Drainage pipeline repairing robot and drainage pipeline repairing method

Abstract

The invention relates to the technical field of drainage pipeline repairing, and discloses a drainage pipeline repairing robot and a drainage pipeline repairing method.The drainage pipeline repairing robot comprises a pipe pulling vehicle, a pipe clamping structure is arranged on the outer side of the pipe pulling vehicle, and a connecting hook is arranged at one end of the pipe pulling vehicle; the dredging manipulator host is provided with a moving end capable of moving back and forth; the knife rest is connected to the movable end, the side, close to the tube drawing trolley, of the knife rest is rotationally connected with a knife head, the knife head is provided with a clamping hook structure, the knife rest is provided with a rotary driving device, the rotary driving device is in transmission connection with the knife head and can drive the knife head to rotate, and when the knife head rotates, the clamping hook structure and the connecting hook can be clamped or separated; the whole section of the drainage pipeline can be disassembled without damaging the ground, the inner wall of the drainage pipeline is cleaned through the tool bit, the damaged position of the drainage pipeline can be shielded and repaired after the repair pipe is transferred in place in the drainage pipeline, the whole repair process is more efficient, and the maintenance cost of the drainage pipeline is reduced.

Description

Technical Field

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

[0002] Drainage pipes laid underground are prone to damage after long-term use. The traditional method of repairing drainage pipes requires destroying the ground, then taking out the damaged drainage pipes from the ground, and then burying new drainage pipes underground. This operation is time-consuming and laborious, and the ground needs to be repaired again, which has a high maintenance cost. Therefore, there is an urgent need for a device that can improve the efficiency of repairing drainage pipes. Summary of the invention The purpose of the present invention is to provide a drainage pipe repair robot and a drainage pipe repair method to solve one or more technical problems existing in the prior art and at least provide a beneficial choice or create conditions.

[0003] The solution of the present invention to solve its technical problem is: A drainage pipe repair robot comprises: a pipe pulling trolley with a pipe clamping structure arranged on the outside, and a connecting hook is arranged at one end of the pipe pulling trolley; a dredging robot arm main body having a mobile end that can move forward and backward; a tool holder connected to the mobile end, a side of the tool holder close to the pipe pulling trolley being rotatably connected to a cutter head, a hook structure being arranged on the cutter head, a rotary drive device being arranged on the tool holder, the rotary drive device being transmission-connected to the cutter head, the rotary drive device can drive the cutter head to rotate, and when the cutter head rotates, the hook structure and the connecting hook can be mutually engaged or disengaged.

[0004] The technical solution has at least the following beneficial effects: When the drainage pipe is damaged and needs to be repaired, the tool rest is sent into the pipe, and the host of the dredging robot drives the tool rest to move along the axial direction of the drainage pipe, so that the tool head moves to the position on the inner wall of the drainage pipe that needs to be repaired. At this time, the tool head can be used to mill the position on the inner wall of the drainage pipe that needs to be repaired, removing the convex part protruding inward from the damaged position of the drainage pipe. In addition, the tool head can also be used to remove the scale on the inner wall of the drainage pipe and clean the inner wall of the drainage pipe. After completion, a repair pipe is placed into the drainage pipe from the end far away from the host of the dredging robot, and a pipe pulling vehicle is placed in the repair pipe. A pulling rope is tied to the pipe pulling vehicle. The tool head is moved close to the repair pipe, and the tool head is rotated so that the hook structure and the connecting hook are engaged with each other. At this time, the tool rest and the pipe pulling vehicle can be combined into one. When the host of the dredging robot drives the tool rest to move towards the middle of the drainage pipe, the tool rest can drive the pipe pulling vehicle to move towards the middle of the drainage pipe together. The pipe clamping structure on the pipe pulling vehicle is clamped to the end of the repair pipe, and the repair pipe can be driven to move axially in the drainage pipe, so as to pull the repair pipe to cover the position on the inner side of the drainage pipe that needs to be repaired. Then, the tool head is rotated to disengage the hook structure on the tool head from the connecting hook on the pipe pulling vehicle. At this time, the host of the dredging robot can move the tool rest away from the repair pipe, and the pipe pulling vehicle can pull out the repair pipe through the pulling rope, so that the repair pipe can be moved in place in the drainage pipe. At this time, the drainage pipe and the repair pipe are fixed, so that the whole section of the drainage pipe does not need to be demolished by damaging the ground. By first cleaning the inner wall of the drainage pipe with the tool head, it is beneficial to block and repair the damaged position of the drainage pipe after the repair pipe is moved in place in the drainage pipe. The whole repair process is more efficient and the maintenance cost of the drainage pipe is reduced.

[0005] As a further improvement of the above technical solution, a connecting portion is formed on one side of the tool rest close to the pipe pulling vehicle. The tool head includes a tool holder and a tool. The two sides of the connecting portion are respectively rotatably connected with the tool holders. A plurality of the tools are respectively arranged on the outer sides of the two tool holders. The rotation driving device is in transmission connection with the two tool holders. A connecting gap is formed between the two tool holders. The hook structure includes anti-detachment convex edges formed on one side of the two tool holders close to the connecting gap. The two anti-detachment convex edges respectively extend in an arc shape around the axes of the two tool holders. Hook portions are respectively formed on both sides of the end of the connecting hook. The two tool holders can be rotated so that the two hook portions are relatively clamped into the inner sides of the two anti-detachment convex edges or relatively disengaged from the two anti-detachment convex edges.

[0006] As a further improvement of the above technical solution, a receiving cavity is arranged inside the connecting portion. The rotation driving device includes a motor connected to the outer side of the connecting portion. The output end of the motor extends into the receiving cavity. A connecting shaft is passed through and rotatably connected to the connecting portion. The two ends of the connecting shaft are respectively connected to the two tool holders. The output end of the motor is in transmission connection with the connecting shaft.

[0007] As a further improvement of the above technical solution, the tool holder is provided with a first limit assembly, a second limit assembly and a support assembly, the first limit assembly is provided with a first limit piece on one side of the tool holder that can move closer to or away from the tool holder, the second limit assembly is provided with a second limit piece on the other side of the tool holder that can move closer to or away from the tool holder, and the support assembly is provided with a support piece that can move up and down on the bottom side of the tool holder.

[0008] As a further improvement of the above technical solution, the first limiting component includes a first translation driving member arranged in the tool holder, the first translation driving member is transmission-connected to the first limiting member, and the first limiting member is a plate.

[0009] As a further improvement of the above technical solution, the second limiting component includes a second translation driving member arranged in the tool holder, the second translation driving member is transmission-connected to the second limiting member, and the second limiting member is a plate.

[0010] As a further improvement of the above technical solution, the support assembly includes a lifting drive member arranged in the tool holder, the lifting drive member is transmission-connected to the support member, and the support member is a roller.

[0011] As a further improvement of the above technical solution, the pipe clamping structure includes a plurality of rotating wheels arranged around the outer side of the pipe drawing vehicle, and the centers of the plurality of rotating wheels are located on the same plane.

[0012] As a further improvement of the above technical solution, a rope threading hole is provided on a side of the pipe drawing vehicle away from the tool holder.

[0013] A drainage pipe repair method, applied to the above-mentioned drainage pipe repair robot, comprises: The main body of the desilting robot arm drives the cutter head to perform milling processing on the position of the drainage pipe that needs to be repaired; A repair pipe is placed from the end of the drainage pipe away from the main body of the dredging robot, and the pipe pulling vehicle is placed in the repair pipe, the hook structure and the connecting hook are engaged with each other, and a pull rope is tied to the pipe pulling vehicle; The main host of the dredging robot pulls the repair pipe to cover the position inside the drainage pipe that needs to be repaired, the hook structure and the connecting hook are separated from each other, and the pipe pulling vehicle is pulled out of the repair pipe by a pull rope; The drainage pipe and the repair pipe are fixed.

[0014] The technical solution has at least the following beneficial effects: Through the above method for repairing drainage pipes, it is not necessary to break the ground to remove the entire section of the drainage pipe. First, the inner wall of the drainage pipe is cleaned by the cutter head, which is beneficial for covering and repairing the damaged position of the drainage pipe after the repair pipe is moved in place in the drainage pipe. The entire repair process is more efficient, reducing the maintenance cost of the drainage pipe.

[0015] Additional aspects and advantages of the present invention will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly describe the drawings required for the description of the embodiments. Obviously, the described drawings are only a part of the embodiments of the present invention, rather than all embodiments. Those skilled in the art can also obtain other design solutions and drawings based on these drawings without creative efforts.

[0017] Figure 1 It is a schematic structural diagram of a drainage pipe repair robot of the present invention.

[0018] Figure 2 It is a schematic structural diagram when the pipe pulling vehicle and the tool holder of the present invention are engaged with each other.

[0019] Figure 3 It is a perspective view of the tool holder of the present invention.

[0020] Figure 4 It is a schematic structural diagram of the pipe pulling vehicle of the present invention.

[0021] In the drawings: 100 - pipe pulling vehicle, 110 - connecting hook, 111 - hook part, 120 - runner, 130 - rope passing hole, 200 - main body of the dredging robot arm, 300 - tool holder, 310 - cutter head, 320 - connecting part, 330 - rotation driving device, 340 - tool seat, 350 - tool, 360 - anti - detachment convex edge, 371 - first translation driving member, 372 - first limiting member, 381 - second translation driving member, 382 - second limiting member, 391 - lifting driving member, 392 - support member. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0022] The following will describe in detail the embodiments of the present invention. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals represent the same or similar elements or elements with the same or similar functions from beginning to end. The embodiments described below by referring to the drawings are exemplary and are only used to explain the present invention, and should not be construed as a limitation to the present invention.

[0023] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., and orientations or positional relationships indicated are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0024] In the description of the present invention, "several" means one or more, "more" means more than two, "greater than", "less than", "exceed" etc. are understood as not including the number itself, and "above", "below", "within" etc. are understood as including the number itself. If there is a description of "first" or "second", it is only used for the purpose of distinguishing the technical features, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0025] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0026] Reference Figures 1 to 4 The drainage pipe repair robot includes a pipe pulling vehicle 100, a dredging robot main unit 200 and a tool holder 300, wherein a pipe clamping structure is arranged on the outer side of the pipe pulling vehicle 100, and the pipe clamping structure is used to clamp the repair pipe. In practical applications, a narrowed notch structure is formed at the end position of the repair pipe, and the pipe clamping structure of the pipe pulling vehicle 100 is clamped at the notch structure. A connecting hook 110 is arranged at one end of the pipe pulling vehicle 100; the dredging robot main unit 200 has a movable end that can move forward and backward; the tool holder 300 00 is connected to the mobile end, and the tool holder 300 is rotatably connected to a cutter head 310 on one side close to the pipe drawing vehicle 100. A hook structure is provided on the cutter head 310, and a rotation drive device 330 is provided on the tool holder 300. The rotation drive device 330 is transmission-connected to the cutter head 310, and the rotation drive device 330 can drive the cutter head 310 to rotate. When the cutter head 310 rotates, the hook structure can be engaged with or disengaged from the connecting hook 110.

[0027] As can be seen from the above, when the drainage pipe is damaged and needs to be repaired, the tool holder 300 is sent into the pipe, and the main body 200 of the dredging robot drives the tool holder 300 to move axially along the drainage pipe, so that the tool head 310 moves to the position on the inner wall of the drainage pipe that needs to be repaired. At this time, the tool head 310 can be used to mill the position on the drainage pipe that needs to be repaired, removing the convex part inside the damaged position of the drainage pipe. In addition, the tool head 310 can also be used to remove the scale on the inner wall of the drainage pipe and clean the inner wall of the drainage pipe. After completion, a repair pipe is placed into the drainage pipe from the end far away from the main body 200 of the dredging robot, and a pipe pulling vehicle 100 is placed inside the repair pipe. A pulling rope is tied to the pipe pulling vehicle 100. The tool head 310 is moved close to the repair pipe, and the tool head 310 is rotated so that the hook structure and the connecting hook 110 are engaged with each other. At this time, the tool holder 300 and the pipe pulling vehicle 100 can be combined into one body. When the main body 200 of the dredging robot drives the tool holder 300 to move towards the middle of the drainage pipe, the tool holder 300 can drive the pipe pulling vehicle 100 to move towards the middle of the drainage pipe together. The pipe clamping structure on the pipe pulling vehicle 100 is clamped to the end of the repair pipe, and the repair pipe can be driven to move axially in the drainage pipe, so as to pull the repair pipe to cover the position on the inner side of the drainage pipe that needs to be repaired. Then the tool head 310 is rotated to disengage the hook structure on the tool head 310 from the connecting hook 110 on the pipe pulling vehicle 100. At this time, the main body 200 of the dredging robot can move the tool holder 300 away from the repair pipe, and the pipe pulling vehicle 100 can pull out the repair pipe through the pulling rope, so that the repair pipe can be moved in place in the drainage pipe. At this time, the drainage pipe and the repair pipe are fixed, so that the whole section of the drainage pipe does not need to be removed by damaging the ground. By first cleaning the inner wall of the drainage pipe with the tool head 310, it is beneficial to cover and repair the damaged position of the drainage pipe after the repair pipe is moved in place in the drainage pipe. The whole repair process is more efficient and the maintenance cost of the drainage pipe is reduced.

[0028] After the tool rest 300 is sent into the drainage pipe, at this time, the position adjustment of the tool rest 300 is mainly realized by driving the tool rest 300 to move axially along the drainage pipe by the main body 200 of the dredging robot manipulator. There are various structural forms of the main body 200 of the dredging robot manipulator. For example, a cylinder, a hydraulic cylinder or a lead screw can be directly adopted. When the tool rest 300 needs to move a long stroke, it is difficult for the above-mentioned type of main body 200 of the dredging robot manipulator to be sent into the drainage pipe. At this time, the chain loader can be used to wind and unwind the chain-type curling arm and send it into the drainage pipe, and move axially in the drainage pipe. The chain-type curling arm can generate both a pulling force and a pushing force on the tool rest 300. The chain-type curling arm includes a chain, and the chain includes an inner chain and an outer chain. The outer chain is connected to the inner chain by a pin shaft and is located outside the inner chain to form a one-way bent chain. A tensioning mechanism for locking the chain to limit bending is provided on the outer chain. When the chain extends, the chain is locked by the tensioning mechanism, so that the chain is restricted from bending and presents rigidity. In this way, the chain is connected to the tool rest 300. The chain-type curling arm is disclosed in the patents with application numbers 2018201163137 and 2022235926674, and will not be elaborated here.

[0029] When the tool rest 300 rotates, it can drive the hook structure on the tool holder 340 to rotate. By using the rotation of the hook structure, it can be realized that the tool rest 300 is mutually clamped or disengaged from the connecting hook 110. There are various structural forms. For example, the hook structure on the tool holder 340 is a hook groove. When the tool holder 340 approaches the connecting hook 110 and rotates, the connecting hook 110 can be relatively connected in the hook groove. When the tool holder 340 rotates in the reverse direction, the connecting hook 110 can be relatively disengaged from the hook groove, so as to realize the disengagement of the two. In order to further improve the stability of the mutual cooperation between the hook structure and the connecting hook 110, in this embodiment, a connecting portion 320 is formed on one side of the tool rest 300 close to the pipe pulling vehicle 100. The tool head 310 includes a tool holder 340 and a tool 350. The two sides of the connecting portion 320 are respectively rotatably connected with the tool holder 340. A plurality of the tools 350 are respectively arranged on the outer sides of the two tool holders 340. The rotary drive device 330 is in transmission connection with the two tool holders 340. A connecting gap is formed between the two tool holders 340. The hook structure includes anti-disengagement convex edges 360 formed on one side of the two tool holders 340 close to the connecting gap. The two anti-disengagement convex edges 360 respectively extend in an arc shape around the axes of the two tool holders 340. Hook portions 111 are respectively formed on both sides of the end of the connecting hook 110. The two tool holders 340 can rotate so that the two hook portions 111 are relatively clamped into the inner sides of the two anti-disengagement convex edges 360 or relatively disengaged from the two anti-disengagement convex edges 360.

[0030] In this embodiment, the rotary drive device 330 transmits power to the two tool holders 340, driving the two tool holders 340 to rotate, so that the cutting tools 350 on the two tool holders 340 process the inner wall of the drainage pipe. When the tool head 310 needs to be connected to the connecting hook 110, the rotary drive device 330 drives the two tool holders 340 to rotate, so that the anti-disengagement convex edges 360 of the two tool holders 340 rotate to the side of the tool holder 340 away from the connecting hook 110, causing the anti-disengagement convex edges 360 to be offset from the tool holder 340. At this time, the hook portions 111 formed on both sides of the end of the connecting hook 110 can enter the connection gap between the two tool holders 340. Then, the rotary drive device 330 drives the two tool holders 340 to rotate, so that the anti-disengagement convex edges 360 of the two tool holders 340 move to the positions of the two hook portions 111, causing the two connecting hooks 110 to be relatively snapped into the inner sides of the two anti-disengagement convex edges 360. When the tool holder 300 moves towards the middle position of the drainage pipe, the two anti-disengagement convex edges 360 exert force on the two hook portions 111, driving the pipe pulling vehicle 100 to move towards the middle position of the drainage pipe. At this time, the pipe pulling vehicle 100 is clamped at the end position of the repair pipe through the pipe clamping structure, driving the repair pipe to move synchronously, so as to reach the position where the drainage pipe needs to be repaired. After completion, the rotary drive device 330 drives the two tool holders 340 to rotate, causing the anti-disengagement convex edges 360 of the two tool holders 340 to be offset from the tool holder 340 again. At this time, the clamping hook structure can be disengaged from the connecting hook 110. In this way, the rotation of the tool holder 340 itself is ingeniously used to achieve the clamping and disengagement with the connecting hook 110, and then the repair pipe is towed to the target position of the drainage pipe by the dredging robot main unit 200.

[0031] The rotary drive device 330 provides the driving force for the two tool holders 340 to rotate, and its transmission structure can be set to be exposed. In order to better protect the transmission structure, in this embodiment, a receiving cavity is provided inside the connecting portion 320. The rotary drive device 330 includes a motor connected to the outside of the connecting portion 320. The output end of the motor extends into the receiving cavity. The connecting portion 320 is penetrated and rotatably connected with a connecting shaft. The two ends of the connecting shaft are respectively connected to the two tool holders 340, and the output end of the motor is in transmission connection with the connecting shaft. The connecting portion 320 itself forms a receiving cavity inside, which can accommodate and protect the transmission structure between the motor and the connecting shaft. For example, the output end of the motor extends into the receiving cavity and is connected with a driving gear, and a transmission gear is also connected to the position of the connecting shaft in the receiving cavity. A transmission chain is connected between the driving gear and the transmission gear. When the driving gear rotates, the transmission gear is driven to rotate synchronously through the transmission chain, and then the two tool holders 340 are driven to rotate synchronously through the connecting shaft.

[0032] In the above embodiment, the main body 200 of the dredging robot can only drive the tool holder 300 to move along the axial direction of the drainage pipe. At this time, the adjustable range of the cutter head 310 is small. When in use, the cutter head 310 can maintain a certain position in the drainage pipe by relying on the support of the cutter head 310 by the tool holder 300 itself. In addition, the connection between the tool holder 300 and the mobile end can be provided with an adjustment structure such as a mechanical arm to adjust the position of the tool holder 300 inside the drainage pipe. In order to better stabilize the position of the tool holder 300 in the drainage pipe, in this embodiment, the tool holder 300 is provided with a first limit assembly, a second limit assembly and a support assembly. The first limit assembly is provided with a first limit member 372 on one side of the tool holder 300 that can move close to or away from the tool holder 300, and the second limit assembly is provided with a second limit member 382 on the other side of the tool holder 300 that can move close to or away from the tool holder 300. The support assembly is provided with a support member 392 that can move up and down on the bottom side of the tool holder 300. When it is necessary to further stabilize the position of the cutter head 310 during processing of the cutter head 310, or to align and connect the hook structure with the connecting hook 110, the first limit member 372 in the first limit member assembly moves in a direction away from the cutter holder 300, and the second limit member 382 in the second limit member assembly moves in a direction away from the cutter holder 300, so that the first limit member 372 and the second limit member 382 abut against both sides of the drainage pipe, and the support member 392 in the support member assembly also moves downward and abuts against the inner bottom side of the drainage pipe. At this time, the first limit member 372, the second limit member 382 and the support member 392 form a three-point support on the inner wall of the drainage pipe, further stabilizing the position of the cutter holder 300 itself, thereby improving the stability of the cutter head 310, and by controlling and coordinating the movable displacement of the first limit member 372, the second limit member 382 and the support member 392, the position of the cutter head 310 can be fine-tuned, thereby further improving the accuracy of controlling the position of the cutter head 310.

[0033] As a specific embodiment of the first position-limiting assembly, the first position-limiting assembly includes a first translation driving member 371 disposed in the tool holder 300, the first translation driving member 371 is transmission-connected to the first position-limiting member 372, in practical applications, the first translation driving member 371 is mainly used to provide a driving force for the first position-limiting member 372 to reciprocate along a straight line, and its structural forms include a variety of forms, such as a cylinder, a screw rod or a hydraulic cylinder, etc., and the first position-limiting member 372 is a plate body. When it is necessary to further stabilize the position of the tool head 310 during processing of the tool head 310, or to align and connect the hook structure with the connecting hook 110, the first translation driving member 371 drives the plate-shaped first position-limiting member 372 to press against the inner wall of the drainage pipe, which can increase the stability of the pressure against the inner wall of the drainage pipe, especially when there is a lot of scaling on the inner wall of the drainage pipe, the plate-shaped first position-limiting member 372 can form a relatively stable support fulcrum, thereby providing stable support on one side of the tool holder 300.

[0034] As a specific embodiment of the second position-limiting assembly, the second position-limiting assembly includes a second translation driving member 381 disposed in the tool holder 300, the second translation driving member 381 is transmission-connected to the second position-limiting member 382, ​​in practical applications, the second translation driving member 381 is mainly used to provide a driving force for the second position-limiting member 382 to reciprocate along a straight line, and its structural forms include a variety of forms, such as a cylinder, a screw rod or a hydraulic cylinder, etc., and the second position-limiting member 382 is a plate body. When it is necessary to further stabilize the position of the tool head 310 during processing of the tool head 310, or to align and connect the hook structure with the connecting hook 110, the second translation driving member 381 drives the plate-shaped second position-limiting member 382 to press against the inner wall of the drainage pipe, which can increase the stability of the pressure against the inner wall of the drainage pipe, especially when there is a lot of scaling on the inner wall of the drainage pipe, the plate-shaped second position-limiting member 382 can form a relatively stable support fulcrum, thereby providing stable support on one side of the tool holder 300.

[0035] As a specific implementation of the support assembly, the support assembly includes a lifting drive member 391 disposed in the tool holder 300. In actual applications, the lifting drive member 391 is mainly used to provide a driving force for the tool holder 300 to reciprocate in the up and down directions. There are various structural forms, such as a cylinder, a screw rod or a hydraulic cylinder, etc. The lifting drive member 391 is connected to the support member 392 in a transmission manner, and the support member 392 is a roller. When it is necessary to further stabilize the position of the tool head 310 during processing of the tool head 310, or to align and connect the hook structure with the connecting hook 110, the lifting drive member 391 drives the roller to move downward to abut against the inner wall of the drainage pipe, so as to provide single-point support for the tool holder 300 from below the tool holder 300.

[0036] In actual applications, a narrowed slot structure is provided at the end of the repair pipe, so that the pipe clamping structure of the pipe drawing vehicle 100 is used to abut against the narrowed slot position to drive the repair pipe to move synchronously. There are various structural forms of the pipe clamping structure. For example, an annular boss may be provided on the pipe drawing vehicle 100, and the boss is used to abut against the narrowed slot structure at the end of the repair pipe. In order to facilitate the movement of the pipe drawing vehicle 100 in the repair pipe, in this embodiment, the pipe clamping structure includes a plurality of rotating wheels 120 arranged around the outside of the pipe drawing vehicle 100, and the centers of the plurality of rotating wheels 120 are located on the same plane. In actual applications, a plurality of rotating wheels 120 may be respectively arranged at both ends of the pipe drawing vehicle 100. For example, three rotating wheels 120 are arranged around one end of the pipe drawing vehicle 100, and three rotating wheels 120 are also arranged around the other end. When the tube-pulling trolley 100 enters the repair tube, the multiple rotating wheels 120 on its outside can abut against the inside of the repair tube, thereby improving the smoothness of the tube-pulling trolley 100 when moving in the repair tube. When the multiple rotating wheels 120 located on the same plane reach the narrowed position of the end of the repair tube, the outer sides of the multiple rotating wheels 120 abut against the inner edge of the end of the repair tube, which will restrict the tube-pulling trolley 100 from escaping from the repair tube, thereby driving the repair tube to move synchronously with the tool holder 300.

[0037] After the repair pipe is moved into place in the drainage pipe, the pipe pulling vehicle 100 needs to be pulled out of the repair pipe by the draw rope fixed on the tool holder 300. In order to facilitate the fixing of the draw rope, in this embodiment, a draw rope hole 130 is provided on the side of the pipe pulling vehicle 100 away from the tool holder 300. Before use, the draw rope can be passed through the draw rope hole 130 and tied and fixed, thereby improving the convenience of connecting and fixing the draw rope on the pipe pulling vehicle 100.

[0038] The drainage pipe repair method is applied to the drainage pipe repair robot, including but not limited to the following steps: In step S100, the desilting robot host 200 drives the cutter head 310 to perform milling processing on the position of the drainage pipe that needs to be repaired.

[0039] Step S200, insert a repair pipe from the end of the drainage pipe away from the dredging robot host 200, and put the pipe pulling vehicle 100 into the repair pipe, the hook structure and the connecting hook 110 are mutually engaged, and a pull rope is tied to the pipe pulling vehicle 100.

[0040] In step S300, the desilting robot host 200 pulls the repair pipe to cover the position inside the drainage pipe that needs to be repaired, the hook structure and the connecting hook 110 are disengaged from each other, and the pipe pulling vehicle 100 is pulled out of the repair pipe by a pull rope.

[0041] Step S400 is to fix the drainage pipe and the repair pipe. There are various ways to fix the drainage pipe and the repair pipe to each other. For example, the two can be welded or adhered to each other.

[0042] Through the above method for repairing the drainage pipe, it is not necessary to demolish the entire drainage pipe by damaging the ground. First, the inner wall of the drainage pipe is cleaned by the cutter head 310, which is beneficial for covering and repairing the damaged position of the drainage pipe after the repair pipe is moved into place in the drainage pipe. The entire repair process is more efficient, reducing the maintenance cost of the drainage pipe.

[0043] The above specifically describes the preferred embodiments of the present invention, but the present invention is not limited to the described embodiments. Those skilled in the art can make various equivalent variations or substitutions without departing from the spirit of the present invention, and these equivalent variations or substitutions are all included within the scope defined by the claims of this application.

Claims

1. Drainage pipeline repair robot, characterized in that: Including: A pipe jacking machine (100) with a pipe clamping structure arranged on the outside, and a connecting hook (110) is arranged at one end of the pipe jacking machine (100); The main body of a dredging robot (200) having a movable end that can move back and forth; A tool holder (300) connected to the movable end. A tool bit (310) is rotatably connected to one side of the tool holder (300) close to the pipe jacking machine (100). A hook structure is arranged on the tool bit (310). A rotary driving device (330) is arranged on the tool holder (300). The rotary driving device (330) is in transmission connection with the tool bit (310). The rotary driving device (330) can drive the tool bit (310) to rotate. When the tool bit (310) rotates, the hook structure can be engaged with or disengaged from the connecting hook (110).

2. The drainage pipeline repair robot according to claim 1, wherein: A connecting portion (320) is formed on one side of the tool holder (300) close to the pipe jacking machine (100). The tool bit (310) includes a tool seat (340) and a cutting tool (350). The two sides of the connecting portion (320) are respectively rotatably connected with the tool seat (340). A plurality of the cutting tools (350) are respectively arranged on the outside of the two tool seats (340). The rotary driving device (330) is in transmission connection with the two tool seats (340). A connecting gap is formed between the two tool seats (340). The hook structure includes anti-detachment convex edges (360) formed on one side of the two tool seats (340) close to the connecting gap. The two anti-detachment convex edges (360) respectively extend in an arc shape around the axes of the two tool seats (340). Hook portions (111) are respectively formed on both sides of the end of the connecting hook (110). The two tool seats (340) can rotate so that the two hook portions (111) are relatively clamped into the inner sides of the two anti-detachment convex edges (360) or relatively disengaged from the two anti-detachment convex edges (360).

3. The drainage pipeline repair robot according to claim 2, characterized in that: An accommodation cavity is arranged inside the connecting portion (320). The rotary driving device (330) includes a motor connected to the outside of the connecting portion (320). The output end of the motor extends into the accommodation cavity. A connecting shaft is passed through and rotatably connected to the connecting portion (320). The two ends of the connecting shaft are respectively connected to the two tool seats (340). The output end of the motor is in transmission connection with the connecting shaft.

4. The drainage pipeline repair robot according to claim 1, wherein: A first limiting component, a second limiting component and a supporting component are arranged on the tool holder (300). The first limiting component is provided with a first limiting member (372) that can move close to or away from the tool holder (300) on one side of the tool holder (300). The second limiting component is provided with a second limiting member (382) that can move close to or away from the tool holder (300) on the other side of the tool holder (300). The supporting component is provided with a supporting member (392) that can move up and down on the bottom side of the tool holder (300).

5. The drainage pipeline repair robot according to claim 4, characterized in that: The first limiting component includes a first translation driving member (371) disposed in the tool rest (300), the first translation driving member (371) is drivingly connected to the first limiting member (372), and the first limiting member (372) is a plate body.

6. The drainage pipeline repair robot according to claim 4, characterized in that: The second limiting component includes a second translation driving member (381) disposed in the tool rest (300), the second translation driving member (381) is drivingly connected to the second limiting member (382), and the second limiting member (382) is a plate body.

7. The drainage pipeline repair robot according to claim 4, characterized in that: The support component includes a lifting driving member (391) disposed in the tool rest (300), the lifting driving member (391) is drivingly connected to the support member (392), and the support member (392) is a roller.

8. The drainage pipeline repair robot according to claim 1, wherein: The pipe clamping structure includes a plurality of rotating wheels (120) disposed around the outside of the pipe pulling vehicle (100), and the centers of the plurality of rotating wheels (120) are located in the same plane.

9. The drainage pipeline repair robot according to claim 1, characterized in that: A rope passing hole (130) is provided on one side of the pipe pulling vehicle (100) away from the tool rest (300).

10. A drainage pipe repair method, applied to the drainage pipe repair robot according to any one of claims 1 to 9, characterized in that: Comprising: The dredging robot main body (200) drives the cutter head (310) to mill and process the position to be repaired of the drainage pipe; A repair pipe is placed into the drainage pipe from one end away from the dredging robot main body (200), and the pipe pulling vehicle (100) is placed into the repair pipe. The hook structure and the connecting hook (110) are clamped with each other, and a pulling rope is tied to the pipe pulling vehicle (100); The dredging robot main body (200) pulls the repair pipe to cover the position to be repaired inside the drainage pipe. The hook structure and the connecting hook (110) are disengaged from each other, and the pipe pulling vehicle (100) is pulled out of the repair pipe through the pulling rope; Fix the drainage pipe and the repair pipe.

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