Trenchless repair robot for deformed and collapsed pipelines

Abstract

The invention discloses a non-excavation repair robot for a deformed and collapsed pipeline, comprising a frame, a walking assembly, a tool assembly, a support assembly and a support cylinder; the walking assembly drives the robot to walk in the pipeline, and the tool assembly cuts the deformed and collapsed pipeline; the support assembly comprises a support block, a first support rod, a first sleeve ring, a second support rod, a second sleeve ring and a first linear driver, one end of the first support rod is hinged to the support block and the other end is hinged to the first sleeve ring, one end of the second support rod is hinged to the first support rod and the other end is hinged to the second sleeve ring, the first linear driver drives the first sleeve ring or the second sleeve ring to move along the support cylinder, and the support cylinder is sleeved on the support block; the invention utilizes the tool assembly to cut the deformed and collapsed area in the pipeline, and then utilizes the support assembly to fix the support cylinder in the cutting area, so as to establish a construction area for the subsequent laying of a new repair pipeline, so that the deformed and collapsed pipeline can be repaired without excavation, thereby reducing the repair cost.

Description

Technical Field

[0001] The invention relates to the field of mechanical equipment, and in particular to a trenchless repair robot for a deformed and collapsed pipeline. Background Art

[0002] After long-term use, underground pipelines may be deformed and collapsed due to external forces, resulting in pipeline blockage or reduced flow capacity. For such deformed and collapsed pipelines, the deformed and collapsed areas must be removed and then connected with new complete pipelines. The existing technology uses technical means to find the specific location of pipeline deformation and collapse, then excavate the ground to expose the pipeline, and finally remove the deformed pipeline and connect a new pipeline. The defects of this approach are: 1. The amount of ground excavation is large, and the economic and time costs of repair are large; 2. Some areas where the pipeline is deformed and collapsed are located under buildings or other places where excavation conditions are not available, which brings great difficulties to pipeline repair. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a repair robot for deformed and collapsed pipelines, which can realize pipeline repair without excavating the ground.

[0004] In order to solve the above technical problems, the technical solution adopted by the present invention is: a non-excavation repair robot for deformed and collapsed pipelines, comprising a frame, a walking assembly, a tool assembly, a support assembly and a support cylinder;

[0005] The walking assembly and the cutter assembly are both mounted on a frame, the walking assembly drives the robot to walk in the pipeline, and the cutter assembly cuts the deformed and collapsed pipeline;

[0006] The support assembly comprises a support block, a first support rod, a first sleeve, a second support rod, a second sleeve and a first linear drive, the frame is provided with a support tube, the first sleeve and the second sleeve are both sleeved on the support tube, one end of the first support rod is hinged to the support block and the other end is hinged to the first sleeve, one end of the second support rod is hinged to the first support rod and the other end is hinged to the second sleeve, the first linear drive drives the first sleeve or the second sleeve to move along the support tube, the number of the support blocks is at least two and they are evenly arranged around the support tube;

[0007] The support cylinder is sleeved on the support block and can be expanded, that is, the support cylinder must be a seamed casing.

[0008] The repair robot of the present invention is mainly used to clean the deformed and collapsed area of ​​the pipeline and implement support, so as to establish a construction space for the subsequent laying of new pipelines. The specific method is: 1. The walking component drives the entire repair robot to walk in the pipeline to the deformed and collapsed area; 2. The tool component is started, and the tool component cuts all the materials that invade the internal space of the pipeline, so that the originally deformed and collapsed area in the pipeline becomes a notch area; 3. The support component carries the support cylinder to the notch area, and the first linear drive drives the first ring or the second ring to translate, so that the first bracket gradually opens, and the support block expands the support cylinder from the inside, and the expanded support cylinder supports the external soil, so as to provide a construction space for the subsequent laying of new pipelines.

[0009] In the present invention, the supporting cylinder that plays a supporting role must have a certain strength. Generally, the supporting cylinder is made of metal materials such as steel. After the supporting cylinder is expanded, if the internal support block is removed, the expanded supporting cylinder will inevitably shrink to a certain extent, which is not conducive to the supporting work. In order to overcome this defect, the present invention configures a self-locking function for the supporting cylinder. The specific method is as follows: the supporting cylinder includes a cylinder body, an arc-shaped lining plate and a buckle. The cylinder body is provided with an axial gap so that the cylinder body can be expanded. The surface of the cylinder body is provided with a circumferential serrated groove. The arc-shaped lining plate is fixed to the inner surface of the cylinder body, the arc-shaped lining plate straddles the axial gap of the cylinder body, and the surface of the arc-shaped lining plate is provided with an arc-shaped groove aligned with the serrated groove. The buckle is fixed on the arc-shaped groove and inserted into the serrated groove. The buckle itself has a certain elasticity.

[0010] When the support block applies radial force inside the cylinder, the cylinder begins to expand, the axial gap of the cylinder becomes larger, and the buckle will also passively move in the serrated groove; when the cylinder expands to a sufficient size, the support block is removed. At this time, the cylinder is affected by the buckle and the serrated groove and cannot retract.

[0011] Furthermore, the supporting cylinder also includes a rubber sleeve, which is sleeved on the cylinder body and can protect the cylinder body, the arc-shaped lining plate and the buckle.

[0012] Specifically, the walking assembly includes a walking wheel, a third support rod, a third ring, a fourth support rod, a fourth ring and a second linear drive, one end of the third support rod is hinged to the walking wheel and the other end is hinged to the third ring, one end of the fourth support rod is hinged to the third support rod and the other end is hinged to the fourth ring; the frame is provided with a support rod coaxial with the support cylinder, the third ring and the fourth ring are both sleeved on the support rod, and the second linear drive drives the fourth ring to move along the support rod; the walking wheel includes a wheel bracket, a driving wheel, a driven wheel, a crawler track and a motor, the driving wheel and the driven wheel are both installed on the wheel bracket, the motor drives the driving wheel to rotate, and the crawler track is wrapped around the driving wheel and the driven wheel; the second linear drive includes a second cylinder and a driving sleeve, one end of the driving sleeve is connected to the telescopic rod of the second cylinder, and the other end is sleeved on the support rod;

[0013] Generally, there are at least three traveling wheels in the traveling assembly, and the three traveling wheels can be controlled to open and close by driving the fourth ring to translate, so as to adapt to pipes with different inner diameters;

[0014] The tool assembly includes a cutter disc, a blade, a rotating shaft, a rotating driver and a rotary support body. The cutter disc is mounted on a frame through a rotary support body. The rotating shaft is connected to the cutter disc. The blade is mounted on the rotating shaft. The rotating driver drives the cutter disc and the rotating shaft to rotate, thereby driving the blade to rotate.

[0015] In order to facilitate the subsequent laying of new pipelines, in general, the tool assembly not only cuts the materials that invade the inside of the pipeline, but also expands the cutting slightly outside the pipeline. This function requires the knife bar to have the function of extending outward; the specific method is: the tool assembly also includes a third cylinder and a tool housing, one end of the knife bar is hinged to the rotating shaft, the middle part of the knife bar is hinged to the tool housing, the tool housing and the third cylinder are both installed on the cutter disc, and the rotating shaft is connected to the telescopic rod of the third cylinder; when the third cylinder drives the rotating shaft to translate, the knife bar rotates, and the end of the knife bar extends toward the area outside the pipeline, so that the diameter of the cylindrical space cut by the knife bar is slightly larger than the inner diameter of the pipeline.

[0016] Furthermore, the first linear drive is a first cylinder, and the first linear drive may also be a hydraulic cylinder or an electric push rod.

[0017] In the present invention, the support cylinder is sleeved on the support block as the entire robot moves forward in the pipeline. Theoretically, the support cylinder will not be subjected to axial load, but this is not the case in actual work; the waste slag cut off by the tool assembly will accumulate in the pipeline, and the support cylinder is likely to collide with the accumulated waste slag; sometimes, the repair robot is also equipped with a flushing system for flushing the waste slag, and the waste slag in the flushing is also likely to collide with the support cylinder. These collisions with the waste slag can easily cause the support cylinder to shift forward and backward or become skewed on the support block. In order to overcome this problem, the support assembly of the present invention also includes a front clamp assembly and a rear clamp assembly, and the support block is provided with a mounting groove and a stepped hole, and the stepped hole is connected to the mounting groove;

[0018] The front clamp assembly comprises a front clamp rod, which is hinged in the mounting groove and provided with a torsion spring at the hinge, and a front hook is provided at the exposed end of the front clamp rod;

[0019] The rear clamp assembly comprises a rear clamp rod and a spring, wherein the rear clamp rod is provided with a convex shoulder, the rear clamp rod is located in the stepped hole, the spring is sleeved on the rear clamp rod and is located in the stepped hole, and a rear hook is provided at the exposed end of the rear clamp rod;

[0020] When the front clamping rod is opposite to the rear clamping rod, the front hook and the rear hook respectively hook the two ends of the support cylinder sleeved on the support block to ensure that the support cylinder will not shift forward or backward or tilt during a collision.

[0021] In the present invention, when the front clamp rod is opposite to the rear clamp rod, the spring is compressed; if an external force rotates the front clamp rod, the spring will drive the rear clamp rod to be inserted under the front clamp rod, so that the front clamp rod cannot be reset; for the present invention, before the support block is put on the support cylinder, the worker needs to manually rotate the front clamp rod so that the position of the front hook is lower than the support block. At this time, the rear clamp rod is inserted under the front clamp rod to ensure that the front clamp rod cannot be reset; then the worker puts the support cylinder into the support block from the front, and when the support cylinder contacts the rear hook, the support cylinder will drive the rear clamp rod to translate synchronously, so that the rear clamp rod comes out from under the front clamp rod, and then the front clamp rod is reset under the action of the torsion spring, and the front hook is tilted up again. At this point, the front hook and the rear hook hook the two ends of the support cylinder at the same time.

[0022] In the present invention, the position of the support cylinder in the pipeline is controlled by the walking of the robot, so the specific positioning of the support cylinder in the robot is very important. In most cases, when the support cylinder is put on the support block, it is also necessary to ensure that the support block is in the middle of the support cylinder; because the rear clamping rod of the present invention has a rear hook, the rear hook can be used to fix the support cylinder and to position the support cylinder. By reasonably setting the length of the rear clamping rod, it can be ensured that after the support cylinder contacts the rear hook and moves to the extreme position, the support block is exactly in the middle of the support cylinder. However, in actual applications, the support cylinder often has a variety of models, which means that the length of the support cylinder is not fixed; once the length of the support cylinder changes, the lengths of the front clamping rod and the rear clamping rod should also be changed adaptively;

[0023] In order to facilitate the adjustment of the length of the front clamping rod and the rear clamping rod, the rear clamping assembly further includes a first connecting piece. The rear clamping rod is a segmented structure. The rear clamping rod includes a rear first clamping rod and a rear second clamping rod. The rear first clamping rod is located in the stepped hole. The rear second clamping rod is connected to the rear first clamping rod through the first connecting piece. The rear first clamping rod is a basic component, and the rear second clamping rod is a replaceable accessory. Each repair robot is equipped with a plurality of rear second clamping rods of different lengths. The worker can select the appropriate rear second clamping rods for installation before putting the support cylinder on the support block.

[0024] Similarly, the front clamp assembly also includes a second connecting piece. The front clamp rod is a segmented structure. The front clamp rod includes a front clamp rod and a front second clamp rod. The front clamp rod is hinged in the installation groove, and the front second clamp rod is connected to the front clamp rod through the second connecting piece. The front clamp rod is a basic component, and the front second clamp rod is a replaceable accessory. Each repair robot is equipped with a plurality of front second clamp rods of different lengths. The worker can select the appropriate front second clamp rods for installation before putting the support cylinder on the support block.

[0025] Specifically, the first connecting member includes a connecting base plate, a connecting sleeve and a locking screw, the connecting sleeve is fixed on the connecting base plate, the connecting base plate is connected to the rear clamping rod, the rear two clamping rods are inserted into the connecting sleeve and fixed by the locking screw; the second connecting member has the same structure as the first connecting member.

[0026] When the present invention is working, if the deformation and collapse area in the pipeline is long, the repair robot may need to work multiple times to install multiple support cylinders; when installing the second support cylinder, if the second support cylinder is in contact with the end of the first support cylinder, then because the two ends of the second support cylinder are hooked by the front hook and the rear hook, the rear hook will be blocked by the adjacent support cylinder, causing the support block to be unable to expand normally; note that the front hook does not have this problem because the front clamping rod itself can rotate; in order to overcome this problem, the connecting base plate of the first connecting member of the present invention is hinged to the rear clamping rod and a torsion spring is arranged at the hinge, which enables the rear two clamping rods to have a rotation function; when the rear two clamping rods contact with other support cylinders, the rear two clamping rods will passively rotate and will not affect the normal expansion of the support block.

[0027] Beneficial effects: (1) The non-excavation repair robot for deformed and collapsed pipes of the present invention uses a tool assembly to cut the deformed and collapsed area in the pipe, and then uses a support assembly to fix the support cylinder in the cutting area, thereby establishing a construction area for the subsequent laying of new repair pipes, so that the deformed and collapsed pipes can be repaired without excavation, thereby reducing the repair cost. (2) The non-excavation repair robot for deformed and collapsed pipes of the present invention is equipped with buckles and serrated grooves in the support cylinder, which realizes the self-locking function of the support cylinder and ensures that the support cylinder will not shrink after expansion, thereby improving the support effect. (3) The non-excavation repair robot for deformed and collapsed pipes of the present invention uses the third support rod and the fourth support rod to realize the expansion and retraction of the walking wheels, so that the repair robot can adapt to pipes of various sizes. (4) The non-excavation repair robot for deformed and collapsed pipes of the present invention is provided with a knife bar hinged with the tool housing, so that the knife bar can rotate, and thereby the diameter of the cylindrical space cut by the knife bar is slightly larger than the inner diameter of the pipe, which is beneficial to the installation of the support cylinder. (5) The deformed and collapsed pipe trenchless repair robot of the present invention is equipped with a front clamp assembly and a rear clamp assembly in the support assembly, and the front clamp rod and the rear clamp rod are used to realize the positioning and fixation of the support cylinder, which is convenient for assembling the support cylinder and ensuring the stability of the support cylinder during movement. (6) The deformed and collapsed pipe trenchless repair robot of the present invention designs the front clamp rod and the rear clamp rod as a segmented structure to adapt to support cylinders of different lengths. (7) The deformed and collapsed pipe trenchless repair robot of the present invention sets a connecting base plate of the first connecting member to be hinged with the rear clamp rod to prevent the rear hook from affecting the normal expansion of the support block. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a three-dimensional diagram of the robot of Example 1.

[0029] Figure 2 It is a three-dimensional diagram of the robot of Example 1 (with half of the supporting cylinder hidden).

[0030] Figure 3 This is a top view of the robot in Example 1.

[0031] Figure 4 yes Figure 3 AA cross-section diagram.

[0032] Figure 5 It is a stereoscopic diagram of the walking assembly in Example 1.

[0033] Figure 6 It is a stereoscopic view of the travel assembly in Example 1 (with the travel wheels hidden).

[0034] Figure 7 It is a three-dimensional diagram of the support cylinder in Example 1.

[0035] Figure 8 It is a three-dimensional diagram of the support cylinder in Example 1 (with the rubber sleeve hidden).

[0036] Fig. 9 It is a three-dimensional diagram of the support block in Example 2.

[0037] Fig.10 It is a cross-sectional view of the support block in Example 2.

[0038] Fig.11 This is a working state diagram of the support block in Example 2 (part 1).

[0039] Fig.12 This is the working state diagram of the support block in Example 2 (part 2).

[0040] Fig.13 This is the working state diagram of the support block in Example 2 (part 3).

[0041] Fig.14 This is the working state diagram of the support block in Example 2 (part 4).

[0042] Fig.15 This is the working state diagram of the support block in Example 2 (part 5).

[0043] Among them: 100, frame; 110, support cylinder; 120, support rod; 200, walking assembly; 210, walking wheel; 211, wheel bracket; 212, driving wheel; 213, driven wheel; 214, crawler; 215, motor; 220, third support rod; 230, third ring; 240, fourth support rod; 250, fourth ring; 260, second cylinder; 270, drive sleeve; 300, tool assembly; 310, cutter disc; 320, blade; 330, rotating shaft; 340, rotary drive; 350, rotary support body; 360, third cylinder; 370, tool housing; 400, support assembly; 410, support block; 411, mounting groove; 412, stepped hole; 420, first support rod; 430, The first ring; 440, the second support rod; 450, the second ring; 460, the first cylinder; 470, the front clamping assembly; 471, the front clamping rod; 472, the second connecting piece; 473, the front clamping rod; 474, the front second clamping rod; 475, the front hook; 480, the rear clamping assembly; 481, the rear clamping rod; 482, the spring; 483, the first connecting piece; 483-1, the connecting base plate; 483-2, the connecting sleeve; 483-3, the locking screw; 484, the rear clamping rod; 484-1, the boss; 485, the rear second clamping rod; 486, the rear hook; 500, the supporting cylinder; 510, the cylinder body; 511, the gap; 512, the serrated groove; 520, the arc lining plate; 521, the arc groove; 530, the buckle; 540, the rubber sleeve. DETAILED DESCRIPTION

[0044] The present invention is further described in detail below in conjunction with specific implementation modes.

[0045] Example 1

[0046] like Figures 1 to 8 As shown, the non-excavation repair robot for deformed and collapsed pipelines of this embodiment includes a frame 100, a walking assembly 200, a tool assembly 300, a support assembly 400 and a support cylinder 500;

[0047] like Figures 4 to 6As shown, the walking assembly 200 includes a walking wheel 210, a third support rod 220, a third ring 230, a fourth support rod 240, a fourth ring 250 and a second linear drive, one end of the third support rod 220 is hinged to the walking wheel 210 and the other end is hinged to the third ring 230, each walking wheel 210 is configured with two parallel third support rods 220, one end of the fourth support rod 240 is hinged to the third support rod 220 and the other end is hinged to the fourth ring 250; the frame 100 is provided with a support rod 120 coaxial with the support cylinder 110, the third ring 230 and the first support rod 240 are hinged to the third support rod 220 and the fourth ring 250. The four rings 250 are all sleeved on the support rod 120; the second linear actuator includes a second cylinder 260 and a drive sleeve 270, one end of the drive sleeve 270 is connected to the telescopic rod of the second cylinder 260, and the other end is sleeved on the support rod 120; the walking assembly 200 is equipped with three walking wheels 210, when the driving sleeve 270 drives the fourth ring 250 to move along the support rod 120, the three walking wheels 210 can be opened and closed; when in use, the three walking wheels 210 contact the inner wall of the pipeline to be repaired, driving the entire robot to walk in the pipeline;

[0048] like Figure 4 As shown, the walking wheel 210 includes a wheel bracket 211, a driving wheel 212, a driven wheel 213, a track 214 and a motor 215. The driving wheel 212 and the driven wheel 213 are both installed on the wheel bracket 211. The motor 215 drives the driving wheel 212 to rotate, and the track 214 is wound around the driving wheel 212 and the driven wheel 213.

[0049] like Figure 4 As shown, the tool assembly 300 includes a knife disc 310, a knife strip 320, a rotating shaft 330, a rotating driver 340, a rotating support body 350, a third cylinder 360 and a knife housing 370. The knife disc 310 is mounted on the frame 100 through the rotating support body 350. The knife housing 370 and the third cylinder 360 are both mounted on the knife disc 310. The rotating shaft 330 is connected to the telescopic rod of the third cylinder 360. One end of the knife strip 320 is hinged to the rotating shaft 330, and the middle part of the knife strip 320 is hinged to the knife housing 370. The rotating driver 340 drives the knife disc 310 to rotate, thereby driving the knife strip 320 to rotate to achieve cutting. It can be seen that when the third cylinder 360 drives the rotating shaft 330 to translate, the knife strip 320 rotates, and the end of the knife strip 320 extends toward the area outside the pipeline, which makes the diameter of the cylindrical space cut by the knife strip 320 slightly larger than the inner diameter of the pipeline.

[0050] like Figure 2 and Figure 4As shown, the support assembly 400 includes a support block 410, a first support rod 420, a first ring 430, a second support rod 440, a second ring 450 and a first linear drive. The frame 100 is provided with a support tube 110. The first ring 430 and the second ring 450 are both mounted on the support tube 110. One end of the first support rod 420 is hinged to the support block 410 and the other end is hinged to the first ring 430. Each support block 410 is configured with two parallel first support rods 420. One end of the second support rod 440 is hinged to the first support rod 420 and the other end is hinged to the second ring 450. The first linear drive drives the first ring 430 or the second ring 450 to move along the support tube 110. The support assembly 400 has three support blocks 410 in total. The first linear drive is a first cylinder 460. Obviously, when the first cylinder 460 drives the first ring 430 to move, the three support blocks 410 can be opened and closed.

[0051] The support cylinder 500 is sleeved on the support block 410. Figure 7 and Figure 8 As shown, the support cylinder 500 includes a cylinder 510, an arc lining plate 520, a buckle 530 and a rubber sleeve 540. The cylinder 510 is provided with an axial gap 511 so that the cylinder 510 can be expanded. The surface of the cylinder 510 is provided with a circumferential sawtooth groove 512. The arc lining plate 520 is fixed to the inner surface of the cylinder 510. The arc lining plate 520 straddles the axial gap 511 of the cylinder 510. The surface of the arc lining plate 520 is provided with an arc groove 521 aligned with the sawtooth groove 512. The buckle 530 is fixed on the arc groove 521 and inserted into the sawtooth groove 512. The buckle 530 itself has a certain elasticity. The rubber sleeve 540 is sleeved on the cylinder 510.

[0052] When the support block 410 applies radial force inside the cylinder 510, the cylinder 510 begins to expand, the axial gap 511 of the cylinder 510 becomes larger, and the buckle 530 will also passively move in the serrated groove 512; when the cylinder 510 expands to a sufficient size, the support block 410 is removed, and the cylinder 510 is now affected by the buckle 530 and the serrated groove 512 and cannot retract; the structures such as the buckle 530 and the serrated groove 512 make the support cylinder 500 have a self-locking function, that is, the support cylinder 500 will not retract after being expanded.

[0053] The non-excavation repair robot for deformed and collapsed pipelines in this embodiment is mainly used to clean the deformed and collapsed area of ​​the pipeline and implement support, so as to establish a construction space for the subsequent laying of new repair pipelines. The specific working principle is:

[0054] (1) Figure 1As shown, the support cylinder 500 is sleeved on the support block 410, the walking wheels 210 in the walking assembly 200 are adjusted to open to a suitable size, the entire robot is placed in the pipeline to be repaired, and the robot is controlled to walk in the pipeline to the deformation and collapse area;

[0055] (2) The cutter assembly 300 is started, and the blade 320 rotates to cut the deformed collapsed area in the pipe. While the blade 320 is cutting, the angle of the blade 320 is appropriately adjusted so that the diameter of the cylindrical space cut by the blade 320 is slightly larger than the inner diameter of the pipe;

[0056] (3) The robot moves so that the support cylinder 500 is aligned with the cutting area; then the three support blocks 410 in the support assembly 400 open outward, so that the support cylinder 500 expands to a suitable size;

[0057] (4) The support block 410 is closed, the support cylinder 500 remains in place, and the walking assembly 200 drives the entire robot to exit the pipeline.

[0058] If the deformed and collapsed area in the pipeline is too long, a new support cylinder 500 needs to be installed after the robot exits, and then continue to enter the pipeline to work; when all the support work is completed, other equipment will enter the pipeline to lay a new repair pipeline.

[0059] Example 2

[0060] like Figures 9 to 11 As shown, this embodiment is basically the same as embodiment 1, the only difference is that the support assembly 400 in this embodiment also includes a front clamp assembly 470 and a rear clamp assembly 480, and the support block 410 is provided with a mounting groove 411 and a stepped hole 412, and the stepped hole 412 is connected to the mounting groove 411.

[0061] from Figure 2 It can be seen that the support block 410 in the first embodiment is only a geometric body with a crescent-shaped cross section, while in this embodiment, a mounting groove 411 and a stepped hole 412 communicating with each other are provided in the support block 410, which are used to install the front clamp assembly 470 and the rear clamp assembly 480 respectively;

[0062] like Fig.11 The front clamp assembly 470 includes a front clamp rod 471 and a second connecting member 472. The front clamp rod 471 is a segmented structure. The front clamp rod 471 includes a front clamp rod 473 and a front second clamp rod 474. The front clamp rod 473 is hinged in the installation groove 411 and a torsion spring is provided at the hinge. The front second clamp rod 474 is connected to the front clamp rod 473 through the second connecting member 472. The exposed ends of the front second clamp rods 474 are provided with front hooks 475.

[0063] The rear clamp assembly 480 includes a rear clamp rod 481, a spring 482 and a first connecting member 483. The rear clamp rod 481 is a segmented structure. The rear clamp rod 481 includes a rear first clamp rod 484 and a rear second clamp rod 485. The rear first clamp rod 484 is located in the stepped hole 412. The rear first clamp rod 484 is provided with a convex shoulder 484-1. The spring 482 is sleeved on the rear first clamp rod 484 and is located in the stepped hole 412. The rear second clamp rod 485 is connected to the rear clamp rod 484 through the first connecting member 483. Rod 484, the exposed ends of the rear two clamping rods 485 are provided with rear hooks 486; wherein, the first connecting member 483 comprises a connecting base plate 483-1, a connecting sleeve 483-2 and a locking screw 483-3, the connecting sleeve 483-2 is fixed on the connecting base plate 483-1, the connecting base plate 483-1 is hinged with the rear clamping rod 484 and a torsion spring is provided at the hinge, the rear two clamping rods 485 are inserted into the connecting sleeve 483-2 and fixed by the locking screw 483-3;

[0064] The second connecting member 472 has the same structure as the first connecting member 483 , but the second connecting member 472 is directly welded to the previous clamping rod 473 .

[0065] Similar to Example 1, the support cylinder 500 in this embodiment is as follows: Figure 1 As shown, the support cylinder 500 is sleeved on the support block 410. As the entire robot moves forward in the pipeline, theoretically, the support cylinder 500 will not be subjected to axial load, but this is not the case in actual work; the waste residue cut by the tool assembly 300 will accumulate in the pipeline, and the support cylinder 500 will easily collide with the accumulated waste residue, thereby causing the support cylinder 500 to shift forward and backward or become skewed on the support block 410. The front clamp assembly 470 and the rear clamp assembly 480 in this embodiment are used to fix the support cylinder 500 on the support block 410. The specific principle is:

[0066] (1) Fig.11 As shown, before the support block 410 is put on the support cylinder 500, the worker manually rotates the front clamping rod 471 so that the position of the front hook 475 is lower than the support block 410. At this time, the rear clamping rod 481 is inserted under the front clamping rod 471 to ensure that the front clamping rod 471 cannot be reset;

[0067] (2) Fig.12 As shown, the worker inserts the support cylinder 500 into the support block 410 from the front. When the support cylinder 500 contacts the rear hook 486, the support cylinder 500 drives the rear clamping rod 481 to translate to the left synchronously.

[0068] (3) Fig.13As shown, when the support cylinder 500 moves to the left to the extreme position, the rear clamping rod 481 disengages from the bottom of the front clamping rod 471, the front clamping rod 471 is reset under the action of the torsion spring, and the front hook 475 is tilted up again. At this point, the front hook 475 and the rear hook 486 hook the two ends of the support cylinder 500 at the same time.

[0069] In this embodiment, the position of the support cylinder 500 in the pipeline is controlled by the walking of the robot, so the specific positioning of the support cylinder 500 in the robot is very important, that is, the relative position relationship between the support cylinder 500 and the support block 410 should be fixed, for example, ensure that the support block 410 is in the middle of the support cylinder after each support sleeve is put on; since the rear clamping rod 481 of this embodiment has a rear hook 486, the rear hook 486 can be used to fix the support cylinder 500 and to position the support cylinder 500. By reasonably setting the length of the rear clamping rod 481, it can be ensured that after the support cylinder 500 contacts the rear hook 486 and moves to the extreme position, the support block 410 is exactly in the middle of the support cylinder 500. However, in actual application, the support cylinder 500 often has multiple models, which means that the length of the support cylinder 500 is not fixed; once the length of the support cylinder 500 changes, the lengths of the front clamping rod 471 and the rear clamping rod 481 should also be adaptively changed; therefore, in this embodiment, the front clamping rod 471 and the rear clamping rod 481 are designed to be segmented, and the robot of this embodiment is equipped with a plurality of rear two clamping rods 485 and front two clamping rods 474 of different lengths. Before putting the support cylinder 500 on the support block 410, the worker can select the appropriate rear two clamping rods 485 and front two clamping rods 474 for installation;

[0070] When the present embodiment is working, if the deformation and collapse area in the pipeline is long, the repair robot may need to work multiple times to install multiple support cylinders 500; when installing the second support cylinder 500, if the second support cylinder 500 is Fig.14 As shown, the end of the first support cylinder 500 is fitted, then because the two ends of the second support cylinder 500 are hooked by the front hook 475 and the rear hook 486, the rear hook 486 will be blocked by the adjacent support cylinder 500, causing the support block 410 to be unable to expand normally, that is, Fig.14 To this end, the present embodiment provides a first connecting member 483 and a rear clamping rod 484 hinged, when the rear two clamping rods 485 and other support cylinders 500 after contact, the rear two clamping rods 485 will be as Fig.15 The passive rotation shown does not affect the normal expansion of the support block 410.

[0071] Note that the front hook 475 in this embodiment does not have the above problem because the front clamping rod 471 itself is rotatable.

[0072] Although the embodiments of the present invention are described in the specification, these embodiments are only for reference and should not limit the protection scope of the present invention. Various omissions, substitutions and changes within the scope of the present invention should be included in the protection scope of the present invention.

Claims

1. A trenchless repair robot for deformed and collapsed pipelines, characterized in that: The robot comprises a frame (100), a walking assembly (200), a cutter assembly (300), a support assembly (400) and a support cylinder (500); the walking assembly (200) and the cutter assembly (300) are both mounted on the frame (100); the walking assembly (200) drives the robot to walk in the pipeline, and the cutter assembly (300) cuts the deformed and collapsed pipeline; The support assembly (400) comprises a support block (410), a first support rod (420), a first sleeve (430), a second support rod (440), a second sleeve (450) and a first linear drive; the frame (100) is provided with a support tube (110); the first sleeve (430) and the second sleeve (450) are both sleeved on the support tube (110); one end of the first support rod (420) is hinged to the support block (410) and the other end is hinged to the first sleeve (430); one end of the second support rod (440) is hinged to the first support rod (420) and the other end is hinged to the second sleeve (450); the first linear drive drives the first sleeve (430) or the second sleeve (450) to move along the support tube (110); the number of the support blocks (410) is at least two and they are evenly arranged around the support tube (110); The support cylinder (500) is sleeved on the support block (410) and the support cylinder (500) can be expanded; The support assembly (400) further comprises a front clamp assembly (470) and a rear clamp assembly (480); the support block (410) is provided with a mounting groove (411) and a stepped hole (412); the stepped hole (412) is communicated with the mounting groove (411); The front clamping assembly (470) comprises a front clamping rod (471), the front clamping rod (471) is hinged in the mounting groove (411) and a torsion spring is arranged at the hinge, and a front hook (475) is arranged at the exposed end of the front clamping rod (471); The rear clamping assembly (480) comprises a rear clamping rod (481) and a spring (482), wherein the rear clamping rod (481) is provided with a boss (484-1), the rear clamping rod (481) is located in the stepped hole (412), the spring (482) is sleeved on the rear clamping rod (481) and is located in the stepped hole (412), and the exposed end of the rear clamping rod (481) is provided with a rear hook (486); When the front clamping rod (471) and the rear clamping rod (481) are opposite to each other, the front hook (475) and the rear hook (486) respectively hook the two ends of the supporting cylinder (500) sleeved on the supporting block (410).

2. The trenchless repair robot for deformed and collapsed pipelines according to claim 1 is characterized in that: The support cylinder (500) comprises a cylinder body (510), an arc-shaped lining plate (520) and a buckle (530); the cylinder body (510) is provided with an axial gap (511) so that the cylinder body (510) can be expanded; the surface of the cylinder body (510) is provided with a circumferential sawtooth groove (512); the arc-shaped lining plate (520) is fixed to the inner surface of the cylinder body (510); the surface of the arc-shaped lining plate (520) is provided with an arc-shaped groove (521) aligned with the sawtooth groove (512); the buckle (530) is fixed on the arc-shaped groove (521) and inserted into the sawtooth groove (512).

3. The trenchless repair robot for deformed and collapsed pipelines according to claim 2 is characterized in that: The supporting cylinder (500) further comprises a rubber sleeve (540), and the rubber sleeve (540) is sleeved on the cylinder body (510).

4. The trenchless repair robot for deformed and collapsed pipelines according to claim 3 is characterized in that: The walking assembly (200) comprises a walking wheel (210), a third support rod (220), a third ring (230), a fourth support rod (240), a fourth ring (250) and a second linear drive, one end of the third support rod (220) is hinged to the walking wheel (210) and the other end is hinged to the third ring (230), one end of the fourth support rod (240) is hinged to the third support rod (220) and the other end is hinged to the fourth ring (250); the frame (100) is provided with a support rod (120) coaxial with the support tube (110), the third ring (230) and the fourth ring (250) are both sleeved on the support rod (120), and the second linear drive drives the fourth ring (250) to move along the support rod (120); The tool assembly (300) comprises a cutter disc (310), a cutter strip (320), a rotating shaft (330), a rotary drive (340) and a rotary support body (350); the cutter disc (310) is mounted on a frame (100) via the rotary support body (350); the rotating shaft (330) is connected to the cutter disc (310); the cutter strip (320) is mounted on the rotating shaft (330); and the rotary drive (340) drives the cutter disc (310) and the rotating shaft (330) to rotate.

5. The trenchless repair robot for deformed and collapsed pipelines according to claim 4 is characterized in that: The first linear actuator is a first cylinder (460); The walking wheel (210) comprises a wheel bracket (211), a driving wheel (212), a driven wheel (213), a crawler belt (214) and a motor (215); the driving wheel (212) and the driven wheel (213) are both mounted on the wheel bracket (211); the motor (215) drives the driving wheel (212) to rotate; and the crawler belt (214) is wound around the driving wheel (212) and the driven wheel (213); The second linear actuator comprises a second cylinder (260) and a drive sleeve (270); one end of the drive sleeve (270) is connected to the telescopic rod of the second cylinder (260), and the other end is sleeved on the support rod (120).

6. The trenchless repair robot for deformed and collapsed pipelines according to claim 5 is characterized in that: The tool assembly (300) further comprises a third cylinder (360) and a tool housing (370); one end of the knife bar (320) is hinged to the rotating shaft (330); the middle part of the knife bar (320) is hinged to the tool housing (370); the tool housing (370) and the third cylinder (360) are both mounted on the knife disc (310); and the rotating shaft (330) is connected to the telescopic rod of the third cylinder (360).

7. The trenchless repair robot for deformed and collapsed pipelines according to claim 1 is characterized in that: The rear clamping assembly (480) further includes a first connecting member (483); the rear clamping rod (481) is a segmented structure; the rear clamping rod (481) includes a rear first clamping rod (484) and a rear second clamping rod (485); the rear first clamping rod (484) is located in the stepped hole (412); the rear second clamping rod (485) is connected to the rear first clamping rod (484) via the first connecting member (483); The front clamp assembly (470) further includes a second connecting member (472); the front clamp rod (471) is a segmented structure; the front clamp rod (471) includes a front clamp rod (473) and a front second clamp rod (474); the front clamp rod (473) is hinged in the mounting groove (411); the front second clamp rod (474) is connected to the front clamp rod (473) via the second connecting member (472).

8. The trenchless repair robot for deformed and collapsed pipelines according to claim 7 is characterized in that: The first connecting member (483) comprises a connecting base plate (483-1), a connecting sleeve (483-2) and a locking screw (483-3); the connecting sleeve (483-2) is fixed on the connecting base plate (483-1); the connecting base plate (483-1) is connected to a rear clamping rod (484); the rear second clamping rod (485) is inserted into the connecting sleeve (483-2) and fixed by the locking screw (483-3); The second connecting member (472) has the same structure as the first connecting member (483).

9. The trenchless repair robot for deformed and collapsed pipelines according to claim 8, characterized in that: The connecting base plate (483-1) of the first connecting member (483) is hinged to the rear clamping rod (484), and a torsion spring is provided at the hinge.

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