Automatic pipe explosion robot for non-excavation pipeline replacement

Abstract

The invention discloses an automatic pipe explosion robot for non-excavation pipeline replacement, which comprises a device main body, a supporting plate is fixedly mounted in the device main body, a storage battery is fixedly mounted in the device main body, a rotating shaft is rotatably connected to the inner wall of the device main body, and a first gear is fixedly mounted on the outer wall of the rotating shaft; and a driving motor is fixedly mounted at the inner top of the device main body. The pipeline cutting device has the beneficial effects that a cutting motor is arranged to drive a cutting blade to rotate at a high speed, a first hydraulic cylinder stretches out and draws back to enable the cutting blade to cut a pipeline, meanwhile, an electric wheel is controlled to move and cut the damaged part of the pipeline, and after the cutting blade is cut and withdrawn, a second gear drives a first gear and a rotating shaft to rotate through a driving motor; through the operation, the damaged part of the pipeline can be accurately cut, so that the effect of locally maintaining the damaged part of the pipeline is achieved, the length of the replaced pipeline is reduced, and the cost of replacing the pipeline is greatly reduced.

Description

Technical Field

[0001] The invention relates to the technical field of pipeline maintenance, and in particular to an automatic pipe bursting robot for trenchless pipeline replacement. Background Art

[0002] The trenchless replacement method of municipal sewage pipes, also known as the pipe expansion method, is a method of using a pipe bursting tool to burst the original pipe and squeeze its fragments into the surrounding soil layer, while pulling in a new pipe or casing to complete the trenchless replacement of municipal sewage pipes.

[0003] 1. For example, a Chinese patent discloses a fully automatic detonating tube handle machine (publication number: CN205368178U), including a wire-releasing device and a frame, as well as a wire-feeding device, a wire-cutting device, a labeling device, a wire-transmitting device, a wire-winding device, a wire-twisting device, a material-discharging device, a material-collecting device and an electric control system sequentially arranged on the frame, wherein the electric control system is suitable for connecting with the wire-feeding device, the wire-cutting device, the labeling device, the wire-transmitting device, the wire-winding device, the wire-twisting device, the material-discharging device and the material-collecting device, and controlling their motion. The machine can automatically complete the unmanned operation of the wire-releasing, wire-cutting, wire-winding, labeling, wire-twisting and material-discharging processes of the detonating tube, thereby realizing the fully automatic operation of the detonating tube handle, greatly improving the production efficiency, reducing the inefficiency and errors of manual operation, and effectively reducing the production cost.

[0004] 2. An automatic tube feeding and cutting device for explosive tubes (publication number: CN106694989B), comprising a frame, a tube feeding mechanism and a cutting mechanism, wherein the tube feeding mechanism comprises a tube feeding motor, a driving wheel, a guide pressure wheel and a driven wheel, wherein the tube feeding motor drives the driving wheel and the driven wheel to rotate, wherein the driving wheel is provided with a plurality of first grooves arranged along the circumferential direction, wherein the spacing between the guide pressure wheel and the driving wheel is adapted to the diameter of the explosive tube, and the spacing between the driven wheel and the driving wheel is adapted to the diameter of the explosive tube; wherein the cutting mechanism comprises a first cylinder, a first sliding assembly and a cutting knife, wherein the first cylinder drives the cutting knife to perform reciprocating linear motion, and the first sliding assembly guides the reciprocating linear motion of the cutting knife; wherein the cutting mechanism is located in front of the tube feeding mechanism along the feeding direction of the explosive tubes. The automatic feeding and cutting of multiple explosive tubes is realized, and the consistency of the lengths of the multiple explosive tubes transmitted and measured is ensured, and the production efficiency is high.

[0005] When bursting a pipeline, a certain space is dug downward at the front and rear ends of the damaged pipeline, and the pipeline in this distance is broken from the dug-up space using a bursting head and an expander, and the pipeline is simultaneously pulled in for replacement. This method cannot perform local replacement and maintenance of the damaged pipeline. During maintenance, the length of the replaced pipeline is much longer than the length of the damaged pipeline, and the maintenance is more complicated. The construction cost of replacing a distance before and after the damaged pipeline is high.

[0006] Therefore, in view of the above technical problems, it is necessary to propose an automatic pipe bursting robot for trenchless pipeline replacement. Summary of the invention

[0007] The object of the present invention is to provide an automatic pipe bursting robot for trenchless pipe replacement to solve the problems of the devices proposed in the above background technology.

[0008] To achieve the above object, the present invention provides the following technical solutions:

[0009] An automatic pipe bursting robot for trenchless pipeline replacement comprises a device body, a support plate is fixedly installed inside the device body, a battery is fixedly installed inside the device body, an inner wall of the device body is rotatably connected with a rotating shaft, an outer wall of the rotating shaft is fixedly installed with a first gear, a driving motor is fixedly installed on the inner top of the device body, a second gear is fixedly installed on one end of the driving motor, the second gear is meshingly connected with the first gear, a fixed platform is fixedly installed on one end of the rotating shaft, a first hydraulic cylinder is fixedly installed on the upper surface of the fixed platform, a first fixed plate is fixedly installed on the top of the first hydraulic cylinder, a cutting motor is fixedly installed on the top of the first fixed plate, and a cutting blade is fixedly installed on one end of the cutting motor.

[0010] By adopting the above technical scheme, the cutting motor can drive the cutting blade to rotate at high speed, the first hydraulic cylinder can be extended and retracted to make the cutting blade push against the pipe for cutting, and at the same time the electric wheel can be controlled to move and cut the damaged part of the pipe. After cutting and retracting the cutting blade, the second gear drives the first gear and the rotating shaft to rotate through the driving motor, and the cutting position of the cutting blade is adjusted before cutting. Through the above operation, the damaged part of the pipe can be cut accurately, which is convenient for the subsequent expansion of the pipe, thereby achieving the effect of local maintenance of the damaged part of the pipe, reducing the length of the replacement pipe, simplifying the replacement operation, and greatly reducing the cost of replacing the pipe.

[0011] Preferably, a second fixed plate is fixedly mounted on the other end of the rotating shaft, a second hydraulic cylinder is fixedly mounted on the upper surface of the second fixed plate, a top plate is fixedly mounted on the top of the second hydraulic cylinder, and the same second hydraulic cylinder and top plate are fixedly mounted on the lower surface of the second fixed plate.

[0012] By adopting the above technical solution, the upper and lower second hydraulic cylinders can be extended and retracted outward, and the top plate at one end contacts and squeezes the cut pipe, so that the cut pipe is squeezed into the soil to achieve the effect of pipe bursting. The positions of the two second hydraulic cylinders are then adjusted by rotating the shaft. After multiple squeezing, the pipe is bent and squeezed into the soil. It is no longer necessary to crush the entire pipe in the maintenance section and squeeze it into the soil. Local squeezing can be achieved to reduce maintenance costs.

[0013] Preferably, four electric wheels are fixedly mounted on the bottom of the device body, and a camera is fixedly mounted on one side of the device body.

[0014] By adopting the above technical solution, the four electric wheels can be used to move to the damaged part of the pipeline under the action of the camera. At the same time, the position of the device body can be easily adjusted during cutting and extrusion, thereby facilitating external operators to operate the machine.

[0015] Preferably, when the second hydraulic cylinder below the second fixed plate cannot be extended or retracted, the bottom of the top plate is higher than the bottom of the electric wheel.

[0016] By adopting the above technical solution, the set size can be achieved to ensure that the top plate is higher than the bottom of the electric wheel when the second hydraulic cylinder is extended and rotated to the bottom, so that the top plate can be smoothly rotated to the bottom for extrusion operation, avoiding the problem of being too long to rotate one circle.

[0017] Preferably, the height from the top of the device body to the axis center of the rotating shaft is smaller than the height from the bottom of the electric wheel to the axis center, and the outer walls on both sides of the device body are rotatably connected to the rotating shaft respectively.

[0018] By adopting the above technical solution, the distance below the rotating shaft can be controlled to ensure that the cutting motor and the cutting blade can rotate normally on the rotating shaft, and can be rotated to the bottom pipe to cut it, avoiding the problem that the cutting blade cannot cut due to insufficient height. At the same time, the outer walls on both sides of the device body are rotated to connect the rotating shaft to control the rotation of the devices at both ends at the same time, without the need to install the equipment separately for separate control, thereby reducing manufacturing costs.

[0019] Preferably, the body of the cutting motor is perpendicular to and parallel to one end of the device body, and the cutting blade is perpendicular to one end of the device body.

[0020] By adopting the above technical solution, the cutting motor can be parallel to the front end of the device body, which can ensure that the cutting blade is vertically upward, thereby achieving the purpose of cutting along the pipeline and facilitating the damaged pipeline to be squeezed into the soil.

[0021] Preferably, when the first hydraulic cylinder rotates downward and cannot retract, the bottom of the cutting blade is higher than the bottom of the electric wheel.

[0022] By adopting the above technical solution, the overall length of the first hydraulic cylinder and the cutting blade can be controlled to ensure that the overall length when the first hydraulic cylinder cannot shrink is less than the length of the pipe, so that the cutting blade can rotate to the bottom for cutting.

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] 1. A cutting motor is provided to drive the cutting blade to rotate at high speed, and the first hydraulic cylinder is extended and retracted to make the cutting blade push against the pipe for cutting. At the same time, the electric wheel is controlled to move and cut the damaged part of the pipe. After the cutting blade is retracted, the second gear drives the first gear and the rotating shaft to rotate through the driving motor, and the cutting position of the cutting blade is adjusted before cutting. Through the above operation, the damaged part of the pipe can be accurately cut, which is convenient for subsequent expansion of the pipe, thereby achieving the effect of local maintenance of the damaged part of the pipe, reducing the length of the pipe replacement, simplifying the replacement operation, and greatly reducing the cost of replacing the pipe;

[0025] 2. The upper and lower second hydraulic cylinders are extended and retracted outward, and the top plate at one end contacts and squeezes the cut pipe, so that the cut pipe is squeezed into the soil to achieve the effect of pipe bursting. The positions of the two second hydraulic cylinders are then adjusted by rotating the shaft. After multiple squeezing, the pipe is bent and squeezed into the soil. It is no longer necessary to crush the entire pipe in the maintenance section and squeeze it into the soil. The construction operation steps are simplified, the investment of construction personnel is reduced, and local squeezing can be achieved to reduce maintenance costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the main structure of the device of the present invention;

[0027] Figure 2 It is a side view of the overall structure of the present invention;

[0028] Figure 3 It is a front cross-sectional view of the overall structure of the present invention;

[0029] Figure 4 This is a schematic diagram of the rotating shaft structure of the present invention;

[0030] Figure 5 It is the structural diagram of the cutting motor of the present invention;

[0031] Figure 6 This is a structural diagram of the connection between the second hydraulic cylinder and the top plate of the present invention.

[0032] The reference numerals in the figure are: 1. device body; 2. support plate; 3. battery; 4. rotating shaft; 5. first gear; 6. driving motor; 7. second gear; 8. fixed platform; 9. first hydraulic cylinder; 10. camera; 11. first fixed plate; 12. cutting motor; 13. cutting blade; 14. second fixed plate; 15. second hydraulic cylinder; 16. top plate; 17. electric wheel. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0034] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and the like are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", and the like may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0035] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood by specific circumstances.

[0036] like Figures 1 to 6As shown, the present invention provides a technical solution: an automatic pipe bursting robot for trenchless pipeline replacement, comprising a device body 1, a support plate 2 is fixedly installed inside the device body 1, the support plate 2 is used to support the rotating shaft 4 and separate the battery 3, the battery 3 is fixedly installed inside the device body 1, the battery 3 supplies power to each motor and other equipment, the inner wall of the device body 1 is rotatably connected with the rotating shaft 4, the rotating shaft 4 can rotate to rotate the equipment at both ends, the outer wall of the rotating shaft 4 is fixedly installed with a first gear 5, the inner top of the device body 1 is fixedly installed with a driving motor 6, one end of the driving motor 6 is fixedly installed with a second gear 7, the second gear 7 is meshed with the first gear 5, one end of the rotating shaft 4 is fixedly installed with a fixed platform 8, the upper surface of the fixed platform 8 is fixedly installed with a first hydraulic cylinder 9, the cutting motor 12 is controlled to move and the cutting blade 13 is used to cut the pipeline, the top of the first hydraulic cylinder 9 is fixedly installed with a first fixed plate 11, the top of the first fixed plate 11 is fixedly installed with the cutting motor 12, and one end of the cutting motor 12 is fixedly installed with a cutting blade 13;

[0037] The cutting motor 12 can drive the cutting blade 13 to rotate at high speed, and the first hydraulic cylinder 9 can be extended and retracted to make the cutting blade 13 engage the pipeline for cutting. At the same time, the electric wheel 17 can be controlled to move and cut the damaged part of the pipeline. After cutting and retracting the cutting blade 13, the second gear 7 drives the first gear 5 and the rotating shaft 4 to rotate through the driving motor 6, and the cutting position of the cutting blade 13 is adjusted before cutting. Through the above operation, the damaged part of the pipeline can be accurately cut, which is convenient for subsequent expansion of the pipeline, thereby achieving the effect of local maintenance of the damaged part of the pipeline, reducing the length of the replacement pipeline, simplifying the replacement operation, and greatly reducing the cost of replacing the pipeline.

[0038] See also Figure 1 , Figure 3 and Figure 4 , a second fixed plate 14 is fixedly installed on the other end of the rotating shaft 4, and a second hydraulic cylinder 15 is fixedly installed on the upper surface of the second fixed plate 14. The second hydraulic cylinder 15 can be extended and retracted to use the top plate 16 to squeeze the cut pipe into the soil. The top of the second hydraulic cylinder 15 is fixedly installed with the top plate 16, and the lower surface of the second fixed plate 14 is fixedly installed with the same second hydraulic cylinder 15 and the top plate 16. The two groups of second hydraulic cylinders 15 are extended and retracted in opposite directions to squeeze the pipe, which can support each other and ensure that the pipe can be squeezed into the soil. When the second hydraulic cylinder 15 under the second fixed plate 14 cannot be extended and retracted, the bottom of the top plate 16 is higher than the bottom of the electric wheel 17. Four electric wheels 17 are fixedly installed at the bottom of the device body 1, and a camera 10 is fixedly installed on one side of the device body 1;

[0039] The second hydraulic cylinder 15 which can move up and down is extended and retracted outward, and the top plate 16 at one end contacts and squeezes the cut pipe, so that the cut pipe is squeezed into the soil to achieve the effect of bursting the pipe. The positions of the two second hydraulic cylinders 15 are adjusted by rotating the rotating shaft 4. After multiple squeezing, the pipe is bent and squeezed into the soil. It is no longer necessary to crush the entire pipe in the repair section and squeeze it into the soil. Local squeezing can be achieved to reduce maintenance costs. The set size can be achieved to ensure that the top plate 16 is higher than the bottom of the electric wheel 17 when the second hydraulic cylinder 15 is extended and retracted to the bottom and rotates to the bottom, so that the top plate 16 can be smoothly rotated to the bottom for squeezing operation, avoiding the problem of being unable to rotate a circle due to the long length. The four electric wheels 17 can be used to move to the damaged part of the pipe under the action of the camera 10. At the same time, the position of the device body 1 can be easily adjusted during cutting and squeezing, so that it is convenient for external operators to operate the machine.

[0040] See also Figure 3 and Figure 4 , the height from the top of the device body 1 to the axis of the rotating shaft 4 is less than the height from the bottom of the electric wheel 17 to the axis, the outer walls on both sides of the device body 1 are rotatably connected to the rotating shaft 4 respectively, the body of the cutting motor 12 is perpendicular to and parallel to one end of the device body 1, the cutting blade 13 is perpendicular to one end of the device body 1, and when the first hydraulic cylinder 9 rotates downward and cannot retract, the bottom of the cutting blade 13 is higher than the bottom of the electric wheel 17;

[0041] By controlling the distance below the rotating shaft 4, it can be ensured that the cutting motor 12 and the cutting blade 13 can rotate normally on the rotating shaft 4, and can be rotated to the bottom pipe to cut it, avoiding the problem that the cutting blade 13 cannot cut due to insufficient height. At the same time, the outer walls on both sides of the device body 1 are rotated to connect the rotating shaft 4, and the devices at both ends can be controlled to rotate at the same time. There is no need to install the equipment separately and control it separately, thereby reducing the manufacturing cost. By making the cutting motor 12 parallel to the front end of the device body 1, it can be ensured that the cutting blade 13 is vertically upward, so as to achieve the purpose of cutting along the pipe, so as to facilitate squeezing the damaged pipe into the soil. By controlling the overall length of the first hydraulic cylinder 9 and the cutting blade 13, it can be ensured that the overall length when the first hydraulic cylinder 9 cannot shrink is less than the length of the pipe, so that the cutting blade 13 can be rotated to the bottom for cutting.

[0042] Working principle: The device body 1 is driven by the electric wheel 17 to move in the pipeline, and the damaged position of the pipeline is determined by the camera 10; the cutting motor 12 is started to make the cutting blade 13 rotate at high speed, and the cutting blade 13 is cut onto the pipeline by the extension and retraction of the first hydraulic cylinder 9, and the damaged length of the pipeline is cut by the electric wheel 17, and then the second gear 7 is driven by the driving motor 6 to rotate, so that the first gear 5 rotates and drives the rotating shaft 4 to rotate, thereby adjusting the position of the cutting blade 13 to cut the pipeline, and then repeating the above cutting steps to divide the pipeline into four parts; the position of the top plate 16 is adjusted by controlling the electric wheel 17, and the two top plates 16 are aligned with the cut pipeline through the rotating shaft 4, and the second hydraulic cylinder 15 is started when its interaction force is in, and the cut pipeline is squeezed into the soil to complete the pipe bursting process.

[0043] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An automatic pipe bursting robot for trenchless pipe replacement, comprising a device body (1), characterized in that: A support plate (2) is fixedly installed inside the device body (1), a storage battery (3) is fixedly installed inside the device body (1), an inner wall of the device body (1) is rotatably connected to a rotating shaft (4), an outer wall of the rotating shaft (4) is fixedly installed with a first gear (5), a driving motor (6) is fixedly installed on the inner top of the device body (1), a second gear (7) is fixedly installed on one end of the driving motor (6), the second gear (7) is meshingly connected with the first gear (5), a fixed platform (8) is fixedly installed on one end of the rotating shaft (4), a first hydraulic cylinder (9) is fixedly installed on the upper surface of the fixed platform (8), a first fixed plate (11) is fixedly installed on the top of the first hydraulic cylinder (9), a cutting motor (12) is fixedly installed on the top of the first fixed plate (11), and a cutting blade (13) is fixedly installed on one end of the cutting motor (12).

2. The automatic pipe bursting robot for trenchless pipe replacement according to claim 1, characterized in that: A second fixing plate (14) is fixedly mounted on the other end of the rotating shaft (4), and a second hydraulic cylinder (15) is fixedly mounted on the upper surface of the second fixing plate (14).

3. The automatic pipe bursting robot for trenchless pipe replacement according to claim 1, characterized in that: A top plate (16) is fixedly mounted on the top of the second hydraulic cylinder (15), and the same second hydraulic cylinder (15) and top plate (16) are fixedly mounted on the lower surface of the second fixed plate (14).

4. The automatic pipe bursting robot for trenchless pipe replacement according to claim 1, characterized in that: Four electric wheels (17) are fixedly mounted on the bottom of the device body (1).

5. The automatic pipe bursting robot for trenchless pipe replacement according to claim 1, characterized in that: A camera (10) is fixedly mounted on one side of the device body (1).

6. The automatic pipe bursting robot for trenchless pipe replacement according to claim 2, characterized in that: When the second hydraulic cylinder (15) below the second fixed plate (14) cannot be extended or retracted, the bottom of the top plate (16) is higher than the bottom of the electric wheel (17).

7. The automatic pipe bursting robot for trenchless pipe replacement according to claim 1, characterized in that: The height from the top of the device body (1) to the axis center of the rotating shaft (4) is smaller than the height from the bottom of the electric wheel (17) to the axis center.

8. The automatic pipe bursting robot for trenchless pipe replacement according to claim 1, characterized in that: The outer walls on both sides of the device body (1) are rotatably connected to the rotating shaft (4) respectively.

9. The automatic pipe bursting robot for trenchless pipe replacement according to claim 1, characterized in that: The body of the cutting motor (12) is perpendicular to and parallel to one end of the device body (1), and the cutting blade (13) is perpendicular to one end of the device body (1).

10. The automatic pipe bursting robot for trenchless pipe replacement according to claim 1, characterized in that: When the first hydraulic cylinder (9) rotates downward and cannot retract, the bottom of the cutting blade (13) is higher than the bottom of the electric wheel (17).

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