Trenchless urban drainage pipeline repair device and repair method

Abstract

The invention discloses a trenchless urban drainage pipe repair device and a repair method, and relates to the technical field of pipe repair and dredging. The repair device comprises a traveling assembly, a correction unit and a scraper assembly, wherein the correction unit and the scraper assembly are respectively arranged on both sides of the traveling assembly, the traveling assembly comprises a base and a traveling wheel group, the correction unit comprises a reaming part and a rotating part, the reaming part comprises a chassis and a reaming head, and the chassis is movably connected to the reaming head. The rotating part of the invention drives the reaming part to rotate, and the expansion assembly drives the reaming head to expand, and the repair device moves forward smoothly. The reaming head is used to expand outward so that the shape of the deformed area of ​​the drainage pipe is gradually restored under the support of the reaming head. After the three-way valve disconnects the connection between the water inlet joint, the water guide pipe and the water inlet pipe, water is transported into the water inlet pipe to expand the corrugated pipe, driving the traveling assembly and the reaming head of the correction unit to move forward as a whole, thereby clearing the obstruction on the inner wall of the drainage pipe.

Description

Technical Field

[0001] The invention relates to the technical field of pipeline repair and dredging, and in particular to a trenchless urban drainage pipeline repair device and a repair method. Background Art

[0002] Trenchless technology refers to the repair of various old, obsolete and defective underground urban pipelines while excavating a very small part of the surface (generally a small area of ​​excavation at the entrance and exit). Trenchless technology solves the interference of traditional excavation construction on residents' lives, as well as the damage and adverse effects on traffic, the environment and the foundations of surrounding buildings.

[0003] A Chinese patent with authorization announcement number CN114688385B discloses a trenchless drainage pipe pretreatment robot, including a walking device, a hole expanding device arranged at the front end of the walking device, and a supporting device arranged at the rear end of the walking device. The hole expanding device includes a hole expanding cylinder and a first driving assembly that drives the hole expanding cylinder to rotate. The outer diameter of the hole expanding cylinder matches the inner diameter of the drainage pipe to be repaired.

[0004] A Chinese patent with authorization announcement number CN113898815B discloses a trenchless device for repairing deformation and collapse of drainage pipes and a repair method thereof, including a resin plate, a top plate, a multi-section telescopic cylinder and a posture adjustment base assembly. The first end of the top plate is connected to the resin plate, the second end is connected to the first end of the force sensor, the second end of the force sensor is connected to the multi-section telescopic cylinder, and the posture adjustment base assembly is symmetrically distributed on both sides of the lower part of the main mounting plate. However, when obstructions accumulate inside the drainage pipe, the obstructions affect the movement of the repair device in the drainage pipe, resulting in the repair device being unable to reach the deformed area of ​​the drainage pipe.

[0005] In addition, when the obstruction formed inside the drainage pipe is thicker and harder, the obstruction is difficult to break, and the resistance of the obstruction will cause the repair device to slip in place. When the drainage pipe is deformed to a large extent, the resistance formed in the deformed area of ​​the drainage pipe will affect the hole expansion and repair of the deformed area of ​​the drainage pipe by the hole expansion component.

[0006] Therefore, a non-excavation urban drainage pipe repair device and repair method are proposed to solve the above problems. Summary of the invention

[0007] The purpose of the present invention is to disclose a non-excavation urban drainage pipe repair device and a repair method to solve the problems raised in the above background technology.

[0008] To achieve the above objectives, the present invention is implemented through the following technical solutions: a non-excavation urban drainage pipe repair device, comprising a traveling component, a correction unit and a scraper component, wherein the correction unit and the scraper component are respectively arranged on both sides of the traveling component;

[0009] The traveling assembly includes a base and a traveling wheel set, the correction unit includes a reaming part and a rotating part, the reaming part includes a chassis and a reaming head, the chassis is movably connected to the reaming head, and an expansion assembly is provided in the middle of the chassis;

[0010] The scraper assembly includes a support ring and a scraper piece, an impeller is provided in the middle of the support ring, a water inlet joint and a return pipe are respectively provided on both sides of the middle of the support ring, the support ring is rotatably connected to the base, the support ring and the scraper piece are elastically connected, a water guide pipe is provided on the water inlet joint, a three-way valve is provided at the connection between the water guide pipe and the water inlet joint, a bellows is provided at one end of the three-way valve away from the support ring, an inner cavity is opened inside the support ring, a through hole is opened in the circumference of the support ring, and one end of the water guide pipe away from the water inlet joint is connected with the inner cavity.

[0011] Optionally, the number of the reaming heads is not less than four, a limiting slot is provided on the chassis, and a limiting block that slidably cooperates with the limiting slot is provided on a side of the reaming head close to the chassis.

[0012] Optionally, the expansion component includes a cylinder and a support column arranged in the middle of the chassis, the support column is fixedly connected to the fixed end of the cylinder, a movable ring is movably connected to the support column, the movable ring is fixedly connected to the telescopic end of the cylinder, a hinged plate is hinged on the movable ring, and the end of the hinged plate away from the movable ring is movably hinged to the inner side of the reaming head.

[0013] Optionally, the rotating part includes a rotating base, a rotating groove is opened on the inner side of the rotating base, a motor is provided inside the rotating base, a gear is provided at the output end of the motor, a gear ring is provided on the side of the chassis close to the rotating base, the gear ring is located inside the rotating groove and is meshed with the gear, and the rotating base is fixedly connected to the traveling assembly.

[0014] Optionally, the traveling wheel group is installed on the outside of the base, an elastic base is provided at the bottom of the traveling wheel group, a first pressure sensor is provided between the traveling wheel group and the elastic base, and each traveling wheel group is provided with a driving unit, which drives the traveling wheel group to rotate and move.

[0015] Optionally, the end of the return pipe away from the impeller passes through the support ring, the end of the water inlet joint away from the support ring is rotatably connected to the water inlet pipe, the front end of the support column is provided with an axial pressure sensor, and a radial pressure sensor is provided between the reaming head and the hinge plate.

[0016] Optionally, a bearing is provided on the side of the base close to the support ring, the outer ring of the bearing is fixedly connected to the base, the inner ring of the bearing is fixedly connected to the rotating seat, a slot is provided on the rotating seat, the slot corresponds to the connecting rod, a compression spring is provided inside the slot, and one end of the compression spring is fixedly connected to the connecting rod.

[0017] Optionally, a telescopic groove is opened on the circumference of the support ring, an electric spring is arranged inside the telescopic groove, the scraper is fixedly connected to the electric spring, the scraper comprises a telescopic column and a scraper sheet, the inner end of the telescopic column is fixedly connected to the electric spring, and the scraper sheet is arranged at one end of the telescopic column away from the electric spring.

[0018] Optionally, a connecting rod is provided on one side of the support ring close to the base, one end of the connecting rod is connected to a rotating seat, the rotating seat is rotatably connected to the base, and an impact block is provided on the connecting rod.

[0019] The present invention also discloses a method for repairing a trenchless urban drainage pipeline. The method repairs the drainage pipeline using the trenchless urban drainage pipeline repair device as described above, and comprises the following steps:

[0020] S1, the repair device is driven by the moving component to move toward the obstruction position in the drainage pipe, and in this process, the obstruction attached to the inner wall of the drainage pipe is removed by driving the hole expansion part by the rotating part, so that the repair device can move smoothly with the moving component;

[0021] S2, simultaneously correcting the deformed area of ​​the drainage pipe by the correction unit, and using the cooperation between the expansion component in the correction unit and the reaming part to repair the deformed area of ​​the drainage pipe by expanding the diameter of the reaming part;

[0022] S3, the water passes through the impeller inside the support ring through the water inlet joint. In the process of passing through the impeller, the support ring and the scraper are driven to rotate, and the scraper removes the attachments on the inner wall of the drainage pipe;

[0023] S4. During the process of the scraper element removing the attachments on the inner wall of the drainage pipe, water enters the inner cavity through the water conduit and then sprays out through the through hole, impacting the attachments on the inner wall of the drainage pipe and cleaning the scraper element at the same time.

[0024] Technical effects and advantages of the present invention:

[0025] 1. In the present invention, the rotating part drives the reaming part to rotate, and the expansion component of the reaming part drives the reaming head to expand. During the expansion process, the reaming head squeezes and breaks the obstruction on the inner wall of the drainage pipe, so that the moving component drives the repair device to move forward smoothly. At the same time, the reaming head is used to expand outward to support the deformed area of ​​the drainage pipe, so that the shape of the deformed area of ​​the drainage pipe is gradually restored.

[0026] 2. The present invention removes the dirt attachments on the inner wall of the drainage pipe through the scraper assembly to eliminate the problem of the dirt attachments affecting the circulation of the drainage pipe. At the same time, external water enters the inner cavity through the water pipe and then sprays out through the hole to impact the attachments on the inner wall of the drainage pipe, thereby accelerating the separation of the dirt attachments from the inner wall of the drainage pipe.

[0027] 3. The present invention disconnects the water inlet joint, the water guide pipe and the water inlet pipe through a three-way valve, so that water is transported into the water inlet pipe and the bellows is rapidly extended. The support ring moves toward the base, and the impact block contacts and collides with the base, driving the advancing assembly and the reaming head of the correction unit to move forward as a whole, thereby impacting the obstruction on the inner wall of the drainage pipe and accelerating the removal of the obstruction on the inner wall of the drainage pipe.

[0028] 4. In the process of repairing and retreating the deformed area in the drainage pipe of the present invention, water continues to pass through the impeller and drives the support ring and the scraper to rotate. The water entering the inner cavity is sprayed toward the sludge impurities on the rear side of the support ring through the through hole. At the same time, the electric spring repeatedly expands and contracts, and the scraper breaks up the larger impurities on the rear side of the support ring. The thrust of the water sprayed outward from the through hole can avoid the problem of excessive accumulation of sludge impurities and the formation of travel resistance on the repair device. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0030] Figure 2 It is a schematic diagram of the hole expansion structure of the present invention;

[0031] Figure 3 For the present invention Figure 2 Schematic diagram of the enlarged structure of the middle A area;

[0032] Figure 4 It is a schematic diagram of the rotating part structure of the present invention;

[0033] Figure 5 It is a schematic diagram of the traveling wheel set structure of the present invention;

[0034] Figure 6 It is a schematic diagram of the structure of the scraper assembly of the present invention;

[0035] Figure 7 It is a schematic diagram of the connection structure between the traveling assembly and the scraping assembly of the present invention;

[0036] Figure 8 It is a schematic diagram of the internal structure of the support ring of the present invention;

[0037] Fig. 9 For the present invention Figure 7 Schematic diagram of the enlarged structure of area B in the middle.

[0038] In the figure: 1, traveling assembly; 101, base; 102, traveling wheel group; 103, elastic base; 104, rotating seat; 1041, slot; 1042, compression spring; 2, correction unit; 201, reaming part; 2011, chassis; 20111, limit groove; 20112, gear ring; 2012, reaming head; 20121, limit block; 2013, cylinder; 2014, support column; 2015, movable ring; 2016, hinge plate; 202, rotating part; 2 021, rotating base; 2022, rotating groove; 2023, motor; 2024, gear; 3, scraper assembly; 301, support ring; 3011, telescopic groove; 3012, electric spring; 3013, inner cavity; 3014, through hole; 302, scraper; 303, impeller; 304, water inlet joint; 3041, water inlet pipe; 3042, bellows; 3043, three-way valve; 305, return pipe; 306, connecting rod; 3061, impact block; 307, water guide pipe. DETAILED DESCRIPTION

[0039] In order to more clearly understand the above-mentioned purposes, features and advantages of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0040] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from the description. Therefore, the protection scope of the present invention is not limited to the specific embodiments disclosed below.

[0041] Embodiment 1

[0042] See also Figure 1-9 The present embodiment discloses a trenchless urban drainage pipe repair device and repair method, comprising a traveling component 1, a correction unit 2 and a scraper component 3, wherein the correction unit 2 and the scraper component 3 are respectively arranged on both sides of the traveling component 1, and the traveling component 1 drives the repair device as a whole to move in the drainage pipe, and the correction unit 2 is used to expand and repair the deformed area in the drainage pipe, and the scraper component 3 is used to remove dirt and other attachments on the inner wall of the drainage pipe.

[0043] The correction unit 2 includes a reaming portion 201 and a rotating portion 202. The reaming portion 201 includes a chassis 2011 and a reaming head 2012. The chassis 2011 is movably connected to the reaming head 2012. An expansion component is provided in the middle of the chassis 2011. The rotating portion 202 drives the reaming portion 201 to rotate, and the expansion component drives the reaming portion 201 to expand and contract.

[0044] The end of the reaming portion 201 away from the chassis 2011 is in a conical structure, the number of reaming heads 2012 is no less than four, a limiting slot 20111 is provided on the chassis 2011, and a limiting block 20121 that slidably cooperates with the limiting slot 20111 is provided on the side of the reaming head 2012 close to the chassis 2011. The movement of the reaming head 2012 is limited by the cooperation between the limiting slot 20111 and the limiting block 20121, and the reaming head 2012 moves along the path of the limiting slot 20111 when expanding.

[0045] The traveling assembly 1 includes a base 101 and a traveling wheel group 102. The traveling wheel group 102 is installed on the outside of the base 101. An elastic base 103 is provided at the bottom of the traveling wheel group 102. A first pressure sensor is provided between the traveling wheel group 102 and the elastic base 103. The first pressure sensor is used to detect dirt adhesion on the inner wall of the drainage pipe. Each traveling wheel group 102 is provided with a driving unit, which drives the traveling wheel group 102 to rotate and move.

[0046] The scraper assembly 3 includes a support ring 301 and a scraper member 302. An impeller 303 is provided in the middle of the support ring 301. A water inlet joint 304 and a water return pipe 305 are provided on both sides of the middle of the support ring 301 respectively. The end of the water return pipe 305 away from the impeller 303 passes through the support ring 301. The support ring 301 is rotatably connected to the base 101. When water passes through the impeller 303 through the water inlet joint 304, the impeller 303 drives the support ring 301, the scraper member 302 and the base 101 to rotate synchronously.

[0047] Among them, a connecting rod 306 is provided on the side of the support ring 301 close to the base 101, one end of the connecting rod 306 is connected to the rotating seat 104, the rotating seat 104 is rotatably connected to the base 101, and a bearing is provided on the side of the base 101 close to the support ring 301, the outer ring of the bearing is fixedly connected to the base 101, and the inner ring of the bearing is fixedly connected to the rotating seat 104.

[0048] A telescopic groove 3011 is opened on the circumference of the support ring 301, and an electric spring 3012 is arranged inside the telescopic groove 3011. The scraper 302 is fixedly connected to the electric spring 3012, and the distance between the scraper 302 and the inner wall of the drainage pipe is controlled by the electric spring 3012. The scraper 302 includes a telescopic column and a scraper sheet. The inner end of the telescopic column is fixedly connected to the electric spring 3012. The scraper sheet is arranged at the end of the telescopic column away from the electric spring 3012. The dirt attached to the inner wall of the drainage pipe is removed by the scraper sheet of the scraper 302.

[0049] A water guide pipe 307 is provided on the water inlet joint 304, and one end of the water inlet joint 304 away from the support ring 301 is rotatably connected to the water inlet pipe 3041, and a three-way valve 3043 is provided at the connection between the water guide pipe 307 and the water inlet joint 304, and the connection or closing of the water inlet pipe 3041, the water inlet joint 304 and the water guide pipe 307 is controlled by the three-way valve 3043. An inner cavity 3013 is provided inside the support ring 301, and a plurality of through holes 3014 interconnected with the inner cavity 3013 are provided on the circumference of the support ring 301. One end of the water guide pipe 307 away from the water inlet joint 304 is connected to the inner cavity 3013, and water enters the inner cavity 3013 through the water guide pipe 307 and then sprays out through the through holes 3014.

[0050] The expansion component includes a cylinder 2013 and a support column 2014 arranged in the middle of the chassis 2011. The support column 2014 is fixedly connected to the fixed end of the cylinder 2013. A movable ring 2015 is movably connected to the support column 2014. The movable ring 2015 is fixedly connected to the telescopic end of the cylinder 2013. A hinged plate 2016 is hinged on the movable ring 2015. One end of the hinged plate 2016 away from the movable ring 2015 is movably hinged to the inner side of the reaming head 2012. Both ends of the hinged plate 2016 are provided with hinge shafts. The hinged plate 2016 is movably hinged to the movable ring 2015 and the reaming head 2012 respectively by means of the hinge shafts.

[0051] The rotating part 202 includes a rotating base 2021, a rotating groove 2022 is opened on the inner side of the rotating base 2021, a motor 2023 is arranged inside the rotating base 2021, a gear 2024 is arranged at the output end of the motor 2023, a gear ring 20112 is arranged on the side of the chassis 2011 close to the rotating base 2021, the gear ring 20112 is located inside the rotating groove 2022 and is meshed with the gear 2024, the rotating base 2021 is fixedly connected to the traveling component 1, the motor 2023 is meshed with the gear ring 20112 through the gear 2024, the chassis 2011, the reaming head 2012, the cylinder 2013, the support column 2014, the movable ring 2015 and the hinged plate 2016 rotate synchronously.

[0052] The diameters of the base 101 and the rotating base 2021 are smaller than the inner diameter of the drainage pipe, and the traveling wheel set 102 contacts the inner diameter of the drainage pipe through the outward elastic force of the elastic base 103.

[0053] When in use, the repair device is first placed in the drainage pipe, and the traveling wheel group 102 on the traveling component 1 is used as a power source to drive the repair device to the blocked and deformed area of ​​the drainage pipe. During the movement, the motor 2023 drives the gear 2024 to rotate, and under the meshing action of the gear 2024 and the gear ring 20112, the cylinder 2013, the support column 2014 and the reaming head 2012 are driven to rotate, and the reaming head 2012 squeezes and breaks the obstruction on the inner wall of the drainage pipe. In the initial state, the diameter of the reaming part 201 is between the minimum diameter and the maximum diameter. After the reaming part 201 rotates to squeeze and break the obstruction, the traveling component 1 can move forward smoothly following the reaming part 201 when it moves forward.

[0054] When the repair device moves to the deformed area of ​​the drainage pipe, a radial pressure sensor is arranged between the reaming head 2012 and the hinged plate 2016, and a pressure threshold A is preset in the radial pressure sensor. When the reaming head 2012 moves forward through the traveling assembly 1, when the radial pressure sensor detects that the pressure threshold reaches the preset threshold A, it is actively judged that the drainage pipe and the corresponding position of the reaming part 201 are deformed. Driven by the motor 2023, multiple reaming heads 2012 keep rotating, and at the same time, the telescopic end of the cylinder 2013 drives the movable ring 2015 to push forward, and the limiting effect of the limiting groove 20111 on the limiting block 20121, as well as the two ends of the hinged plate 2016 and the movable ring 2015 and the reaming head 2 012's movable hinge cooperation, the reaming head 2012 expands outward, as the telescopic end of the cylinder 2013 gradually moves forward, the diameter of the reaming portion 201 gradually increases, and in the process of the motor 2023 driving the reaming head 2012 to continuously rotate, the shape of the deformed area of ​​the drainage pipe is gradually restored, thereby achieving the purpose of restoring the flow capacity of the drainage pipe. Compared with the traditional excavation repair method, it has higher repair efficiency and can restore the normal use of the pipe more quickly. Among them, the reaming head 2012 is provided with a resistance heater, and the temperature of the reaming head 2012 is increased by the resistance heater, thereby increasing the temperature of the drainage pipe, so as to improve the support of the reaming head 2012 on the deformed area of ​​the drainage pipe and the reaming repair efficiency.

[0055] When the repair device moves forward in the drainage pipe, the elastic base 103 keeps the roller of the traveling wheel set 102 in contact with the inner wall of the drainage pipe. Through the first pressure sensor between the traveling wheel set 102 and the elastic base 103, when dirt and other attachments are formed on the inner wall of the drainage pipe, the traveling wheel set 102 is compressed by the elastic support of the elastic base 103 when passing through the dirt. The first pressure sensor will detect that the pressure threshold is higher than the preset standard threshold, indicating that there is a dirt layer on the inner wall of the drainage pipe in the passing area. At this time, the electric spring 3012 is reversely energized. Each turn of the spring inside the electric spring 3012 is equivalent to a circular current. The direction of the current in each turn of the spring is the same. These turns will generate a force of attraction. The electric spring 3012 is contracted as a whole through the accumulation of this attraction. When the electric spring 3012 is stretched, the electric spring 3012 is reversed. When power is supplied, the direction of the current passing through the electric spring 3012 is opposite, so that a repulsive force is generated between each turn of the spring. The repulsive force between each turn of the spring causes the electric spring 3012 to stretch as a whole. When the electric spring 3012 is powered in the opposite direction, the electric spring 3012 stretches as a whole and drives the scraper 302 to move outward. The scraper sheet of the scraper 302 approaches the inner wall of the drainage pipe. The three-way valve 3043 keeps the water inlet pipe 3041, the water inlet joint 304 and the water guide pipe 307 connected. A water supply pump is provided on the water inlet pipe 3041. The water supply pump is used to transport external water toward the water inlet joint 304 and continuously pass through the impeller 303. When the water passes through the impeller 303, the impeller 303 rotates, and at the same time drives the support ring 301, the scraper 302, the rotating seat 104 and the water inlet joint 304 to rotate synchronously, and the scraper sheet of the scraper 302 removes dirt attachments on the inner wall of the drainage pipe.

[0056] At the same time, part of the water enters the inner cavity 3013 through the water pipe 307 under the guidance of the three-way valve 3043, and is sprayed outward through the through hole 3014. When the scraper scrapes and cleans the dirt attachments on the inner wall of the drainage pipe, the water sprayed from the through hole 3014 impacts the attachments on the inner wall of the drainage pipe, thereby accelerating the separation of the dirt attachments from the inner wall of the drainage pipe. After the dirt attachments on the inner wall of the drainage pipe are removed, the electric spring 3012 is de-energized, and the rebound force of the electric spring 3012 resets the scraper 302.

[0057] Embodiment 2

[0058] See also Figure 1-9 In actual use, when the traveling wheel set 102 of the traveling assembly 1 cooperates with the rotating part 202 and the expanding part 201 to remove the obstruction on the inner wall of the drainage pipe, if the obstruction on the inner wall of the drainage pipe is thicker and harder, the resistance of the obstruction will cause the traveling wheel set 102 to slip on the spot, making it difficult to quickly remove the obstruction. In this regard, the following embodiments are provided to solve the above problems:

[0059] A bellows 3042 is provided between the three-way valve 3043 and the water inlet pipe 3041. A slot 1041 is provided on the rotating seat 104. The slot 1041 corresponds to the connecting rod 306. A compression spring 1042 is provided inside the slot 1041. One end of the compression spring 1042 is fixedly connected to the connecting rod 306.

[0060] When in use, an axial pressure sensor is provided at the front end of the support column 2014, and a pressure threshold value B is preset in the axial pressure sensor. When the axial pressure sensor detects that the pressure threshold value reaches B, it indicates that a thicker and harder obstruction is encountered in front of the reaming head 2012. At this time, the connection between the water inlet joint 304, the water guide pipe 307 and the water inlet pipe 3041 is blocked by the three-way valve 3043, and the water supply pump is started. The water supply pump is a two-way water pump. Water is transported into and extracted from the water inlet pipe 3041 through the water supply pump. When the water inlet pipe 3041 is connected with the water inlet joint 304 and the water guide pipe 307, the pressure of the water transported into the water inlet pipe 3041 is not enough to stretch the bellows 3042. Specifically, when the water supply pump transports water into the water inlet pipe 3041 quickly, the pressure of the transported water is used to stretch the bellows 3042 is quickly filled, and the bellows 3042 is quickly expanded and extended. The force of the rapid expansion and extension of the bellows 3042 is greater than the elastic force of the compression spring 1042. The compression spring 1042 in the slot 1041 is squeezed and contracted by the connecting rod 306, and the support ring 301 moves toward the base 101, wherein a collision block 3061 is provided on the connecting rod 306. The collision block 3061 prevents the support ring 301 from being damaged due to direct hard contact with the base 101. When the support ring 301 moves toward the base 101, the collision block 3061 contacts and collides with the base 101 and drives the reaming head 2012 of the traveling assembly 1 and the correction unit 2 to move forward as a whole, and the reaming head 2012 is impacted against the obstruction on the inner wall of the drainage pipe through the forward impact force of the reaming head 2012.

[0061] After the water supply pump draws the water in the water inlet pipe 3041 outwards, the bellows 3042 loses the internal water support, the internal pressure decreases, the bellows 3042 contracts, and the compression spring 1042 resets under the action of its own elastic force. As the water supply pump quickly transports the water into the water inlet pipe 3041 again, the bellows 3042 quickly expands and extends again, and the impact block 3061 hits the base 101 again and drives the traveling assembly 1 and the reaming head 2012 of the correction unit 2 forward as a whole. In this way, the water is repeatedly transported and pumped into the water inlet pipe 3041 by the water supply pump, so that the reaming head 2012 repeatedly moves horizontally during the rotation process, repeatedly impacting the thicker and harder obstructions on the inner wall of the drainage pipe, thereby accelerating the efficiency of removing the obstructions on the inner wall of the drainage pipe. When the pressure threshold detected by the axial pressure sensor is lower than the threshold B, it indicates that the obstruction on the front side of the reaming head 2012 has been completely removed.

[0062] On the other hand, when the deformation degree of the drainage pipe is small, the telescopic end of the cylinder 2013 is used to drive the gradually movable ring 2015 to move forward, and the reaming head 2012 expands outward to repair the deformation area of ​​the drainage pipe. However, when the deformation degree of the drainage pipe is large, the resistance of the deformation area of ​​the drainage pipe will be greater than the driving force of the traveling assembly 1 moving forward, resulting in the expansion part 201 moving backward as a whole under the influence of the resistance of the deformation area when the diameter increases, affecting the expansion repair operation of the deformation area of ​​the drainage pipe. In this regard:

[0063] When the traveling component 1 drives the rotating part 202 and the reaming part 201 to move forward in the drainage pipe, when the pressure threshold detected by the radial pressure sensor between the reaming head 2012 and the hinged plate 2016 reaches the preset threshold value A, it is actively judged that the drainage pipe and the corresponding position of the reaming part 201 are deformed. At this time, the telescopic end of the cylinder 2013 drives the movable ring 2015 to contract, and the reaming head 2012 contracts under the limiting action of the limiting groove 20111 on the limiting block 20121 and is driven to contract by the movable ring 2015, so that the reaming part 201 reaches the minimum diameter, and then, driven by the traveling component 1, the front end of the reaming head 2012 corresponds to the deformation area of ​​the drainage pipe. At this time, the traveling component 1 stops moving, the electric spring 3012 is energized in the reverse direction, and the electric spring 3012 extends as a whole, driving the scraper 302 to move outward, and the telescopic column of the scraper 302 is aligned with the drainage pipe. The inner wall is in close contact with the travel component 1 and the correction unit 2 by utilizing the friction between the telescopic column and the inner wall of the drainage pipe, and the position of the travel component 1 and the correction unit 2 is kept fixed. At this time, the telescopic end of the cylinder 2013 drives the movable ring 2015 to push forward, and the limit block 20121 is limited by the limit groove 20111, and the two ends of the hinged plate 2016 are hinged with the movable ring 2015 and the reaming head 2012. The reaming head 2012 gradually expands outward until the diameter of the reaming head 2012 expanded outward matches the inner diameter of the drainage pipe. In the process of the motor 2023 and the gear 2024 driving the chassis 2011 and the reaming head 2012 to rotate synchronously through the gear ring 20112, the area of ​​the drainage pipe with a larger deformation is gradually stably supported and the hole is expanded and repaired. When the pressure threshold detected by the radial pressure sensor is lower than the preset threshold A, it indicates that the repair of the deformation area of ​​the drainage pipe is completed.

[0064] In addition, when the repair of the deformed area in the drainage pipe is completed, the repair device will exit from the drainage pipe. Sludge impurities cleaned from the inner wall of the drainage pipe will remain on the exit path. During the process of the repair device retreating through the traveling wheel group 102 of the traveling assembly 1, these sludge impurities will accumulate more and more, and the resistance to the retreat movement of the repair device will become greater and greater, resulting in the repair device being unable to retreat from the drainage pipe. In this regard, the following embodiments are provided to solve the above problems:

[0065] After the deformation area of ​​the inner wall of the drainage pipe is repaired, the repair device is pulled outward by pulling the water inlet pipe 3041. A tension sensor is provided at the connection between the water inlet pipe 3041 and the water inlet joint 304. The tension sensor is preset with a tension threshold F. When the water inlet pipe 3041 is pulled outward from the drainage pipe, when the tension threshold F detected by the tension sensor reaches, the three-way valve 3043 is opened to maintain the connection between the water inlet joint 304, the water guide pipe 307 and the water inlet pipe 3041. The water body is continuously transported into the water inlet pipe 3041 by the water supply pump on the water inlet pipe 3041. The water body passes through the impeller 303 and drives the support ring 301 and the scraper 302 to rotate. At the same time, part of the water body enters the inner cavity 3013 through the water guide pipe 307. The through hole 3014 is arranged obliquely, and the outlet of the through hole 3014 faces the rear side of the support ring 301. The water body entering the inner cavity 3013 is obliquely sprayed through the through hole 3014 to the sludge impurities accumulated on the rear side of the support ring 301. At this time, the water body is further sprayed by the electric spring 3012. The on-off control is specifically that when the electric spring 3012 is energized in the reverse direction, the electric spring 3012 is stretched as a whole by utilizing the mutually repelling force between each turn of the spring, and the electric spring 3012 drives the scraper piece of the scraper 302 to move outward. When the electric spring 3012 is de-energized, the scraper piece of the scraper 302 is driven to shrink synchronously by relying on the rebound force of the electric spring 3012 itself. In the process of on-off the electric spring 3012, the distance between the scraper piece and the inner wall of the drainage pipe is repeatedly controlled. During the rotation of 302, the larger impurities in the sludge impurities accumulated on the rear side of the support ring 301 are broken up, and the thrust of the water body ejected outward from the through hole 3014 is used to avoid the problem of excessive accumulation of sludge impurities and the formation of travel resistance on the repair device. At the same time, the water body cleans the scraper blade of the scraper 302, and the sludge impurities on the scraper blade are removed, the shear force of the scraper blade on the sludge impurities is maintained, the traction speed of the repair device when it withdraws from the inside of the drainage pipe is maintained, and the sludge impurities are removed from the drainage pipe to the outside.

[0066] Embodiment 3

[0067] The present invention also provides a method for repairing a trenchless urban drainage pipe. The method uses the trenchless urban drainage pipe repairing device as described above to repair the drainage pipe, and comprises the following steps:

[0068] S1. The repair device is driven by the traveling component 1 to move toward the blocked position in the drainage pipe. During this process, the rotating part 202 drives the reaming part 201 to break the blockage attached to the inner wall of the drainage pipe, so that the traveling component 1 drives the repair device to move smoothly.

[0069] S2. At the same time, the deformation area of ​​the drainage pipe is corrected by the correction unit 2. By utilizing the cooperation between the expansion component in the correction unit 2 and the reaming part 201, the deformation area of ​​the drainage pipe is repaired by expanding the diameter of the reaming part 201.

[0070] S3. Water passes through the support ring 301 and the impeller 303 inside the support ring 301 through the water inlet joint 304. In the process of passing through the impeller 303, the support ring 301 and the scraper 302 are driven to rotate, and the scraper 302 removes the attachments on the inner wall of the drainage pipe.

[0071] S4. When the scraper 302 is removing the attachments on the inner wall of the drainage pipe, water enters the inner cavity 3013 through the water pipe 307 and then sprays out through the through hole 3014, impacting the attachments on the inner wall of the drainage pipe and cleaning the scraper 302 at the same time.

[0072] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent transformations made using the contents of the present invention's specification and drawings, or directly or indirectly applied in related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A trenchless urban drainage pipe repair device, comprising a traveling component (1), a correction unit (2) and a scraping component (3), characterized in that: The correction unit (2) and the scraper assembly (3) are respectively arranged on two sides of the traveling assembly (1); The traveling assembly (1) comprises a base (101) and a traveling wheel assembly (102); the correction unit (2) comprises a hole expanding portion (201) and a rotating portion (202); the hole expanding portion (201) comprises a chassis (2011) and a hole expanding head (2012); the chassis (2011) is movably connected to the hole expanding head (2012); and an expansion assembly is provided in the middle of the chassis (2011); The scraper assembly (3) comprises a support ring (301) and a scraper member (302); an impeller (303) is provided in the middle of the support ring (301); a water inlet joint (304) and a water return pipe (305) are provided on both sides of the middle of the support ring (301); the support ring (301) is rotatably connected to the base (101); the support ring (301) and the scraper member (302) are elastically connected; a water guide pipe (307) is provided on the water inlet joint (304). A three-way valve (3043) is provided at the connection between the water guide pipe (307) and the water inlet joint (304); a bellows (3042) is provided at one end of the three-way valve (3043) away from the support ring (301); an inner cavity (3013) is provided inside the support ring (301); a through hole (3014) is provided in the circumferential direction of the support ring (301); and one end of the water guide pipe (307) away from the water inlet joint (304) is in communication with the inner cavity (3013); The number of the reaming heads (2012) is not less than four, a limiting groove (20111) is provided on the chassis (2011), and a limiting block (20121) that slidably cooperates with the limiting groove (20111) is provided on a side of the reaming head (2012) close to the chassis (2011); The expansion component comprises a cylinder (2013) and a support column (2014) disposed in the middle of the chassis (2011); the support column (2014) is fixedly connected to the fixed end of the cylinder (2013); a movable ring (2015) is movably connected to the support column (2014); the movable ring (2015) is fixedly connected to the telescopic end of the cylinder (2013); a hinged plate (2016) is hinged to the movable ring (2015); and one end of the hinged plate (2016) away from the movable ring (2015) is movably hinged to the inner side of the reaming head (2012); The rotating part (202) comprises a rotating base (2021), a rotating groove (2022) is provided on the inner side of the rotating base (2021), a motor (2023) is provided inside the rotating base (2021), a gear (2024) is provided at the output end of the motor (2023), a gear ring (20112) is provided on a side of the chassis (2011) close to the rotating base (2021), the gear ring (20112) is located inside the rotating groove (2022) and is meshed with the gear (2024), and the rotating base (2021) is fixedly connected to the traveling assembly (1); The traveling wheel set (102) is installed on the outside of the base (101); an elastic base (103) is provided at the bottom of the traveling wheel set (102); a first pressure sensor is provided between the traveling wheel set (102) and the elastic base (103); each traveling wheel set (102) is provided with a driving unit, and the driving unit drives the traveling wheel set (102) to rotate and travel; One end of the water return pipe (305) away from the impeller (303) passes through the support ring (301); one end of the water inlet joint (304) away from the support ring (301) is rotatably connected to the water inlet pipe (3041); an axial pressure sensor is provided at the front end of the support column (2014); and a radial pressure sensor is provided between the reaming head (2012) and the hinge plate (2016); A bearing is provided on one side of the base (101) close to the support ring (301); the outer ring of the bearing is fixedly connected to the base (101); the inner ring of the bearing is fixedly connected to the rotating seat (104); a slot (1041) is provided on the rotating seat (104); the slot (1041) corresponds to the connecting rod (306); a compression spring (1042) is provided inside the slot (1041); one end of the compression spring (1042) is fixedly connected to the connecting rod (306); A telescopic groove (3011) is provided on the circumference of the support ring (301), an electric spring (3012) is provided inside the telescopic groove (3011), the scraper (302) is fixedly connected to the electric spring (3012), the scraper (302) comprises a telescopic column and a scraper sheet, the inner end of the telescopic column is fixedly connected to the electric spring (3012), and the scraper sheet is provided at one end of the telescopic column away from the electric spring (3012); A connecting rod (306) is provided on one side of the support ring (301) close to the base (101); one end of the connecting rod (306) is connected to a rotating seat (104); the rotating seat (104) is rotatably connected to the base (101); and an impact block (3061) is provided on the connecting rod (306).

2. A method for repairing a trenchless urban drainage pipe, wherein the method uses the trenchless urban drainage pipe repairing device according to claim 1 to repair the drainage pipe, characterized in that: The following steps are involved: S1, the moving component (1) drives the repair device to move toward the blocked position in the drainage pipe, and in this process, the rotating part (202) drives the hole expansion part (201) to remove the blocking object attached to the inner wall of the drainage pipe, so that the moving component (1) drives the repair device to move smoothly; S2, simultaneously correcting the deformed area of ​​the drainage pipe by means of the correction unit (2), utilizing the cooperation between the expansion component in the correction unit (2) and the hole expansion part (201), and repairing the deformed area of ​​the drainage pipe by expanding the diameter of the hole expansion part (201); S3, the water passes through the impeller (303) inside the support ring (301) through the water inlet joint (304); in the process of passing through the impeller (303), the support ring (301) and the scraper (302) are driven to rotate, and the scraper (302) removes the attachments on the inner wall of the drainage pipe; S4. During the process of the scraper (302) removing the attachments on the inner wall of the drainage pipe, water enters the inner cavity (3013) through the water conduit (307) and then sprays out through the through hole (3014), impacting the attachments on the inner wall of the drainage pipe and cleaning the scraper (302) at the same time.

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