CN114135736A - Automatic grouting repair system and repair method for trenchless pipeline - Google Patents
Automatic grouting repair system and repair method for trenchless pipeline Download PDFInfo
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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
- F16L55/16—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
- F16L55/16455—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 a part of the tool defining, together with the inner wall of the pipe, an enclosed space into which sealing material is injected
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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
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
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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
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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
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
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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
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/60—Stopping leaks
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Abstract
The invention provides an automatic grouting repair system and method for a trenchless pipeline, and belongs to the technical field of pipeline repair. The system comprises a pipeline detection system, a pipeline plugging and grouting system, a grouting system, the pipeline detection system comprises a main cabin body, a driving assembly, a sliding rod, a reducing motor, a guide rail, a driving small wheel and a high-definition camera, the pipeline plugging and grouting system comprises an air bag steel ring, an end air bag, an air bag outside the steel ring, a grouting hole, the grouting system comprises a grouting material and a grouting machine, the pipeline detection system, the pipeline plugging and grouting system are located in a drain pipe network, an upper computer on the ground is connected through a cable, the pipeline plugging and grouting system are connected through a pipeline, the pipeline detection system detects pipeline defect data through the high-definition camera and transmits the data to the upper computer, and the upper computer controls the pipeline plugging and grouting system to perform grouting repair. The invention solves the root problem of pipeline structure defects caused by water and soil loss and loose space at the periphery of the pipeline.
Description
Technical Field
The invention relates to the technical field of pipeline repair, in particular to an automatic grouting repair system and method for a trenchless pipeline.
Background
At present, the total length of various municipal pipelines which are in service for more than 40 years in China is about more than 6.8 percent; the total length of the pipeline which is in service for more than 20 years accounts for more than 32.3 percent of the total length. The pipelines built before the eighties are poor in quality due to the limitation of construction conditions. Although the design age is only 20 years, it has been out of service to date. Due to the lack of maintenance and repair, most of the pipe sections built in this period have defects of 'running, overflowing, dripping, leaking' and the like in different degrees, and need to be repaired and updated.
When the defects appear, the defects on the pipeline are plugged from inside to outside by methods of filling the positions of the defects, introducing new pipe sections and pipe linings around the defects in the repairing process of the pipeline, and the common repairing methods include a normal position solidification (CIPP) method, a spraying repairing method, a stainless steel lining method and the like. Although the repair technology can finish the repair of the pipeline in a short time and restore the normal operation of the pipe network, the root cause problem of the defects is not solved in a long term. For the defects of cracking, disjointing, malting and the like of the pipeline, the base of the pipeline or the backfill material around the pipeline is not constructed according to the standard requirement, so that the performances of strength, water resistance and the like are insufficient. Under the impact of external force and the infiltration and scouring of rainwater, the materials such as soil, sand and stone around the pipeline gradually run off to form a loose space. In these spaces, rainwater may directly contact the pipes, soaking the pipes to corrode, resulting in a reduction in pipe strength. On the other hand, when the pipe base and the surrounding soil cannot provide sufficient supporting strength for the pipe, stress concentration is likely to occur on the pipe, and under the stress from road vehicles and the like, defects such as cracking, disjointing, and mismatching occur. Therefore, in order to ensure that the defective pipeline is effectively repaired, the pipeline base and surrounding soil must be reinforced and subjected to water-resisting and leakage-stopping treatment.
The current common methods for repairing soil around pipelines include soil grouting method and crack grouting method. The soil body grouting method is to form a water-resisting barrier surrounding a pipeline by embedding a grouting pipe and grouting the periphery of the pipeline from the ground. Although the method has small influence on the road surface, the method relates to excavation operation, has high cost and is often used in the situation that a large amount of grouting is needed. Crack grouting refers to grouting around a defect position directly from the inside of a pipeline at a crack opening or a pipeline interface. The method has complex procedures, workers need to enter the pipeline to drill the defective positions of the pipeline, secondary damage is easily caused to the pipeline in the drilling process, and accidents such as poisoning and the like in the pipeline are easily caused by a manual operation mode. Therefore, it is necessary to develop an automatic grouting repair system for trenchless pipelines, which realizes the identification, positioning and automatic grouting repair of the defects of the pipelines through a pipeline detection system, a plugging and grouting air bag, a grouting material and a grouting machine.
Disclosure of Invention
The invention aims to provide an automatic grouting repair system and method for a trenchless pipeline.
The system comprises a pipeline detection system, a pipeline plugging and grouting system, a grouting system, the pipeline detection system comprises a main cabin body, a driving assembly, a sliding rod, a reducing motor, a guide rail, a driving small wheel and a high-definition camera, the pipeline plugging and grouting system comprises an air bag steel ring, an end air bag, an air bag outside the steel ring, a grouting hole, the grouting system comprises a grouting material and a grouting machine, the pipeline detection system and the pipeline plugging and grouting system are located in a drain pipe network, data exchange is carried out through a cable and an upper computer on the ground, the pipeline plugging and grouting system are connected through a pipeline, the pipeline detection system detects pipeline defect data through the high-definition camera and transmits the data to the upper computer, and the upper computer controls the pipeline plugging and grouting system to carry out grouting repair.
The pipeline detection system is characterized in that three groups of driving small wheels are uniformly arranged on the lower portion of a main cabin of the pipeline detection system at intervals of 120 degrees, the driving small wheels are connected with the main cabin through three sliding rods, the connecting positions of the two sliding rods and the main cabin are variable-diameter motors, driving assemblies are arranged at the connecting positions of the three sliding rods and the driving small wheels, a guide rail is arranged at the position where the variable-diameter motors are installed in the main cabin, the other sliding rod slides on the guide rail, and a high-definition camera is arranged in the main cabin.
Pipeline shutoff and mud jacking system main part are the gasbag steel ring, outside parcel steel ring outsourcing gasbag and the tip gasbag of gasbag steel ring, two tip gasbags set up the both sides at steel ring outsourcing gasbag, gasbag steel ring outer lane is the steel ring eave, the inner circle is eave in the steel ring, it has slip casting hole and water injection hole to open in the middle of the steel ring outsourcing gasbag, eave top open-ended sets up defeated thick liquid mouth in the steel ring, the water delivery mouth, and installation gasbag inner space pressure gauge, eave bottom open-ended sets up the bottom gas injection mouth in the steel ring, gasbag steel ring bottom installation pulley.
The air bag steel ring is a hollow annular steel pipe.
And a cable coil is arranged on the ground and used for winding the cable, and the cable enters the drainage pipe network through the inspection well.
One end of the grouting machine is connected with a grouting barrel for containing grouting materials through a pipeline, and the other end of the grouting machine is connected with a grouting hole of the pipeline plugging and grouting system.
The repairing method applying the system comprises the following steps:
s1: defect identification: the method comprises the following steps of placing a pipeline detection system in a drainage pipeline network, collecting data in the drainage pipeline through a high-definition camera, and identifying defects and defect characteristics in the pipeline;
s2: front pressure test: after the defects are positioned, connecting a pipeline plugging and grouting system with a pipeline detection system, drawing the pipeline plugging and grouting system to the defect position by the pipeline detection system, inflating the end airbags to enable the end airbags to be attached to the pipe wall, forming an annular airbag middle closed space between the two end airbags, inflating the airbag middle closed space through a bottom gas injection port, stopping inflating after the gas pressure in the airbag middle closed space is suddenly and greatly increased, calculating the total inflating amount based on the inflating time and the air input amount in unit time, calculating the volume of the inflating gas based on a gas state equation of the airbag middle closed space at the temperature at which the gas pressure tends to be stable, regarding the volume as the space after the pipeline defects, and estimating the required grouting amount;
s3: air bag grouting: grouting the air bag middle closed space through a grouting machine according to the determined grouting amount;
s4: grouting the crack: when the grouting liquid is filled in the middle closed space of the air bag, the grouting pressure is increased, so that the pressure in the middle closed space of the air bag is stable after being slightly increased. If the pressure in the closed space in the middle of the air bag rises rapidly, the grouting pressure is reduced if the grouting pressure is too high. If the pressure in the closed space in the middle of the air bag is rapidly reduced, the grouting pressure is relatively low, and the grouting pressure is required to be increased; continuously repeating the processes of pressure increasing, pressure reducing and pressure increasing to force the grouting material to continuously diffuse from the crack of the pipeline to the periphery of the pipeline for grouting;
s5: and (3) crack plugging: after grouting is finished, using a high-molecular grouting material, repeating the crack grouting process, and finishing plugging of the crack;
s6: inner wall cleaning: after the grouting material is solidified to a set strength, injecting water into the air bag middle closed space through the water injection hole, and cleaning the inner wall of the pipeline;
s7: and (3) post pressure test: and after the repair is finished and the grouting material is completely hardened, repeating the pressure testing step in S2, and detecting the plugging condition of the crack and the grouting quality.
Wherein, the defects in the S1 comprise cracks, disjointing and staggers, and the defect characteristics comprise crack sizes, depths, water content and sizes and directions of pipeline staggers.
The technical scheme of the invention has the following beneficial effects:
in the above scheme, different from the current conventional pipeline repair technology, the pipeline is only repaired in the form of pipeline lining, the functional defect of the pipeline is solved, or the pipeline strength is slightly improved, but the closed space around the pipeline defect is continuously grouted, the repair grout is not only injected into the crack, the gap and other defects, but also the repair grout is hydraulically pressed to the periphery of the pipeline, the pipeline base, the surrounding soil layer and the outer wall are reinforced, the pipeline crack is blocked, and the root problem that the pipeline structure defect occurs due to water and soil loss at the periphery of the pipeline and loose space is solved. Meanwhile, the problems that the soil body needs to be excavated for grouting, the crack needs to be manually put into the well for grouting, the pipeline needs to be rotated, and the like are solved in the aspect of process.
Drawings
FIG. 1 is a schematic structural view of an automatic grouting repair system for trenchless pipelines according to the present invention;
FIG. 2 is a side view of a pipe inspection system in accordance with an embodiment of the present invention as it operates in a pipe;
FIG. 3 is an elevation view of a pipeline inspection system in accordance with an embodiment of the present invention as it is being run in a pipeline;
FIG. 4 is a front view of a plugging and grouting bladder for a pipeline in an embodiment of the invention;
FIG. 5 is a top view of a pipe plugging and grouting bladder in an embodiment of the present invention;
FIG. 6 is a top view of an embodiment of the present invention after an air bag for plugging and grouting a pipeline is inflated in the pipeline;
fig. 7 is a flow chart of the trenchless pipeline automatic grouting repair system method of the present invention.
Wherein: 110-a pipeline inspection system; 112-a main body compartment; 113-a drive assembly; 114-a slide bar; 115-variable diameter motor; 116-a guide rail; 117-drive small wheels; 118-high definition camera; 120-pipeline plugging and grouting system; 123-balloon steel rings; 124-steel ring top eaves; 125-steel ring inner eaves; 126-end airbag; 127-steel ring wrapping air bag; 128-grouting holes; 129-water injection hole; 130-a pulp conveying port; 131-a water delivery port; 132-balloon internal space pressure gauge; 133-bottom gas injection port; 134-a pulley; 141-an inflated airbag; 142-air bag middle closed space; 143-pipe cracks; 150-a cable; 160-cable reel; 170-grouting machine; 180-grouting material; 190-inspection well; 200-ground; 210-inside the drain pipe network.
Detailed Description
In order to make the technical problems, technical solutions and advantages of the present invention more apparent, the following detailed description is given with reference to the accompanying drawings and specific embodiments.
The invention provides an automatic grouting repair system and method for a trenchless pipeline.
As shown in fig. 1, the system comprises a pipeline detection system 110, a pipeline plugging and grouting system 120, and a grouting system, wherein the pipeline detection system 110 comprises a main cabin 112, a driving assembly 113, a sliding rod 114, a reducing motor 115, a guide rail 116, a driving small wheel 117, and a high-definition camera 118, the pipeline plugging and grouting system 120 comprises an air bag steel ring 123, an end air bag 126, an air bag 127 wrapped outside the steel ring, and a grouting hole 128, the grouting system comprises a grouting material 180 and a grouting machine 170, the pipeline detection system 110 and the pipeline plugging and grouting system 120 are located in a drain net 210, data exchange is carried out with the host computer on the ground 200 through cable 150, and pipeline shutoff passes through pipe connection slip casting machine 170 with mud jacking system 120, and pipeline detecting system 110 detects the pipeline defect data and transmits the host computer through high definition digtal camera 118, and host computer control pipeline shutoff carries out the slip casting with mud jacking system 120 and restores. Cable reel 160 is provided at surface 200 for winding cable 150, and cable 150 is run through manhole 190 into drain network 210. One end of the grouting machine 170 is connected with a grouting barrel containing grouting materials 180 through a pipeline, and the other end is connected with a grouting hole 128 of the pipeline plugging and grouting system 120.
As shown in fig. 2 and 3, three groups of driving small wheels 117 are uniformly arranged at the lower part of the main body cabin 112 of the pipeline detection system 110 at intervals of 120 °, the driving small wheels 117 are connected with the main body cabin 112 through sliding rods 114, three sliding rods 114 are arranged, wherein a reducing motor 115 is arranged at the connection part of two sliding rods 114 and the main body cabin 112, a driving assembly 113 is arranged at the connection part of the three sliding rods 114 and the driving small wheels 117, a guide rail 116 is arranged at the position where the reducing motor 115 is installed on the main body cabin 112, the other sliding rod 114 slides on the guide rail 116, and a high-definition camera 118 is arranged in the main body cabin 112.
As shown in fig. 4 and 5, the main body of the pipe plugging and grouting system 120 is an air bag steel ring 123, the outside of the air bag steel ring 123 is wrapped by a steel ring outer-wrapping air bag 127 and an end air bag 126, the two end air bags 126 are arranged on two sides of the steel ring outer-wrapping air bag 127, the outer ring of the air bag steel ring 123 is a steel ring top brim 124, the inner ring is a steel ring inner brim 125, the middle of the steel ring outer-wrapping air bag 127 is provided with a grouting hole 128 and a water injection hole 129, the top of the steel ring inner brim 125 is provided with a grout delivery port 130 and a water delivery port 131, an air bag inner space pressure gauge 132 is arranged, the bottom of the steel ring inner brim 125 is provided with a bottom gas injection port 133, and the bottom of the air bag steel ring 123 is provided with a pulley 134.
The air bag steel ring 123 is a hollow annular steel pipe.
As shown in fig. 7, the repairing method using the system includes the following steps:
s1: defect identification: placing the pipeline detection system 110 in a drainage pipeline network 210, collecting data in the drainage pipeline through a high-definition camera 118, and identifying defects and defect characteristics in the pipeline;
s2: front pressure test: after the defect is located, connecting the pipeline plugging and grouting system 120 with the pipeline detection system 110, pulling the pipeline plugging and grouting system 120 to the defect position by the pipeline detection system 110, inflating the end air bag 126 to be attached to the pipe wall, forming an annular air bag middle closed space 142 (shown in fig. 6) between the two inflated air bags 141, inflating the air bag middle closed space 142 through a bottom air injection port 133, stopping inflating when the air pressure in the air bag middle closed space 142 is greatly increased, recording the air pressure in the set inflating speed through an air bag inner space pressure gauge 132, and calculating the total inflating amount according to the time from the beginning of inflating to the sudden pressure increase in the air bag middle closed space 142 and the air input amount in unit time; calculating the volume of the injected gas based on the gas state equation at the temperature, and estimating the required grouting amount by making the volume approximately equal to the space after the pipeline defect;
s3: air bag grouting: grouting the air bag middle closed space 142 through a grouting machine 170 according to the determined grouting amount;
s4: grouting the crack: when the grouting liquid is filled in the middle closed space 142 of the air bag, the grouting pressure is increased, so that the pressure in the middle closed space 142 of the air bag is increased slightly and then tends to be stable. If the pressure in the air bag enclosed space 142 rises rapidly, indicating that the grouting pressure is too high, the grouting pressure should be reduced. If the pressure in the air bag middle closed space 142 drops rapidly, indicating that the grouting pressure is small, the grouting pressure should be increased. Continuously repeating the processes of pressure increasing, pressure reducing and pressure increasing to force the grouting material to continuously diffuse from the position of the pipeline crack 143 to the periphery of the pipeline for grouting;
s5: and (3) crack plugging: after grouting is finished, using a high-molecular grouting material, repeating the crack grouting process, and finishing plugging the 143 position of the pipeline crack;
s6: inner wall cleaning: after the grouting material is solidified to a set strength, injecting water into the air bag middle closed space 142 through the water injection hole 129, and cleaning the inner wall of the pipeline;
s7: and (3) post pressure test: and after the repair is finished and the grouting material is completely hardened, repeating the pressure testing step in S2, and detecting the plugging condition of the crack and the grouting quality.
Wherein, the defects in the S1 comprise cracks, disjointing and staggers, and the defect characteristics comprise crack sizes, depths, water content and sizes and directions of pipeline staggers.
The following description is given with reference to specific examples.
In a specific design, the system of the present invention is described in detail as follows:
(1) pipeline detection system
The pipeline detection system is composed of a pipeline robot carrying a high-definition camera. The robot is placed in the pipeline, pulls other parts of system and removes along the pipeline direction, can carry on the self-defined multiple sensing equipment of carrying on, like infrared camera, small-size ground penetrating radar, sonar etc. to obtain pipeline data and discernment pipeline defect. The robot mainly comprises a main cabin and three driving assemblies connected by reducing assemblies. A servo motor in the driving assembly drives a small wheel to provide power for the robot; the connecting rod is driven by a reducing motor in the reducing assembly to realize the reducing function; the acquisition of video data in a pipeline is realized through a high-definition camera at the head of the robot; the robot is controlled, the pipeline data is transmitted and stored, and the power supply to the robot is realized by connecting the cable with an upper computer on the ground and a power supply.
(2) Pipeline plugging and grouting system
The pipeline plugging and grouting system is pulled by a pipeline robot and positioned at the position of a defect, the two ends of the air bag are expanded by inflating the air bag, and a closed space is formed in the middle of the air bag. And grouting outside the pipeline from the pipeline crack by continuously grouting the closed space. The main body of the air bag is a hollow steel ring, two ends of the steel pipe are respectively provided with two air bags, and the whole steel pipe is wrapped by rubber to form an I-shaped full-package steel ring air bag. The auxiliary air bag moves in the pipeline through pulleys arranged at the two ends of the steel pipe; inflating air bags at two ends through two air injection pipes reserved in the steel pipe; grouting the annular closed space in the middle of the air bag through a grouting hole in the middle of the steel pipe, which is directly communicated with the outside of the air bag; and the grouting pressure of the closed space in the middle of the air bag is detected through the air pressure sensor arranged in the middle of the steel pipe.
In specific implementation, a plurality of grouting holes in the middle of the steel ring are respectively used for injecting air and water to test pressure at the pipeline crack and clean the pipeline crack.
In specific implementation, besides the air bags at the two ends of the steel ring, the transverse air bags can be additionally arranged in the middle of the steel ring, and after the air bags in the middle are inflated, the air bags can be protruded and expanded perpendicular to the steel ring, so that the three-way pipe can be plugged.
In specific implementation, water can be injected into the closed space through the water injection hole to clean the defect part, the size of the space outside the crack is judged by the same method as the gas injection, and the required grouting amount is estimated.
(3) Grouting system
The grouting machine is placed on the ground and connected with the grouting air bag through a high-pressure pipe. The slip casting machine is mainly driven by a motor to be a slip casting pump, and slip casting materials in the charging barrel are pressed into the space in the middle of the air bag through the high-pressure pipe. Commonly used grouting materials are polyurethanes and epoxies.
In a specific implementation, a dual barrel slip casting machine with dual barrels may be selected depending on the composition of the slip casting material selected.
In specific implementation, different types of polyurethane and epoxy resin grouting materials can be selected according to the water content of soil outside the pipeline and the volume of the soil outside the pipeline which is empty. And two or more grouting materials can be used simultaneously for grouting repair.
It should be noted that the grouting equipment also includes an air pump, a water pump and other facilities in order to inflate and fill water into the pipeline plugging grouting air bag.
In the specific repairing process, the method comprises the following steps:
(1) defect identification
The pipeline detection system 110 is placed into the pipeline, video data in the pipeline is collected through the carried high-definition camera 118, and defects in the pipeline are identified. The driving assembly 113 is controlled to drive the driving small wheel 117 to rotate, so that the robot can advance; the sliding rod 114 slides along the guide rail 116 by controlling the reducing motor 115 to change the running radius of the robot. The type of the defect, such as crack, disjointing and dislocation, needs to be judged in the identification process, and the characteristics of the defect, such as crack size, depth and water content, size and direction of pipeline dislocation and the like, need to be identified.
In a specific implementation, a bottom detection radar is carried on the main body cabin 112 of the robot, and the condition of the pipeline around the defect and the condition of soil around the pipeline are detected in one step, so that the corrosion condition of the outer wall of the pipeline and the loss volume of the soil around the pipeline are identified, and the detected corrosion condition and the loss volume are finally used for selecting grouting materials and grouting amount.
In specific implementation, the three variable diameter motors 115 of the robot can be controlled individually to adjust the position of the sensor in the pipeline, so as to realize accurate observation of a certain position in the pipeline.
In a specific implementation, the main body compartment 112 of the robot may be replaced with a hollow steel ring to house other sensing devices. And can get rid of the driving motor in the drive assembly 113 that links to each other with the steel loop, only keep the movable pulley, make it turn into driven pipeline machine, connect behind the pipeline robot, form multisection robot, the robot of different tube joints can be used to carry on different sensing monitoring facilities, possesses different functions.
In specific implementation, the sliding rod 114 of the robot can be replaced according to the diameter of the pipeline to be detected by the robot, so that the robot can have a larger diameter-changing range and adapt to more pipe diameters.
In some embodiments, the driving small wheels 117 driven by the driving assembly 113 can be replaced by caterpillar tracks according to the friction force of the inner surface of the pipeline to be detected by the robot, so as to obtain a larger contact area and a larger driving force.
(2) Front pressure test
After the location of the defect is located and the characteristics of the defect are preliminarily known, the pipe plugging and grouting system 120 can be connected to the pipe inspection system 110 through the cable 150 and can be pulled by the pipe inspection system 110 to reach the location of the defect in the pipe. Then, the end portion air bags 126 at both ends are inflated by an air pump to be attached to the tube walls, thereby forming a ring-shaped air bag intermediate sealed space 142 in the middle of the air bags. Then, the air is injected into the air bag middle closed space 142 through the bottom air injection port 133 in the air bag middle. When the air pressure in the closed space is greatly increased, the air inflation is stopped, and the time from the start of the air inflation to the sudden rise of the air pressure in the air bag middle closed space 142 at the set air inflation speed is recorded by the air bag inner space pressure gauge 132. The total inflating volume can be calculated based on the inflating time and the air inflow in unit time; and calculating the volume of the injected gas based on the gas state equation at the temperature, wherein the volume is approximately equal to the space after the pipeline defect, and the required grouting amount is estimated.
(3) Air bag grouting
And after the grouting amount required by the pipeline defect position is determined, grouting the closed space in the middle of the air bag by using a grouting machine 170 through a grouting pipe.
(4) Crack grouting
When the grouting liquid is filled in the annular air bag middle closed space 142 in the middle of the air bag, the grouting pressure is slowly increased, and when the pressure in the annular space reaches a certain value, the grouting material is forced to diffuse from the pipeline crack 143 to the periphery of the pipeline. And stopping grouting after sufficient pressure exists in the closed space. And after the pressure in the closed space gradually attenuates to a certain value, grouting again, and increasing the pressure in the space. And repeating the processes of pressure increasing and pressure reducing stopping, recording the time required by the pressure increasing and pressure reducing processes, and stopping grouting when the pressure increasing or pressure reducing time is consistent for several times.
In a particular implementation, the entire fracture grouting process may involve multiple grouting materials 180, with batch-wise mixed grouting.
(5) Crack sealing
And after grouting is finished, finally, using a high-molecular grouting material, and repeating the crack grouting process once again to finish plugging the pipeline crack 143.
(6) Inner wall cleaning
After the steps (4) and (5) are completed, water is injected into the annular space through the water injection hole 129 to clean the inner wall of the pipeline after the grouting material is solidified and forms a certain strength. When the annular space is filled with water and has certain pressure, the air in the air bags 126 at the two ends can be discharged, and the water flows out.
(7) After pressure test
After the repair is finished and the grouting material is completely hardened, repeating the pressure test step again, and detecting the plugging condition of the crack and the grouting quality.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (9)
1. The utility model provides an automatic slip casting repair system of non-excavation pipeline which characterized in that: the pipeline detection system (110) comprises a main cabin body (112), a driving assembly (113), a sliding rod (114), a reducing motor (115), a guide rail (116), a driving small wheel (117) and a high-definition camera (118), the pipeline detection system (110) comprises an air bag steel ring (123), an end air bag (126), a steel ring outer-wrapping air bag (127) and a grouting hole (128), the grouting system comprises a grouting material (180) and a grouting machine (170), the pipeline detection system (110) and the pipeline blocking and grouting system (120) are positioned in a drainage pipe network (210), data exchange is carried out between a cable (150) and an upper computer on the ground (200), the pipeline blocking and grouting system (120) is connected with the grouting machine (170) through a high-definition pipeline, the pipeline detection system (110) detects pipeline defect data through the camera (118) and transmits the data to the upper computer, the upper computer controls the pipeline plugging and grouting system (120) to perform grouting repair.
2. The trenchless pipeline automatic grouting repair system of claim 1, wherein: pipeline detecting system (110)'s main part cabin (112) lower part interval 120 evenly sets up three group drive steamboat (117), drive steamboat (117) are connected main part cabin (112) through slide bar (114), slide bar (114) set up three, wherein two slide bars (114) are reducing motor (115) with main part cabin (112) junction, three slide bars (114) set up drive assembly (113) with drive steamboat (117) junction, main cabin body (112) installation reducing motor (115) department sets up guide rail (116), another slide bar (114) slide on guide rail (116), set up high definition digtal camera (118) in main cabin body (112).
3. The trenchless pipeline automatic grouting repair system of claim 1, wherein: the pipeline plugging and grouting system (120) is characterized in that a main body of the pipeline plugging and grouting system (120) is an air bag steel ring (123), the outer portion of the air bag steel ring (123) is wrapped by a steel ring outer-wrapping air bag (127) and an end portion air bag (126), the two end portion air bags (126) are arranged on two sides of the steel ring outer-wrapping air bag (127), the outer ring of the air bag steel ring (123) is a steel ring top eave (124), the inner ring is a steel ring inner eave (125), a grouting hole (128) and a water injection hole (129) are formed in the middle of the steel ring outer-wrapping air bag (127), a grout conveying port (130) and a water conveying port (131) are formed in the upper opening of the top of the steel ring inner eave (125), an air bag inner space pressure gauge (132) is installed, a bottom gas injection port (133) is formed in the upper opening of the bottom of the steel ring inner eave (125), and a pulley (134) is installed at the bottom of the air bag steel ring (123).
4. The trenchless pipeline automatic grouting repair system of claim 3, wherein: the air bag steel ring (123) is a hollow annular steel pipe.
5. The trenchless pipeline automatic grouting repair system of claim 1, wherein: a cable drum (160) is arranged on the ground (200) and used for winding the cable (150), and the cable (150) enters the drainage pipe network (210) through the inspection well (190).
6. The trenchless pipeline automatic grouting repair system of claim 1, wherein: one end of the grouting machine (170) is connected with a grouting barrel for containing grouting materials (180) through a pipeline, and the other end of the grouting machine is connected with a grouting hole (128) of the pipeline plugging and grouting system (120).
7. The repairing method of the trenchless pipeline automatic grouting repairing system applied to the claim 1 is characterized in that: the method comprises the following steps:
s1: defect identification: the pipeline detection system (110) is arranged in a drainage pipeline network (210), data in the drainage pipeline are collected through a high-definition camera (118), and defects and defect characteristics in the pipeline are identified;
s2: front pressure test: after the defect is located, connecting a pipeline plugging and grouting system (120) with a pipeline detection system (110), drawing the pipeline plugging and grouting system (120) to the defect position by the pipeline detection system (110), inflating an end air bag (126) to enable the end air bag to be attached to the pipe wall, forming an annular air bag middle closed space (142) between the two end air bags (126), inflating the air bag middle closed space (142) through a bottom air injection port (133), stopping inflating when the air pressure in the air bag middle closed space (142) is suddenly and greatly increased, estimating the space behind the pipeline defect through inflating time and inflating speed, and estimating the required grouting amount;
s3: air bag grouting: according to the determined grouting amount, grouting the air bag middle closed space (142) through a grouting machine (170);
s4: grouting the crack: when the grouting liquid is filled in the middle closed space (142) of the air bag, the grouting pressure is increased, so that the pressure in the middle closed space (142) of the air bag is increased slightly and then tends to be stable; continuously repeating the processes of pressure increasing, pressure reducing and pressure increasing to force the grouting material to continuously diffuse from the position of the pipeline crack (143) to the periphery of the pipeline for grouting;
s5: and (3) crack plugging: after grouting is finished, using a high-molecular grouting material, repeating the crack grouting process, and finishing plugging the pipeline crack (143);
s6: inner wall cleaning: after the grouting material is solidified to a set strength, injecting water into the air bag middle closed space (142) through a water injection hole (129), and cleaning the inner wall of the pipeline;
s7: and (3) post pressure test: and after the repair is finished and the grouting material is completely hardened, repeating the pressure testing step in S2, and detecting the plugging condition of the crack and the grouting quality.
8. The method of claim 7, wherein: the defects in the S1 comprise cracks, disjointing and staggers, and the defect characteristics comprise crack sizes, depths, water content and sizes and directions of pipeline staggers.
9. The method of claim 7, wherein: the post-pipeline-defect space estimation method in S2 is as follows:
firstly, calculating the total inflating volume based on the inflating time and the air inflow in unit time; and then, calculating the volume of the injected gas based on a gas state equation of the air bag middle closed space (142) at the temperature at which the air pressure tends to be stable, and estimating the required grouting amount by taking the volume of the injected gas as the space after the pipeline defect.
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