An autonomous mobile device for spraying mortar on the inner wall of a drainage pipe

Abstract

The present invention provides an autonomous mobile device for spraying mortar on the inner wall of a drainage pipe, comprising: a feed shaft, which is a pipe fitting with openings at both ends and a hollow inner cavity; a walking assembly, which comprises a supporting assembly and a walking drive unit arranged in pairs, the supporting assembly comprising a clamping hoop and two sets of planar connecting rod structures hinged to the clamping hoop; the clamping hoop is sleeved and fastened on the feed shaft, the two sets of planar connecting rod structures are symmetrically arranged on both sides of the clamping hoop and have an angle, and the size of the angle is adjustable; the paired walking drive units are respectively arranged at the ends of the two sets of planar connecting rod structures away from the feed shaft; a centrifugal spraying device is arranged at one end of the feed shaft, and a first camera device and a second camera device are also arranged on the feed shaft; a lighting device, comprising a protective box; a controller, the walking drive unit and the camera device are electrically connected to the controller; the present invention can ensure that the spraying repair process of the inner wall of the underground pipeline is visible in real time, and can also ensure stability during the movement in the pipe.

Description

Technical Field

[0001] The invention relates to the technical field of pipe inner wall spraying repair, and in particular to an autonomous mobile device for visually spraying mortar on the inner wall of a drainage pipe. Background Art

[0002] With the rapid development of urbanization in my country, 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 in service life, under the long-term effects of factors such as corrosion and external loads, drainage pipes have become increasingly problematic, posing severe challenges to the daily safe operation and high-quality development of cities. In order to ensure the safe operation of urban drainage, it is necessary to repair defective drainage pipes in a timely manner.

[0003] Pipeline trenchless repair technology has the advantages of fast construction speed, high efficiency, small disturbance, no impact on the surrounding environment, and obvious comprehensive benefits. It has been widely used in the field of urban underground pipe network repair. The use of rotary centrifugal spraying method is to build a new lining layer on the inner wall of the existing old pipe. It is a typical pipeline trenchless repair technology. The raw materials involved include two major categories: inorganic cement mortar and organic epoxy resin. The current equipment used to implement the pipeline centrifugal spraying repair process has the following two problems:

[0004] (1) The spray repair process is not visualized, 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 action of the winch to move inside the pipeline, which is inconvenient to operate and is prone to overturning of the device or uneven spraying due to excessive pulling speed.

[0006] Therefore, there is an urgent need for an autonomous mobile device for spraying mortar on the inner wall of a drainage pipe to ensure that the spraying repair process of the inner wall of the underground pipe is visible in real time and to ensure the stability of the device during its movement in the pipe. Summary of the invention

[0007] In order to solve the above problems, the present invention provides an autonomous mobile device for spraying mortar on the inner wall of a drainage pipe, which can not only ensure that the spraying repair process of the inner wall of the underground pipe is visible in real time, but also ensure the stability of the device during its movement in the pipe.

[0008] To achieve the above-mentioned purpose, the present invention provides an autonomous mobile device for spraying mortar on the inner wall of a drainage pipe, comprising:

[0009] The feed shaft is a pipe with two ends open and a hollow inner cavity, wherein the spray paint flows therein;

[0010] A walking assembly, comprising a supporting assembly and a walking drive unit arranged in pairs, wherein the supporting assembly comprises a clamping hoop and two sets of planar connecting rod structures hinged to the clamping hoop;

[0011] The clamp is sleeved and fastened on the feeding shaft, and the two groups of planar connecting rod structures are symmetrically arranged on both sides of the clamping clamp and have an included angle, and the size of the included angle is adjustable; the paired travel drive units are respectively arranged at the ends of the two groups of planar connecting rod structures away from the feeding shaft;

[0012] A centrifugal spraying device is provided at one end of the feed shaft, and a first camera device and a second camera device are also provided on the feed shaft, and the first camera device and the second camera device are both adjacent to the centrifugal spraying device;

[0013] The lighting device comprises a protective box, wherein the first camera device and the second camera device are both arranged below the protective box;

[0014] The controller is electrically connected to the walking drive unit, the first camera device and the second camera device.

[0015] As a further improvement of the above solution, the walking components are at least two groups, which are evenly spaced and arranged on the feeding shaft.

[0016] As a further improvement of the above scheme, the first camera device is arranged on the feeding shaft through a first adjustable structure, and is used to photograph the road conditions along the travel direction in the drainage pipe, and to photograph the spraying conditions on the pipe walls on both sides of the drainage pipe.

[0017] As a further improvement of the above scheme, the second camera device is arranged on the feeding shaft through a second adjustable structure, and is arranged on the feeding shaft at an interval and adjacent to the first camera device, for photographing the spraying condition of the top inner wall area of ​​the drainage pipe.

[0018] As a further improvement of the above solution, the first adjustable structure includes but is not limited to a turbine rotator, which is used to drive the first camera device to rotate 360° to fully view the inner wall of the tube.

[0019] As a further improvement of the above scheme, the second adjustable structure includes a first rotator, a second rotator and a second connecting rod arranged on the second rotator, the first rotator is used for 360° rotation in a horizontal plane, the second selector is used for 360° rotation in a vertical plane perpendicular to the horizontal plane, and the second camera device is arranged on the second rotator.

[0020] As a further improvement of the above scheme, the planar connecting rod structure includes two first support beams, a support plate and an adjustable reinforcement beam, one end of the two first support beams is respectively hinged to one side of the clamping hoop, and the two ends of the support plate are respectively connected to the other ends of the two first support beams;

[0021] The adjustable reinforcement beam is a telescopic beam, which is arranged between the two first support beams, and one end of the telescopic beam is hinged to one of the clamping hoops, and the other end is adjustably connected to a first support beam away from the hinged end;

[0022] Alternatively, there are two adjustable reinforcement beams, and the two adjustable reinforcement beams are respectively arranged between the first support beam and its corresponding clamping hoop.

[0023] As a further improvement of the above solution, the lighting device also includes a first searchlight arranged on the protective box and a power supply device connected to the first searchlight.

[0024] As a further improvement of the above solution, a second searchlight is disposed above the first camera device and the second camera device to provide light source for shooting.

[0025] As a further improvement of the above scheme, a feed pipe interface is provided at the other end of the feed shaft, and the feed pipe interface is connected to an external material mixing and discharging device for conveying the paint to the centrifugal spraying device.

[0026] As a further improvement of the above scheme, the centrifugal spraying device includes a hollow rotating shaft and a rotating nozzle, the hollow rotating shaft is connected to the feed shaft, the rotating nozzle is arranged at the end of the feed shaft, and the rotating nozzle is connected to an air pump, and the air pump is used to spray the slurry onto the inner wall of the pipe through the rotating nozzle.

[0027] As a further improvement of the above scheme, the walking unit is a crawler walking mechanism, which includes a driving motor-reducer, a driving gear connected to the driving motor-reducer, a first transmission shaft, a first driven gear, a second transmission shaft, a second driven gear and a crawler track. The first driven wheel is arranged on the first transmission shaft, and the second driven wheel is arranged on the second transmission shaft. The driving gear is meshed and connected with the first driven gear. The first transmission shaft and the second transmission shaft are arranged in parallel and at intervals on the planar connecting rod structure away from the feed shaft end, and the crawler track is sequentially wound between the first driven gear and the second driven gear.

[0028] It should be noted that a manually operated locking piece is also provided at the hinge between the planar connecting rod structure and the clamping hoop. When it is necessary to adjust the angle of the planar connecting rod structure relative to the feed shaft according to the diameter of the drainage pipe or the pipeline condition, the locking piece is released and the planar connecting rod structure can rotate relative to the feed shaft until it is adjusted to the required angle position, and then the locking piece is locked again.

[0029] Since the present invention adopts the above technical solution, the beneficial effects of this application are:

[0030] The present invention provides an autonomous mobile device for spraying mortar on the inner wall of a drainage pipe, comprising: a feeding shaft, which is a pipe with openings at both ends and a hollow inner cavity, wherein the hollow inner cavity is used for spraying paint to flow therein;

[0031] A walking assembly, comprising a supporting assembly and a walking drive unit arranged in pairs, wherein the supporting assembly comprises a clamping hoop and two sets of planar connecting rod structures hinged to the clamping hoop;

[0032] The clamp is sleeved and fastened on the feed shaft, the two groups of planar connecting rod structures are symmetrically arranged on both sides of the clamping clamp and have an angle, and the size of the angle is adjustable; the paired travel drive units are respectively arranged at the ends of the two groups of planar connecting rod structures away from the feed shaft; a centrifugal spraying device is arranged at one end of the feed shaft, and a first camera device and a second camera device are also arranged on the feed shaft, and the first camera device and the second camera device are both adjacent to the centrifugal spraying device; a lighting device, including a protective box, the first camera device and the second camera device are both arranged below the protective box; a controller, the travel drive unit, the first camera device and the second camera device are all electrically connected to the controller ; With such an arrangement, first, the travel drive units are symmetrically arranged on both sides of the conveying shaft, and the structure is simple and practical. Secondly, the travel drive unit of the present application is hinged on the conveying shaft through the support assembly, so that the support assembly can adjust the angle of the plane connecting rod structure according to the different sizes of drainage pipe diameters to obtain support arms with different extended radius lengths, thereby improving the pipe diameter adaptability of the present autonomous mobile device; furthermore, a first camera device and a second camera device are also provided on the feeding shaft of the present autonomous mobile device, and both are electrically connected to the controller. The arrangement of the camera device enables the construction conditions and construction quality in the drainage pipe to be transmitted to the outside of the pipe, so that the operator can make timely adjustments, thereby better controlling the construction quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work.

[0034] Figure 1 It is a schematic top view of an autonomous mobile device for spraying mortar on the inner wall of a drainage pipe disclosed in the present invention;

[0035] Figure 2 It is a three-dimensional schematic diagram of an autonomous mobile device for spraying mortar on the inner wall of a drainage pipe disclosed in the present invention;

[0036] Figure 3 This is a schematic diagram of the internal structure of the travel drive unit disclosed in the present invention;

[0037] Figure 4 It is a schematic diagram of the first adjustable structure disclosed in the present invention;

[0038] Reference numerals:

[0039] 1. Feeding shaft; 2. Traveling assembly; 21. Support assembly; 211. Clamping hoop; 212. Planar connecting rod structure; 2121. First supporting beam; 2122. Support plate; 2123. Adjustable reinforcing beam; 22. Traveling drive unit; 221. Driving motor-reducer; 222. Driving gear; 223. First transmission shaft; 224. First driven gear; 225. Second transmission shaft; 226. Second driven gear; 227. Track;

[0040] 2. Centrifugal spraying device; 3. Air pump; 4. First camera device; 5. Second camera device;

[0041] 6. Lighting device; 61. Protection box; 62. First searchlight;

[0042] 7. Feed pipe interface; 8. First adjustable structure. DETAILED DESCRIPTION

[0043] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0044] It should be noted that all directional indications in the embodiments of the present invention, such as first, second, up, down, left, right, front, back, etc., are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture as shown in the accompanying drawings. If the specific posture changes, the directional indication will also change accordingly.

[0045] In addition, the technical solutions between the various embodiments of the present invention can be combined with each other, but it must be based on the fact that ordinary technicians in the field can implement it. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0046] The present invention will be further described below in conjunction with the accompanying drawings:

[0047] Embodiment 1:

[0048] Reference Figure 1-Figure 4 The present invention provides an autonomous mobile device for spraying mortar on the inner wall of a drainage pipe, comprising:

[0049] The feed shaft 1 is a pipe with two ends open and a hollow inner cavity, wherein the spray paint flows therein;

[0050] The walking assembly 2 includes a supporting assembly 21 and a walking driving unit 22 arranged in pairs, wherein the supporting assembly 21 includes two clamping hoops 211 and two sets of planar connecting rod structures 212 hingedly connected to the two clamping hoops 211;

[0051] The two clamps are sleeved at intervals and fastened on the feed shaft 1, the two groups of planar connecting rod structures 212 are symmetrically arranged on both sides of the two clamping clamps 211, and the two groups of planar connecting rod structures 212 are arranged at an angle, and the angle is adjustable; the paired travel drive units 22 are respectively arranged at the ends of the two groups of planar connecting rod structures 212 away from the feed shaft 1;

[0052] A centrifugal spraying device 2 is disposed at one end of the feed shaft 1, and a first camera device 4 and a second camera device 5 are also disposed on the feed shaft 1, and the first camera device 4 and the second camera device 5 are both adjacent to the centrifugal spraying device 2;

[0053] The lighting device 6 comprises a protective box 61, and the first camera device 4 and the second camera device 5 are both arranged below the protective box 61;

[0054] Controller, the walking drive unit 22, the first camera device 4 and the second camera device 5 are all electrically connected to the controller; in this embodiment, the walking assembly 2 is at least two groups, which are evenly spaced and arranged on the feeding shaft 1; such an arrangement, firstly, the walking drive unit 22 is symmetrically arranged on both sides of the conveying shaft, and the structure is simple and practical, and secondly, the walking drive unit 22 of the present application is hinged on the conveying shaft through the support assembly 21, so that the support assembly 21 can adjust the angle of the plane connecting rod structure 212 according to the different sizes of drainage pipe diameters, and obtain support arms with different extended radius lengths, thereby improving the pipe diameter adaptability of the autonomous mobile device; furthermore, the feeding shaft 1 of the autonomous mobile device is also provided with a first camera device 4 and a second camera device 5, and both are electrically connected to the controller. The arrangement of the camera device enables the construction conditions and construction quality in the drainage pipe to be transmitted to the outside of the pipe, so that the operator can make timely adjustments, thereby better controlling the construction quality.

[0055] As a preferred embodiment, the first camera device 4 is arranged on the feeding shaft 1 through the first adjustable structure 8, and is used to shoot the road conditions along the travel direction of the drainage pipe, and is used to shoot the spraying conditions on the pipe walls on both sides of the drainage pipe; the first adjustable structure 8 includes but is not limited to a turbine rotator, which is used to drive the first camera device 4 to rotate 360° to fully observe the inner wall conditions of the pipe. In this embodiment, the first adjustable structure 8 includes a motor-reducer, a worm connected to the motor-reducer drive, a turbine connected to the worm transmission, and a first connecting rod arranged on the turbine, the first connecting rod is arranged perpendicular to the turbine, and the first camera device 4 is arranged on the first connecting rod. With such an arrangement, the first camera device 4 can rotate 360° along the axis of the turbine under the action of the first adjustable structure 8, so that the road conditions in the drainage pipe and the spraying conditions of the pipe wall can be observed in all directions and the conditions in the pipe can be transmitted to the outside of the pipe through the controller for the operator to view and store.

[0056] As a preferred embodiment, the second camera device 5 is arranged on the feed shaft 1 through a second adjustable structure, and is arranged on the feed shaft 1 at an interval and adjacent to the first camera device 4, for photographing the spraying condition of the top inner wall area of ​​the drainage pipe; specifically, the second adjustable structure includes a first rotator, a second rotator and a second connecting rod arranged on the second rotator, the first rotator is used for 360° rotation in a horizontal plane, the second selector is used for 360° rotation in a vertical plane perpendicular to the horizontal plane, and the second camera device 5 is arranged on the second connecting rod; the first rotator includes but is not limited to a turbine rotator; the second selector includes but is not limited to a turbine rotator.

[0057] As a preferred embodiment, the planar connecting rod structure 212 includes two first support beams 2121, a support plate 2122 and an adjustable reinforcement beam 2123, one end of the two first support beams 2121 is respectively hinged to one side of the two clamping hoops 211, and the two sides of the support plate 2122 are respectively connected to the other end of the two first support beams 2121; the two first support beams 2121 are hinged to the clamping hoops 211, so that the angle of the first support beam 2121 relative to the feed shaft 1 can be adjusted, thereby driving the support plate 2122 arranged at the other end of the first support beam 2121 to follow the adjustment, which also means that the vertical distance of the travel drive unit 22 relative to the center line of the feed shaft 1 is adjustable. Such a setting enables the travel drive unit 22 to adapt to the inner wall of the drainage pipe of different diameters, and the relative angle of the two travel drive units 22 symmetrically arranged about the feed shaft 1 can also be adjusted, so as to better fit the inner wall of the drainage pipe, making the walking more stable;

[0058] Specifically, when the two first support beams 2121 are adjusted to a suitable angle, the current position is fixed by the adjustable reinforcement beam 2123. In this embodiment, the adjustable reinforcement beam 2123 is a telescopic beam, which is arranged between the two first support beams 2121, and one end of the telescopic beam is hinged to one of the clamping hoop 211, and the other end is adjustably connected to a first support beam 2121 away from the hinged end. Specifically, a series of clamping holes for connecting the adjustable reinforcement beam 2123 are provided on the first support beam 2121, and correspondingly, a buckle (not shown in the figure) is also provided at its connection position for fixing the current position;

[0059] Alternatively, there are two adjustable reinforcement beams 2123, and the two adjustable reinforcement beams 2123 are respectively arranged between the first support beam 2121 and its corresponding holding clamp 211. Correspondingly, each first support beam 2121 is provided with a plurality of clamping holes evenly arranged along its length direction, so that the adjustable reinforcement beam 2123 can be supported on the corresponding clamping holes according to actual needs. Correspondingly, a buckle (not shown in the figure) is also provided at its connection position for fixing the current position.

[0060] As a preferred embodiment, the lighting device 6 also includes a first searchlight 62 arranged on the protective box 61 and a power supply device connected to the first searchlight 62. The first searchlight 62 provides a first light source for the movement of the autonomous mobile device. In the present embodiment, the first searchlight 62 can be rotatably arranged on the protective box 61. When the autonomous mobile device is moving forward for construction, the first searchlight 62 is rotated to illuminate in the forward construction direction. When the autonomous mobile device is completing the construction and exiting, the first searchlight 62 is rotated to illuminate in the backward direction.

[0061] As a preferred embodiment, in order to achieve a modified shooting effect, in this embodiment, a second searchlight is provided above the first camera device 4 and the second camera device 5 to provide a light source for shooting.

[0062] As a preferred embodiment, a feed pipe interface 7 is provided at the other end of the feed shaft 1, and the feed pipe interface 7 is connected to an external material mixing and discharging device for conveying paint to a centrifugal spraying device 2; the centrifugal spraying device 2 comprises a hollow rotating shaft and a rotating nozzle, the hollow rotating shaft is connected to the feed shaft 1, the rotating nozzle is arranged at the end of the feed shaft 1, and the rotating nozzle is connected to the air pump 3.

[0063] As a preferred embodiment, the walking unit is a crawler 227 walking mechanism, and the crawler 227 walking mechanism includes a driving motor-reducer 221, a driving gear 222 connected to the driving motor-reducer 221, a first transmission shaft 223, a first driven gear 224, a second transmission shaft 225, a second driven gear 226 and a crawler 227. The first driven wheel is arranged on the first transmission shaft 223, and the second driven wheel is arranged on the second transmission shaft 225. The driving gear 222 is meshed and connected with the first driven gear 224. The first transmission shaft 223 and the second transmission shaft 225 are arranged in parallel and spaced apart at the end of the planar connecting rod structure 212 away from the feeding shaft 1. The crawler 227 is sequentially wound between the first driven gear 224 and the second driven gear 226. The setting of the crawler 227 walking mechanism makes the mortar spraying autonomous mobile device more stable when walking in the drainage pipe and more adaptable to the road conditions in the pipe.

[0064] It should be noted that a manually operated locking piece is also provided at the hinge between the planar connecting rod structure 212 and the clamping hoop 211. When it is necessary to adjust the angle of the planar connecting rod structure 212 relative to the feed shaft 1 according to the diameter of the drainage pipe or the pipeline condition, the locking piece is released, and the planar connecting rod structure 212 can rotate relative to the feed shaft 1 until it is adjusted to the required angle position, and then the locking piece is locked again.

[0065] The above is a detailed introduction to the present invention. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the methods and core ideas of the present invention. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present invention, several improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

Claims

1. An autonomous mobile device for spraying mortar on the inner wall of a drainage pipe, characterized in that: include: The feed shaft is a pipe with two ends open and a hollow inner cavity, wherein the spray paint flows therein; A walking assembly, comprising a support assembly and a walking drive unit arranged in pairs, wherein the support assembly comprises a clamping hoop and two sets of planar connecting rod structures hinged to the clamping hoop; the planar connecting rod structure comprises two first support beams, a support plate and an adjustable reinforcing beam, wherein one end of the two first support beams is respectively hinged to one side of the clamping hoop, and the two ends of the support plate are respectively connected to the other ends of the two first support beams; the adjustable reinforcing beam is a telescopic beam, which is arranged between the two first support beams, and one end of the telescopic beam is hinged to the clamping hoop, and the other end is adjustably connected to a first support beam away from the hinged end; or, there are two adjustable reinforcing beams, and the two adjustable reinforcing beams are respectively arranged between the first support beam and the corresponding clamping hoop; The clamping hoop is sleeved and fastened on the feeding shaft, and the two groups of planar connecting rod structures are symmetrically arranged on both sides of the clamping hoop and have an included angle, and the size of the included angle is adjustable; the paired travel drive units are respectively arranged at the ends of the two groups of planar connecting rod structures away from the feeding shaft; A centrifugal spraying device is provided at one end of the feed shaft, and a first camera device and a second camera device are also provided on the feed shaft, and the first camera device and the second camera device are both adjacent to the centrifugal spraying device; The lighting device comprises a protective box, wherein the first camera device and the second camera device are both arranged below the protective box; The controller is electrically connected to the walking drive unit, the first camera device and the second camera device.

2. The autonomous mobile device for spraying mortar on the inner wall of a drainage pipe according to claim 1, characterized in that: The walking components are at least two groups, which are evenly spaced and arranged on the feeding shaft.

3. The autonomous mobile device for spraying mortar on the inner wall of a drainage pipe according to claim 1 or 2, characterized in that: The first camera device is arranged on the feeding shaft via a first adjustable structure; the second camera device is arranged on the feeding shaft via a second adjustable structure, and is arranged on the feeding shaft at a distance and adjacent to the first camera device.

4. The autonomous mobile device for spraying mortar on the inner wall of a drainage pipe according to claim 3, characterized in that: The second adjustable structure includes a first rotator, a second rotator and a second connecting rod arranged on the second rotator, the first rotator is used for 360° rotation in a horizontal plane, the second rotator is used for 360° rotation in a vertical plane perpendicular to the horizontal plane, and the second camera device is arranged on the second rotator.

5. The autonomous mobile device for spraying mortar on the inner wall of a drainage pipe according to claim 1 or 2, characterized in that: The lighting device also includes a first searchlight arranged on the protection box and a power supply device connected to the first searchlight.

6. The autonomous mobile device for spraying mortar on the inner wall of a drainage pipe according to claim 1 or 2, characterized in that: A feed pipe interface is provided at the other end of the feed shaft, and the feed pipe interface is connected to an external material mixing and discharging device for conveying paint to the centrifugal spraying device.

7. The autonomous mobile device for spraying mortar on the inner wall of a drainage pipe according to claim 1 or 2, characterized in that: A second searchlight is disposed above the first camera device and the second camera device to provide light source for shooting.

8. The autonomous mobile device for spraying mortar on the inner wall of a drainage pipe according to claim 1 or 2, characterized in that: The centrifugal spraying device comprises a hollow rotating shaft and a rotating spray head. The hollow rotating shaft is connected to the feeding shaft. The rotating spray head is arranged at the end of the feeding shaft and is connected to an air pump.

9. The autonomous mobile device for spraying mortar on the inner wall of a drainage pipe according to claim 1 or 2, characterized in that: The travel drive unit is a crawler travel mechanism, which includes a drive motor-reducer, a driving gear connected to the drive motor-reducer, a first transmission shaft, a first driven gear, a second transmission shaft, a second driven gear and a crawler. The first driven gear is arranged on the first transmission shaft, and the second driven gear is arranged on the second transmission shaft. The driving gear is meshed and connected with the first driven gear. The first transmission shaft and the second transmission shaft are arranged in parallel and at intervals on the planar connecting rod structure away from the feeding shaft end, and the crawler is sequentially wound between the first driven gear and the second driven gear.

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