A pipe expansion robot

Abstract

The present invention relates to the field of underground pipeline repair, and specifically to a pipe expansion robot, comprising a radial pushing mechanism, an expansion actuator, a driving mechanism and an axial pushing mechanism. The expansion actuator is a flexible annular structure, which is sleeved on the outside of the radial pushing mechanism and is detachably connected to the circumferential surface of the radial pushing mechanism. The driving mechanism can enable the radial pushing mechanism to push radially toward the periphery, so that the expansion actuator can expand concentrically, so that the depressed part of the cable pipe is restored to be flat. When the depressed part of the cable pipe is restored to be flat, the pipe expansion robot can be pulled back to the ground surface as a whole with the help of the axial pushing mechanism. The expansion actuator is separated from the radial pushing mechanism and remains in the original depressed part of the cable pipe. The present invention can restore the depressed part of the cable pipe to be flat, and can maintain the restored flat state to prevent the original depressed part from shrinking again.

Description

Technical Field

[0001] The present invention relates to the technical field of underground pipeline repair, and in particular to a pipe expansion robot. Background Art

[0002] Cable conduits are underground structures used to run cables. They protect the cables and offer a degree of pressure resistance, waterproofing, and corrosion resistance. CPVC pipes are particularly common, as they offer excellent heat resistance, corrosion resistance, flame retardancy, and insulation.

[0003] Given that buildings in cities are relatively dense, a trenchless method is generally used when laying cable conduits below the surface: first, holes are drilled on the surface to avoid the intervals between buildings, and then a shield machine drills into the hole to excavate the tunnel. One end of a section of cable conduit is placed through one hole, and the other end is passed through a nearby hole. Both ends of the cable conduit are temporarily exposed on the surface. According to the above method, multiple sections of cable conduit are laid axially adjacent to each other, and then the ends of the conduits protruding from the surface are sawed off, and finally the cables are passed through the conduits.

[0004] However, during the laying process of cable pipes, due to the gravity of the soil and the mutual compression between the pipes, the pipes will form local depressions, which will reduce the diameter of the pipes at the depressions and prevent the cables from passing through smoothly. The current solution to the problem of cable pipe depressions is to use a pipe expansion tool to reach into the depressed pipe and push the depression back. For example, the Chinese patent with the announcement number CN208697958U provides a CPVC double-outlet power pipe expanding machine that uses air pressure to push out the depressed part of the pipe. However, when using the air pressure expansion method to expand the pipe, it is impossible to know whether the depression has been truly restored before the air pressure is removed. That is, when the air pressure is removed, the restored part may become depressed again, or it may be necessary to repeatedly remove the air pressure, check the pipe diameter and increase the pressure to expand the depressed part of the pipe, which is more troublesome. Summary of the Invention

[0005] Therefore, the technical problem to be solved by the present invention is that when the existing pipe expansion tool expands the depressed part of the cable pipe, since it uses air pressure to push out, after the air pressure is removed, the restored part may become depressed again. The real restoration may require repeated pressurization for pipe expansion, which is more troublesome.

[0006] In order to solve the above technical problems, the present invention provides a pipe expanding robot, including a radial pushing mechanism, an expansion actuator, a driving mechanism and an axial pushing mechanism. The expansion actuator is a flexible annular structure, which is sleeved on the outside of the radial pushing mechanism and is detachably connected to the circumferential surface of the radial pushing mechanism. The rear end of the radial pushing mechanism is connected to the actuator of the driving mechanism, and the rear end of the driving mechanism is connected to the axial pushing mechanism. The axial pushing mechanism is exposed on the ground surface and can be used to push the pipe expanding robot into the deep of the cable pipe with the help of the axial pushing mechanism. The driving mechanism can enable the radial pushing mechanism to push radially toward the periphery, so that the expansion actuator can expand concentrically, so that the depressed part of the cable pipe is restored to a flat state. When the depressed part of the cable pipe is restored to a flat state, the pipe expanding robot can be pulled back to the ground surface with the help of the axial pushing mechanism, and the expansion actuator is separated from the radial pushing mechanism and remains in the original depressed part of the cable pipe.

[0007] Furthermore, the radial pushing mechanism includes a screw, a first ball nut, a second ball nut, two upper support arms, two lower support arms, two right support arms, two left support arms, a lower saddle, an upper saddle, a right saddle and a left saddle, the screw is fixed to the driving mechanism, the first ball nut and the second ball nut are both sleeved on the screw, and the second ball nut is fixed to the driving mechanism, the top ends of the two upper support arms intersect, the top ends of the two upper support arms are hinged on the upper saddle, and the bottom ends are respectively hinged on the first ball Above the nut and the second ball nut, the bottom ends of the two lower support arms intersect, the top ends of the two lower support arms are respectively hinged to the bottom of the first ball nut and the second ball nut, the bottom ends of the two lower support arms are hinged to the lower saddle, the left ends of the two left saddles intersect, the right ends of the two left saddles are respectively hinged to the left sides of the first ball nut and the second ball nut, the right ends of the two right saddles intersect, and the left ends of the two right saddles are respectively hinged to the right sides of the first ball nut and the second ball nut.

[0008] Furthermore, the driving mechanism includes a motor and a reducer, the output shaft of the motor is connected to the input end of the reducer, and the output shaft of the reducer is coaxially connected to the screw rod.

[0009] Furthermore, it also includes a protective shell, the motor and the reducer are both arranged in the protective shell, and the second ball nut is fixed to the shell.

[0010] Furthermore, the expansion actuator includes a chain ring and four connecting blocks evenly spaced on the chain ring, the chain ring is formed by several connecting rods hinged end to end, and a torsion spring is provided at the hinge of two adjacent connecting rods, the connecting blocks are arranged between two adjacent connecting rods and hinged to the connecting rods, a slot is fixed on the connecting blocks, a buckle is fixed on the upper saddle, the lower saddle, the right saddle and the left saddle, each of the slots is engaged with a buckle, and the slot is configured to be able to be forcibly detached from the buckle only in the direction of the cable duct inlet.

[0011] Furthermore, it also includes several groups of transfer guide mechanisms, which include support columns, rollers and telescopic rods. One end of the support column is hinged to the connecting rod or the protective shell, and the other end is fixed with one of the rollers. The telescopic rod connects the support column with the connecting rod or the protective shell.

[0012] Furthermore, the axial pushing mechanism is composed of a plurality of ejector rods, and two adjacent ejector rods are connected together by a coupling.

[0013] The technical solution of the present invention has the following beneficial effects:

[0014] The present invention can use the axial pushing mechanism connected to the rear end exposed on the ground surface to push the pipe expansion robot in as a whole, and the driving mechanism can make the radial pushing mechanism push radially toward the periphery, so that the expansion actuator can expand concentrically, so that the depressed part of the cable pipe is restored to be flat. After the depressed part of the cable pipe is restored to be flat, the pipe expansion robot can be pulled back to the ground surface as a whole with the help of the axial pushing mechanism, and the expansion actuator is separated from the radial pushing mechanism. The expansion actuator remains in the original depressed part of the cable pipe, thereby continuing to press on the depressed part and maintaining the flatness there. The present invention can extend into the cable pipe, restore the depressed part of the cable pipe to be flat, and can maintain the restored flat state to prevent the original depressed part from shrinking again. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0016] Figure 1 This is a first-perspective overall schematic diagram of a pipe expansion robot provided by the present invention;

[0017] Figure 2A second perspective overall schematic diagram of a pipe expansion robot provided by the present invention;

[0018] Figure 3 It is a three-dimensional schematic diagram of the expansion actuator of the present invention;

[0019] Figure 4 A cross-sectional view of a pipe expansion robot provided by the present invention;

[0020] Figure 5 It is an exploded schematic diagram of two adjacent connecting rods on the expansion actuator of the present invention;

[0021] Figure 6 It is a schematic diagram of the connection between the connecting block on the expansion actuator and the upper saddle on the radial pushing mechanism of the present invention;

[0022] Figure 7 It is a partial schematic diagram of the axial pushing mechanism of the present invention.

[0023] 1. Radial pushing mechanism; 101. Screw; 102. First ball nut; 103. Second ball nut; 104. Upper support arm; 105. Lower support arm; 106. Right support arm; 107. Left support arm; 108. Lower saddle; 109. Upper saddle; 110. Right saddle; 111. Left saddle; 2. Expansion actuator; 21. Chain ring; 211. Connecting rod; 212. Torsion spring; 22. Connecting block; 221. Slot; 3. Driving mechanism; 31. Motor; 32. Reducer; 4. Axial pushing mechanism; 41. Push rod; 42. First universal joint; 5. Protective shell; 6. Buckle; 7. Transfer guide mechanism; 71. Support column; 72. Roller; 73. Telescopic rod; 8. Second universal joint; 9. Cable duct. DETAILED DESCRIPTION

[0024] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0025] In the description of the present invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of the present invention. They are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation, and therefore should not be construed as limitations on the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0026] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0027] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0028] The present invention provides a pipe expansion robot, comprising a radial pushing mechanism 1, an expansion actuator 2, a driving mechanism 3 and an axial pushing mechanism 4. The expansion actuator 2 is a flexible annular structure, which is sleeved on the outside of the radial pushing mechanism 1 and is detachably connected to the circumferential surface of the radial pushing mechanism 1. The rear end of the radial pushing mechanism 1 is connected to the actuator of the driving mechanism 3, and the rear end of the driving mechanism 3 is connected to the axial pushing mechanism 4. The axial pushing mechanism 4 is exposed to the ground. In the initial stage, the diameter of the expansion actuator 2 is smaller than the inner diameter of the cable pipe 9, which makes it convenient to push the axial pushing mechanism 4 along the axial direction of the cable pipe 9. The expansion actuator 2 can pass through the cable pipe 9 smoothly. When the axial pushing mechanism When being pushed along the axial direction of the cable duct 9, the pushing mechanism, the expansion actuator 2, and the driving mechanism 3 can be pushed into the interior of the cable duct 9 together. The driving mechanism 3 can cause the radial pushing mechanism 1 to push radially toward the periphery, thereby allowing the expansion actuator 2 to expand concentrically, so that the concave portion of the cable duct 9 is restored to a flat state. After the concave portion of the cable duct 9 is restored to a flat state, the pipe expansion robot can be pulled back to the ground surface with the help of the axial pushing mechanism 4. The expansion actuator 2 is separated from the radial pushing mechanism 1 and remains in the original concave portion of the cable duct 9, thereby continuously pressing the concave portion to maintain its flatness. Since the expansion actuator 2 is a ring-shaped structure, the cable can still pass through it.

[0029] The radial pushing mechanism 1 includes a screw 101, a first ball nut 102, a second ball nut 103, two upper support arms 104, two lower support arms 105, two right support arms 106, two left support arms 107, a lower saddle 108, an upper saddle 109, a right saddle 110 and a left saddle 111. The screw 101 is fixed to the driving mechanism 3. The first ball nut 102 and the second ball nut 103 are both sleeved on the screw 101, and the second ball nut 103 is fixed to the driving mechanism 3. The top ends of the two upper support arms 104 intersect, and the top ends of the two upper support arms 104 are hinged on the upper saddle 109, and the bottom ends are hinged. Connected above the first ball nut 102 and the second ball nut 103, the bottom ends of the two lower support arms 105 intersect, the top ends of the two lower support arms 105 are hinged to the bottom of the first ball nut 102 and the second ball nut 103 respectively, the bottom ends of the two lower support arms 105 are hinged to the lower saddle 108, the left ends of the two left saddles 111 intersect, and the right ends of the two left saddles 111 are hinged to the left sides of the first ball nut 102 and the second ball nut 103 respectively, the right ends of the two right saddles 110 intersect, and the left ends of the two right saddles 110 are hinged to the right sides of the first ball nut 102 and the second ball nut 103 respectively.

[0030] When the screw rod 101 rotates forward, the first ball nut 102 approaches the second ball nut 103, the angle between the two support arms in each direction becomes smaller, and the straight-line distance between the top of the angle between the two support arms in each direction and the screw rod 101 becomes larger, which also increases the straight-line distance between the lower saddle 108, the upper saddle 109, the right saddle 110 and the right saddle 110 and the center of the screw rod 101, and conversely, the straight-line distance between the lower saddle 108, the upper saddle 109, the right saddle 110 and the right saddle 110 and the inner wall of the cable duct 9 becomes smaller; when the screw rod 101 rotates backward, the straight-line distance between the lower saddle 108, the upper saddle 109, the right saddle 110 and the right saddle 110 and the inner wall of the cable duct 9 becomes larger.

[0031] The driving mechanism 3 includes a motor 31 and a reducer 32. The output shaft of the motor 31 is connected to the input end of the reducer 32. The output shaft of the reducer 32 is coaxially connected to the screw rod 101. The motor 31 can make the screw rod 101 rotate forward or reverse. The purpose of the reducer 32 is to reduce the rotation speed of the output shaft of the motor 31 and increase the torque, so as to better cooperate with the screw rod 101.

[0032] The present invention also includes a protective shell 5, the motor 31 and the reducer 32 are both arranged in the protective shell 5, and the second ball nut 103 is fixed to the shell. On the one hand, the protective shell 5 can be waterproof and dustproof, preventing water vapor from eroding the motor 31 and the reducer 32 and preventing dust accumulation on the motor 31 and the reducer 32. On the other hand, the shell can be used to fix the second ball nut 103 to prevent the second ball nut 103 from moving when the screw rod 101 rotates.

[0033] The expansion actuator 2 includes a chain ring 21 and four connecting blocks 22 evenly spaced on the chain ring 21. The chain ring 21 is formed by a number of connecting rods 211 hinged end to end, and a torsion spring 212 is provided at the hinge of two adjacent connecting rods 211. The torsion spring 212 can enable the expansion actuator 2 to adapt to the diameter of the cable conduit 9 and can also use mechanical limiting to prevent the expansion actuator 2 from retracting, thereby temporarily shaping the expansion actuator 2.

[0034] The connecting blocks 22 are each arranged between two adjacent connecting rods 211 and are hinged to the connecting rods 211. A slot 221 is fixed on the connecting block 22, and a buckle 6 is fixed on the upper saddle 109, the lower saddle 108, the right saddle 110 and the left saddle 111. Each slot 221 is engaged with a buckle 6. The cross-sectional shape of the slot 221 is T-shaped, and the cross-sectional shape of the buckle 6 is also T-shaped. The slot 221 is provided with an opening on the rear side of the connecting block 22, so that the slot 221 is configured to be forcibly disengaged from the buckle 6 only in the direction of the inlet of the cable duct 9.

[0035] The present invention also includes several sets of transfer guide mechanisms 7, which include support columns 71, rollers 72, and telescopic rods 73. One end of the support column 71 is hinged to the connecting rod 211 or the protective shell 5, and the other end is fixed with a roller 72. The telescopic rod 73 connects the support column 71 to the connecting rod 211 or the protective shell 5. Due to the hinged structure and telescopic rod 73, the angle of the transfer guide mechanism 7 can adapt to the inner diameter of the cable conduit 9, thereby ensuring that the roller 72 always contacts the cable conduit 9, providing guidance for the movement of the radial thrust mechanism 1, the expansion actuator 2, the drive mechanism 3, and the axial push mechanism 4.

[0036] The axial pushing mechanism 4 is composed of several spliced ​​ejector rods 41. Two adjacent ejector rods 41 are connected by a first universal joint 42. The innermost ejector rod 41 is connected to the motor 31 housing by a second universal joint 8. The spliced ​​structure of the axial pushing mechanism 4 allows it to be adjusted to the actual length of the cable conduit 9, allowing the expansion actuator 2 to be moved to the recessed position after the expansion robot is inserted into the cable conduit 9.

[0037] Obviously, the above embodiments are merely examples for clarity of explanation and are not intended to limit the implementation methods. Those skilled in the art will readily appreciate that other variations or modifications based on the above descriptions are possible. It is not necessary and impossible to enumerate all implementation methods here. Obvious variations or modifications arising therefrom remain within the scope of protection of the present invention.

Claims

1. A pipe expansion robot, characterized in that: The invention comprises a radial pushing mechanism (1), an expansion actuator (2), a driving mechanism (3) and an axial pushing mechanism (4), wherein the expansion actuator (2) is a flexible annular structure, which is sleeved on the outside of the radial pushing mechanism (1) and is detachably connected to the circumferential surface of the radial pushing mechanism (1), the rear end of the radial pushing mechanism (1) is connected to the actuator of the driving mechanism (3), the rear end of the driving mechanism (3) is connected to the axial pushing mechanism (4), and the axial pushing mechanism (4) is exposed on the ground and can be pushed by the axial pushing mechanism (4). The feeding mechanism (4) pushes the pipe expansion robot to the depth of the cable pipe (9), and the driving mechanism (3) can enable the radial pushing mechanism (1) to push radially toward the periphery, so that the expansion actuator (2) can expand concentrically, so that the concave part of the cable pipe (9) is restored to be flat. When the concave part of the cable pipe (9) is restored to be flat, the pipe expansion robot can be pulled back to the ground surface by means of the axial pushing mechanism (4), and the expansion actuator (2) is separated from the radial pushing mechanism (1) and remains in the original concave part of the cable pipe (9); The radial pushing mechanism (1) comprises a screw (101), a first ball nut (102), a second ball nut (103), two upper support arms (104), two lower support arms (105), two right support arms (106), two left support arms (107), a lower saddle (108), an upper saddle (109), a right saddle (110) and a left saddle (111), wherein the screw (101) is fixed to the driving mechanism (3), the first ball nut (102) and the second ball nut (103) are both sleeved on the screw (101), and the second ball nut (103) is fixed to the driving mechanism (3), the top ends of the two upper support arms (104) intersect, the top ends of the two upper support arms (104) are both hinged to the upper saddle (109), and the bottom ends are respectively The lower support arms (105) are hinged above the first ball nut (102) and the second ball nut (103), the bottom ends of the two lower support arms (105) intersect, the top ends of the two lower support arms (105) are respectively hinged below the first ball nut (102) and the second ball nut (103), the bottom ends of the two lower support arms (105) are hinged on the lower saddle (108), the left ends of the two left saddles (111) intersect, the right ends of the two left saddles (111) are respectively hinged to the left sides of the first ball nut (102) and the second ball nut (103), the right ends of the two right saddles (110) intersect, and the left ends of the two right saddles (110) are respectively hinged to the right sides of the first ball nut (102) and the second ball nut (103); The driving mechanism (3) comprises a motor (31) and a reducer (32), wherein the output shaft of the motor (31) is connected to the input end of the reducer (32), and the output shaft of the reducer (32) is coaxially connected to the screw rod (101); It also includes a protective shell (5), the motor (31) and the reducer (32) are both arranged in the protective shell (5), and the second ball nut (103) is fixed to the protective shell (5); The expansion actuator (2) comprises a chain ring (21) and four connecting blocks (22) evenly spaced apart on the chain ring (21); the chain ring (21) is formed by hingedly connecting a plurality of connecting rods (211) end to end, and a torsion spring (212) is provided at the hinged joint of two adjacent connecting rods (211); the connecting blocks (22) are each arranged between two adjacent connecting rods (211) and hingedly connected to the connecting rods (211); a card slot (221) is fixed on each of the connecting blocks (22); a buckle (6) is fixed on each of the upper saddle (109), the lower saddle (108), the right saddle (110) and the left saddle (111); each of the card slots (221) is engaged with a buckle (6), and the card slot (221) is configured to be forcibly detached from the buckle (6) only in the direction of the cable duct (9) inlet.

2. A pipe expansion robot according to claim 1, characterized in that: The invention also includes several groups of transfer guide mechanisms (7), wherein the transfer guide mechanisms (7) include a support column (71), a roller (72) and a telescopic rod (73), wherein one end of the support column (71) is hinged to the connecting rod (211) or the protective shell (5), and the other end is fixed with one of the rollers (72), and the telescopic rod (73) connects the support column (71) with the connecting rod (211) or the protective shell (5).

3. A pipe expansion robot according to claim 1 or 2, characterized in that: The axial pushing mechanism (4) is composed of a plurality of ejector rods (41) spliced ​​together, and two adjacent ejector rods (41) are connected together by a coupling.

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