevented scraping in the flexibility, and when pipeline robot turned round and gets into to wait to detect the pipeline, cable and/or pipeline robot prevent with the flexibility scrape cover flexible contact rather than with the rigid contact of pipeline, prevent that robot and/or cable from damaging.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

FIG. 1 is a schematic cross-sectional view of a preferred delivery device of the present invention;

FIG. 2 is a schematic view of a preferred delivery device of the present invention from a perspective;

FIG. 3 is a schematic view of a preferred delivery device of the present invention from another perspective;

FIG. 4 is a schematic view of another preferred dispensing device of the present invention;

FIG. 5 is a schematic partial enlarged view of the structure at A in FIG. 1;

FIG. 6 is a top view of the flashing assembly and the steering assembly;

FIG. 7 is a perspective view of the cable sealing assembly;

FIG. 8 is a cross-sectional view of the cable sealing assembly;

FIG. 9 is a top view of the cable sealing assembly;

fig. 10 is a schematic view of the pipeline robot lowering.

The reference numbers illustrate:

the implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.

In the present invention, unless otherwise expressly stated or limited, the terms "connected," "secured," and the like are to be construed broadly, and for example, "secured" may be a fixed connection, a removable connection, or an integral part; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the meaning of "and/or" appearing throughout includes three juxtapositions, exemplified by "A and/or B" including either A or B or both A and B. In addition, technical solutions between various embodiments may 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, such a combination should not be considered to exist, and is not within the protection scope of the present invention.

In the pipe work in the pressurized environment, the work site needs to be sealed, and in this case, the pipe robot 700 needs to be inserted into the pipe under the pressurized environment. In the prior art, the pipeline robot 700 is lowered into the pipeline through the throwing device by connecting the throwing device to a pipeline accessory (such as a tee). However, pipeline robot 700 transfers the position and is located pipeline tee bend department usually, because the specific shape of tee bend, when pipeline robot 700 transfers to this department, need pass through the turn of a wide angle and just can get into and wait to detect the pipeline, pipeline robot 700 and cable this moment with wait to detect the pipeline collision and damage easily, influence detection precision and life.

In order to solve the above problems, the present invention provides a delivery device, which is connected to a pipeline 800 to be tested and is used for assisting a pipeline robot 700 to be lowered into the pipeline 800 to be tested. Referring to fig. 1, the dispensing device includes:

a drop body 100, the drop body 100 having a drop space 100 a;

the flexible scratch-proof sleeve 200 is arranged in the throwing space 100a, and the flexible scratch-proof sleeve 200 can extend to the interior of the pipeline 800 to be detected along the extension direction of the throwing body 100; the flexible scratch-resistant sleeve 200 is provided with a walking space 200a, and the pipeline robot 700 can walk through the walking space 200a to the interior of the pipeline 800 to be detected.

In the technical scheme of the invention, the flexible scratch-proof sleeve 200 which can extend along the extension direction is arranged in the throwing space 100a of the throwing main body 100, and before the pipeline robot 700 is put under the pipeline pressure detection operation, the throwing device is connected with the pipeline 800 to be detected, and the flexible scratch-proof sleeve 200 is extended into the pipeline 800 to be detected. When the pipeline robot 700 is laid down, the pipeline robot 700 moves in the walking space 200a of the flexible scratch-resistant sleeve 200, and when the pipeline robot 700 turns into a pipeline to be detected, the cable and/or the pipeline robot 700 is in flexible contact with the flexible scratch-resistant sleeve 200 instead of being in rigid contact with the pipeline, so that damage to the robot and/or the cable is prevented.

The loading body 100 has a hollow structure, and the hollow area is the loading space 100 a. The throwing main body 100 should have a certain pressure bearing capacity, and the specific pressure bearing capacity design can be determined according to the actual pressure value of the pipeline; dosing body 100 should be in a sealed environment at the time of testing.

Further, the flexible scratch cover 200 has elasticity. And the outer wall of the flexible scratch-proof sleeve 200 is not contacted with the inner wall of the throwing main body 100, namely, a certain gap is formed between the outer wall and the inner wall in the radial direction, which is beneficial to the flexible scratch-proof sleeve 200 to move in the throwing space. The flexible anti-scraping sleeve 200 is also of a hollow structure, and the hollow area of the flexible anti-scraping sleeve is a walking space for placing the pipeline robot 700; referring to fig. 1, the flexible scratch cover 200 has a long length in the extending direction of the launching body to prevent the robot and the cable from colliding with the inner wall of the launching body. For example, the axial length of the flexible anti-scratch sleeve is 3/5 to 4/5 of the axial length of the delivery body 100. The flexible scratch-proof sleeve 200 can be made of a rubber material such as a TPE rubber material and a TPU rubber material.

As a further solution to the above embodiment, the dosing body 100 comprises a first end cap 100b, a second end cap 100c and a body segment 100d connected between the first end cap 100b and the second end cap 100c, and the body segment 100d has the dosing space. Preferably, the first end cap 100b and the second end cap 100c may each be configured as a flange. The main body section 100d is a working section of the dosing body 100, which is a hollow structure, i.e. it has a dosing space 100 a. Specifically, the first end cap 100b and the second end cap 100c may be welded to both ends of the body section.

As a further solution to the above embodiment, referring to fig. 2 or 3, the dosing body comprises a body segment 100d, the body segment 100d extending in an extension direction from the first end cap 100b to the second end cap 100 c. Namely: the first end cap 100b, the second end cap 100c and the body segment 100d are concentric, and the axis of the body segment 100d is a straight line. This preferred dispensing device is primarily intended for simple working conditions.

In addition, under special working conditions, the main body section can be provided with at least two main body sections so as to adapt to complex detection working conditions. Under the complicated detection operating mode, for example there is the shielding piece, linear type's input device is difficult to connect on examining the inspection pipeline. In order to avoid the shield, the present invention can make the delivery device curved, i.e. as shown in fig. 4, the main body segment 100d is at least two; at least two of the main body segments 100d have different extending directions and at least two of the main body segments 100d are connected such that the launch space 100a is curved. In the related art, if the launching device is manufactured to be curved, the pipe robot and/or the cable thereof directly collide with the launching device in the curved launching space 100a, and thus the launching device is damaged. However, in the technical solution of the present invention, the flexible anti-scraping sleeve 200 is disposed in the launching space 100a, and the pipeline robot and/or the cable thereof will not directly contact the inner wall of the launching device, so that the launching device is manufactured in a curved shape, which is convenient for detecting the pipeline pressure under complex working conditions. Specifically, referring to fig. 4, the axes of the two body segments 100d are perpendicular to each other and are connected as a transition by an elbow joint, namely: the main body sections can be in transition connection through the transition sections, and smooth turning of the robot can be guaranteed when the robot is transferred. Without being limited thereto, the number of the main body segments 100d may be more than two, such as three, four, etc., or specially made to be special-shaped to adapt to different detection conditions.

As a further solution to the above embodiment, the launching device further includes a cable sealing assembly 500, and the first end cap 100b is connected to the cable sealing assembly 500 in a sealing manner; the second end cap 100c is hermetically connected to the pipe 800 to be tested. Specifically, in operation, the valve at the three-way of the pipe is in a closed state, hermetically connecting the second end cap 100c to the junction of the three-way of the pipe 800 to be tested; then transfer the pipeline robot to walking in the space 200a, extend cable seal assembly 500 with the cable, with first end cover 100b and cable seal assembly 500 sealing connection, put in the device this moment and be in airtight state, can guarantee the normal transportation pressure of pipeline. Referring to fig. 10, after the valve is opened and the flexible scratch cover 300a is lowered into the pipeline 800 to be inspected, the pipeline robot is lowered into the pipeline 800 to be inspected by manipulating the cable 600; during operation, the internal condition can be observed through a visual system (camera) of the pipeline robot, and the position of the flexible scratch-resistant sleeve can be adjusted in real time.

As a further solution to the above embodiment, the delivery device further comprises a manipulating member 300a and a waterproof assembly 400; the waterproof assembly 400 is connected to the throwing body 100 such that the manipulating member 300a sealingly extends from the outside of the throwing body 100 into the throwing space 100a to be connected to the flexible scratch cover 200 for providing a force for the flexible scratch cover 200 to move in the throwing space 100 a. Specifically, the operating member 300a may preferably be a pull cord, which may be flexible or rigid; referring to fig. 1, the operating member is operated outside the launching device, and a force which is far away from the pipeline is applied to the operating member, so that the flexible scratch-proof sleeve can be launched into the pipeline; conversely, applying a force to the operating member away from the pipe may move the flexible boot away from the inside of the pipe. Referring to fig. 6, the flexible scratch-resistant cover 200 is provided with an engagement hole 200 b; the fitting hole is a through hole for the operating member 300a to pass through from one end of the scratch sleeve to the other end thereof in the axial direction thereof, and the inner wall of the fitting hole should be rough to have a frictional force with the operating member to prevent slipping in the fitting hole in the operating member 300 a. The waterproof assembly 400 is in dynamic seal with the operating member 300 a.

As a further solution to the above embodiment, the releasing device further includes a manipulating assembly 300, and the manipulating assembly 300 includes the manipulating member 300a, the first roller 300b and the fixing member 300 c. In particular, the first roller 300b is configured with a groove into which the operating member is inserted. The first rollers 300b are two in number, ensuring the centering of the operating member 300a, preventing excessive bending of the operating member 300a, as shown with reference to fig. 5; the first roller 300b is rotatably connected to the fixed member 300c, that is, the fixed member 300a is configured with a shaft hole, in which a bearing can be disposed, the bearing is matched with the roller of the first roller 300b, so that the first roller 300b can roll when the operating member has a tensile force; the fixing member 300c is connected to the waterproof assembly 400, for example, by a screw bolt connection, a screw thread connection, or welding.

As a further solution to the above embodiment, referring to fig. 5, the throwing body 100d includes a first opening (not numbered), and the waterproof assembly 400 includes a waterproof body 400a configured with a second opening (not numbered), a first seal 400b, a second seal 400c configured with a third opening; the waterproof body 400a is inserted into the first opening and coupled with the waterproof body 400a based on elastic deformation of the first sealing member; the second sealing member 400c is inserted into the second opening to be sealingly coupled with the waterproof body 400 a; the operating member 300a extends into the putting space 100a through the third opening and is connected with the flexible scratch-proof sleeve 200. Specifically, referring to fig. 6, the waterproof main body 400a has first sealing grooves arranged on the wall surface thereof at intervals along the axial direction thereof, the first sealing grooves are used for mounting the first sealing member 400a, the first sealing member 400a may be an O-ring, and when mounted, the waterproof main body 400a and the throwing main body 100a are sealed and connected through elastic deformation of the first sealing member 400 a. Further, referring to fig. 5, the second sealing member 400c includes a sealing body and an elastic ring, and a second sealing groove is formed on a wall surface of the sealing body and spaced apart from the wall surface of the sealing body in an axial direction thereof, and is configured to be fitted with the elastic ring, such that the elastic ring is sealed and tightly coupled with the waterproof body 400a based on elastic deformation of the elastic ring. The sealing body is designed as a hollow structure, the hollow area of which is used for matching the operating piece.

Further, the side of the fixing member 300c facing the waterproof assembly is configured with a blind hole into which the sealing body extends and is connected with the fixing member 300c based on elastic deformation of the elastic ring. Preferably, the sealing body has a certain elasticity, but its elastic coefficient is smaller than that of the elastic ring, so that the operating member extends inside it.

Further, referring to fig. 5, the waterproof assembly further includes a second roller 400d, and the second roller 400d is rotatably disposed on the waterproof main body and located at an inner side of the dispensing device. In the present invention, the two second rollers 400d ensure the centering of the operating member 300a, so that the operating member is in a linear state when extended in the waterproof assembly, thereby reducing the abrasion thereof.

Further, referring to fig. 1, the dispensing device of the present invention is provided with at least two waterproof assemblies 400 and two manipulating assemblies 300; the two waterproof assemblies and the two control assemblies are respectively connected one by one and are respectively positioned at two opposite ends of the throwing device (one group is close to the first end cover, and the other group is close to the second end cover). The two actuating assemblies 300 are associated with the same actuating element 300 a. At this time, the flexible scratch cover 200 can be lowered to a reasonable position by manipulation of the manipulating member and is not affected by the pressure of the internal fluid.

Further, the manipulating members 300a may be more than one or may be one. For example, referring to FIG. 1, the manipulating members 300a may be two, and the lowering force of the flexible boot is lowered toward the pipe.

As a further aspect of the above embodiment, the cable sealing assembly 500 includes a third end cap 500a, a fourth end cap 500b, and a locking tube clamp 500 c; the third end cap 500a is connected to the first end cap 100b in a sealing manner, and the fourth end cap 500b is clamped to the third end cap 500a by the locking tube clamp 500 c. In a specific implementation process, the third end cap 500a is sleeved at one end of the throwing main body 100 and is in threaded sealing connection with the first end cap 100 a; or the third end cap 500a and the first end cap 100a may each be configured with a mating flange configuration. The fourth endcap 500b snaps onto the third endcap 500a and is clamped in place by a clamp 500c to securely connect the fourth endcap 500b to the third endcap.

Further, a first annular fixture block (not shown) extends integrally from one end of the third end cap 500a, a second annular fixture block (not shown) extends integrally from one end of the fourth end cap 500b facing the third end cap 500a, and the second annular fixture block abuts against the first annular fixture block; wherein, the inner side of the locking pipe clamp 500c is provided with a locking groove (not shown), and the second annular fixture block and the first annular fixture block are located in the locking groove and matched with the locking groove, so that the locking pipe clamp can exert the locking function.

As a further aspect of the above embodiment, the pipeline robot 700 includes a cable 600, and the fourth end cap 500c has a cable waterproof sleeve 500d for sealing connection with the cable 600.

In operation of a preferred dispensing device: after the second end cap 100c is fixedly and hermetically connected with the tee joint of the pressure detection pipeline, the locking pipe clamp 500c is loosened to take off the fourth end cap 500b, the pipeline robot 700 is thrown into the walking space in the flexible scratch-resistant sleeve 200, the cable 600 is penetrated out from the cable waterproof sleeve 500d, and the fourth end cap 500b is fixed to the third end cap 500 a. The gate valve is opened, the scratch-resistant sheath is lowered into the pipe to be tested through the manipulation member 300a, and then the pipe robot 700 is gradually lowered into the inside of the pipe to be tested through the manipulation cable 600. Through above-mentioned structure with issue the flow, can keep pressing pipeline leakproofness, prevent through the setting that scrape the cover and can prevent that the robot from putting down to pipeline in cable and robot rigidity collision pipeline, pipeline auxiliary equipment, especially at the robot through the in-process of tee bend, the robot can turn round, the flexible cover of preventing scraping can protect robot and cable effectively, improves the life of robot and cable, also can improve data transmission's stability and accuracy effectively.

The above description is only an alternative embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims

1. The utility model provides a put in device, put in device with wait to examine pipeline connection for auxiliary pipe robot transfers to wait to examine inside the pipeline, its characterized in that, put in the device and include:

a drop body having a drop space;

the flexible anti-scraping sleeve is arranged in the throwing space and can extend to the interior of the pipeline to be detected along the extending direction of the throwing main body; the flexible scratch-proof sleeve is provided with a walking space, and the pipeline robot passes through the walking space to the interior of the pipeline to be detected.

2. The dispensing device of claim 1 wherein said dispensing body comprises a first end cap, a second end cap, and a body segment connected between said first end cap and said second end cap,

the main body segment is provided with the throwing space.

3. The dispensing device of claim 2 wherein said dispensing body includes a body segment extending in an extension direction from said first end cap to said second end cap.

4. The delivery device of claim 2, wherein the body segments are at least two; at least two main body segments have different extension directions and at least two main body segments are connected, so that the launch space is curved.

5. The dispensing device of claim 2 further comprising a cable seal assembly, wherein the first end cap is sealingly connected to the cable seal assembly;

and the second end cover is connected with the pipeline to be detected in a sealing way.

6. A delivery device as claimed in any one of claims 1 to 5, further comprising a handle and a water-resistant assembly;

the waterproof assembly with put in the main part and be connected for the manipulation piece is followed the outside of putting in the main part is sealed to be extended to put in the space, with the cover is prevented scraping in the flexibility is connected, is used for the cover is prevented scraping in the flexibility moves in putting in the space and provides power.

7. The delivery device of claim 6, further comprising a manipulation assembly, the manipulation assembly comprising the manipulation member, a first roller, and a fixed member;

the first roller is configured with a groove, and the operating piece is embedded into the groove;

the first roller is rotatably connected with the fixed piece;

the fixing piece and the waterproof assembly.

8. The dispensing device of claim 6 wherein the dispensing body includes a first opening, the water resistant assembly including a water resistant body configured with a second opening, a first seal, a second seal configured with a third opening;

the waterproof body is inserted into the first opening and connected with the waterproof body based on elastic deformation of the first seal member;

the second sealing element is embedded into the second opening to be connected with the waterproof main body in a sealing mode;

the control piece extends into the throwing space through the third opening and is connected with the flexible scratch-resistant sleeve.

9. The dispensing device of claim 5 wherein the cable seal assembly comprises a third end cap, a fourth end cap, and a locking tube clamp;

the third end cover (hydraulic pipe connecting seat) is connected with the first end cover in a sealing way,

the fourth end cover and the third end cover are clamped and fixed through the locking pipe clamp.

10. The dispensing device according to claim 9, wherein a first annular retaining block integrally extends from one end of the third end cap, a second annular retaining block integrally extends from one end of the fourth end cap facing the fourth end cap, and the second annular retaining block abuts against the first annular retaining block.