Autonomous moving device for spraying mortar on inner wall of drainage pipeline

Abstract

The invention provides an autonomous moving device for spraying mortar on the inner wall of a drainage pipeline, which comprises a material conveying shaft, which is a pipe fitting with two open ends and a hollow inner cavity; a walking assembly which comprises a supporting assembly and walking driving units arranged in pairs, and the supporting assembly comprises a clamping hoop and two sets of plane connecting rod structures hinged to the clamping hoop; the hoop sleeves and is fastened on the material conveying shaft, the two groups of plane connecting rod structures are symmetrically arranged on two sides of the clamping hoop, and an included angle is formed between the two groups of plane connecting rod structures and is adjustable in size; the paired walking driving units are arranged at the ends, away from the conveying shaft, of the two sets of plane connecting rod structures correspondingly; a centrifugal spraying device is arranged at one end of the conveying shaft, and a first camera device and a second camera device are further arranged on the conveying shaft; a lighting device which comprises a protection box; and a controller, wherein the walking driving unit and the camera device are electrically connected with the controller; according to the device, the spraying repair process of the inner wall of the underground pipeline can be ensured to be visible in real time, and the stability in the advancing process in the pipeline can be ensured.

Description

technical field [0001] The invention relates to the technical field of spraying and repairing the inner wall of a pipeline, in particular to an autonomous mobile device for visualizing the inner wall of a drainage pipeline for mortar spraying. Background technique [0002] With the rapid development of my country's urbanization process, the construction mileage of urban drainage pipes has increased year by year, and the scale of urban underground pipe networks has continued to expand. With the continuous increase of the service life, under the long-term effects of corrosion, external load and other factors, the leakage and cracking of drainage pipes and other diseases have become increasingly prominent, which has brought severe challenges to the daily safe operation and high-quality development of the city. In order to ensure the safe operation of urban drainage, it is very necessary to repair the defective drainage pipes in time. [0003] The pipeline trenchless repair tec...

AI Technical Summary

Problems solved by technology

[0004] (1) The visualization of the spray repair process is not realized, so it is difficult to adjust the process parameters in time to achieve the best spray repair effect;

[0005] (2) The spraying device mainly relies on the pulling effect of the hoist to travel inside the pipeline, which is inconvenient to operate and prone to overturning of the device or uneven spraying due to excessive pulling speed

Images