Drainage pipe repair robot and drainage pipe repair method

Abstract

The present invention relates to the technical field of drainage pipe repair, and discloses a drainage pipe repair robot and a drainage pipe repair method, wherein the drainage pipe repair robot comprises: a pipe pulling vehicle, a pipe clamping structure is provided on the outer side, and a connecting hook is provided at one end of the pipe pulling vehicle; a dredging robot arm main body has a movable end that can move forward and backward; a tool holder is connected to the movable end, and the tool holder is rotatably connected to a cutter head on the side close to the pipe pulling vehicle, and a hook structure is provided on the cutter head, and a rotary drive device is provided on the tool holder, and the rotary drive device transmits and connects the cutter head, and 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 engaged with or disengaged from each other. The present invention does not need to destroy the ground to dismantle the entire drainage pipe. The inner wall of the drainage pipe is first cleaned by the cutter head, which is conducive to blocking 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, and the maintenance cost of the drainage pipe 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 prolonged use. Traditional drainage pipe repair methods require breaking the ground, removing the damaged pipe from the ground, and then burying a new pipe underground. This operation is time-consuming and labor-intensive, and also requires re-repairing the ground, resulting in high maintenance costs. Therefore, there is an urgent need for a device that can improve the efficiency of drainage pipe repair. Summary of the Invention

[0003] 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 option or create conditions.

[0004] The solution of the present invention to solve its technical problems is:

[0005] The drainage pipe repair robot includes: a pipe pulling cart with a pipe clamping structure on the outside, and a connecting hook is provided at one end of the pipe pulling cart; a dredging robot arm main body, which has a movable end that can move forward and backward; a tool holder, which is connected to the movable end, and the tool holder is rotatably connected to a cutter head on the side close to the pipe pulling cart, and a hook structure is provided on the cutter head, and a rotary drive device is provided on the tool holder, which is connected to the cutter head in a transmission manner and can drive the cutter head to rotate. When the cutter head rotates, the hook structure and the connecting hook can be engaged or disengaged with each other.

[0006] This technical solution has at least the following beneficial effects: when the drainage pipe is damaged and needs to be repaired, the tool holder is sent into the pipe, and the main dredging robot drives the tool holder to move along the axial direction of the drainage pipe, so that the cutter head moves to the position on the inner wall of the drainage pipe that needs to be repaired. At this time, the cutter head can be used to mill the position on the drainage pipe that needs to be repaired, and remove the inward protruding part of the damaged position of the drainage pipe. In addition, the cutter head can also be used to remove scale on the inner wall of the drainage pipe and clean the inner wall of the drainage pipe. After completion, a repair pipe is inserted from the end of the drainage pipe away from the main dredging robot, and a pipe pulling cart is placed in the repair pipe. A pull rope is tied to the pipe pulling cart, and the cutter head is moved close to the repair pipe. The cutter head is rotated so that the hook structure and the connecting hook are engaged with each other. At this time, the tool holder and the pipe pulling cart can be combined into one, and the main dredging robot is used to drive the tool holder to the middle of the drainage pipe. During movement, the tool holder can drive the pipe pulling trolley to move toward the middle of the drain pipe. The pipe clamping structure on the pipe pulling trolley is clamped on the end of the repair pipe, which can drive the repair pipe to move axially in the drain pipe, thereby pulling the repair pipe to cover the position on the inside of the drain pipe that needs to be repaired. Then rotate the cutter head to disengage the hook structure on the cutter head from the connecting hook on the pipe pulling trolley. At this time, the dredging robot can move the tool holder away from the repair pipe, and the pipe pulling trolley can pull out the repair pipe by pulling the rope, so as to move the repair pipe into place in the drain pipe. At this time, the drain pipe and the repair pipe can be fixed. In this way, the entire drain pipe does not need to be damaged and the inner wall of the drain pipe is cleaned first by the cutter head, which is conducive to covering and repairing the damaged position of the drain pipe after the repair pipe is moved into place in the drain pipe. The entire repair process is more efficient, reducing the maintenance cost of the drain pipe.

[0007] As a further improvement of the above technical solution, a connecting portion is formed on the side of the tool holder close to the pipe drawing vehicle, and the tool head includes a tool holder and a tool. The tool holders are rotatably connected on both sides of the connecting portion, and multiple tools are respectively arranged on the outer sides of the two tool holders. The rotary drive device transmits and connects the two tool holders, and a connecting gap is formed between the two tool holders. The hook structure includes an anti-slip ridge formed on one side of the two tool holders close to the connecting gap, and the two anti-slip ridges extend in an arc shape around the axes of the two tool holders respectively. Hook portions are respectively formed on both sides of the end of the connecting hook, and the two tool holders can be rotated so that the two hook portions are relatively stuck in the inner sides of the two anti-slip ridges or relatively detached from the two anti-slip ridges.

[0008] As a further improvement of the above technical solution, an accommodating cavity is provided inside the connecting part, the rotating drive device includes a motor connected to the outside of the connecting part, the output end of the motor extends into the accommodating cavity, the connecting part is penetrated and rotatably connected with a connecting shaft, the two ends of the connecting shaft are respectively connected to the two tool seats, and the output end of the motor is transmission-connected to the connecting shaft.

[0009] As a further improvement of the above technical solution, the tool holder is provided with a first limiting component, a second limiting component and a supporting component. The first limiting component is provided with a first limiting member on one side of the tool holder that can move closer to or away from the tool holder, the second limiting component is provided with a second limiting member on the other side of the tool holder that can move closer to or away from the tool holder, and the supporting component is provided with a supporting member that can move up and down on the bottom side of the tool holder.

[0010] As a further improvement of the above technical solution, the first limiting assembly 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.

[0011] As a further improvement of the above technical solution, the second limiting assembly 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.

[0012] 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.

[0013] As a further improvement of the above technical solution, the pipe clamping structure includes a plurality of rotating wheels arranged around the outside of the pipe drawing vehicle, and the centers of the plurality of rotating wheels are located on the same plane.

[0014] 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.

[0015] A drainage pipe repair method, applied to the above-mentioned drainage pipe repair robot, comprises:

[0016] The main body of the desilting robot drives the cutter head to mill and flatten the position of the drainage pipe that needs to be repaired;

[0017] 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;

[0018] The dredging robot arm pulls the repair pipe to the position covering the inner side of 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 the pull rope;

[0019] The drainage pipe and the repair pipe are fixed.

[0020] This technical solution has at least the following beneficial effects: through the above-mentioned method for repairing drainage pipes, the entire section of the drainage pipe does not need to be removed without damaging the ground. The inner wall of the drainage pipe is first cleaned by the cutter head, which is conducive to moving the repair pipe into place in the drainage pipe and then covering and repairing the damaged position of the drainage pipe. The entire repair process is more efficient and reduces the maintenance cost of the drainage pipe.

[0021] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] To more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly describes the drawings required for describing the embodiments. Obviously, the drawings described only illustrate some embodiments of the present invention, not all of them. Those skilled in the art can derive other design solutions and drawings based on these drawings without inventive effort.

[0023] Figure 1 It is a structural schematic diagram of the drainage pipe repair robot of the present invention.

[0024] Figure 2 It is a structural schematic diagram of the pipe drawing vehicle and the tool holder of the present invention when they are clamped together.

[0025] Figure 3 It is a three-dimensional view of a tool holder of the present invention.

[0026] Figure 4 It is a structural schematic diagram of the pipe drawing vehicle of the present invention.

[0027] In the accompanying drawings: 100-pipe pulling cart, 110-connecting hook, 111-hook part, 120-rotating wheel, 130-rope threading hole, 200-dredging robot main unit, 300-tool holder, 310-tool head, 320-connecting part, 330-rotation drive device, 340-tool holder, 350-tool, 360-anti-slip flange, 371-first translation drive member, 372-first limit member, 381-second translation drive member, 382-second limit member, 391-lifting drive member, 392-support member. DETAILED DESCRIPTION

[0028] The following describes embodiments of the present invention in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present invention and are not to be construed as limiting the present invention.

[0029] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings. They 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. Therefore, they cannot be understood as limitations on the present invention.

[0030] In the description of the present invention, "several" means one or more, "many" means more than two, "greater than," "less than," and "exceed" are understood to exclude the number itself, while "above," "below," and "within" are understood to include the number itself. The use of "first" and "second" in the description is solely for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance, implicitly specifying the number of the indicated technical features, or implicitly specifying the order of the indicated technical features.

[0031] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, and connecting 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.

[0032] 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. The outer side of the pipe pulling vehicle 100 is provided with a pipe clamping structure for clamping the repair pipe. In actual application, a narrowed notch structure is formed at the end position of the repair pipe. The pipe clamping structure of the pipe pulling vehicle 100 is clamped at the notch structure. A connecting hook 110 is provided 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 the side of the pipe drawing vehicle 100 with a cutter head 310, and a hook structure is provided on the cutter head 310. A rotation drive device 330 is provided on the tool holder 300, and the rotation drive device 330 is transmission-connected to the cutter head 310. The rotation drive device 330 can drive the cutter head 310 to rotate, and when the cutter head 310 rotates, the hook structure and the connecting hook 110 can be engaged or disengaged with each other.

[0033] After the repair is complete, the cutter head 310 is moved close to the repair pipe and the cutter head 310 is rotated so that the hook structure and the connecting hook 110 are engaged with each other. At this time, the cutter head 310 can be used to mill the position of the drain pipe that needs to be repaired and remove the protruding part of the damaged position of the drain pipe. In addition, the cutter head 310 can also be used to remove the scale on the inner wall of the drain pipe and clean the inner wall of the drain pipe. The cutter head 310 is used to clean the inner wall of the drainage pipe first, which is conducive to covering and repairing the damaged position of the drainage pipe after the repair pipe is moved into place in the drainage pipe. The whole repair process is more efficient and reduces the maintenance cost of the drainage pipe.

[0034] After the tool holder 300 is sent into the drainage pipe, the main body 200 of the dredging robot drives the tool holder 300 to move along the axial direction of the drainage pipe to adjust the position of the tool holder 300. The main body 200 of the dredging robot can be of various structural forms. For example, a cylinder, a hydraulic cylinder or a screw rod can be directly used. When the tool holder 300 needs to move a long stroke, the above-mentioned type of dredging robot main body 200 is difficult to send into the drainage pipe. At this time, a chain loader can be used to retract and unreel the chain curling arm into the drainage pipe and move axially in the drainage pipe. The chain curling arm can be used to It generates pulling force on the tool holder 300 and can also generate pushing force on the tool holder 300. The chain 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 through a pin and is located on the outside of the inner chain to form a one-way bending chain. The outer chain is provided with a tensioning mechanism for locking the chain to limit bending. When the chain is stretched, the tensioning mechanism is used to lock the chain so that the chain is restricted from bending and becomes rigid. In this way, the chain is connected to the tool holder 300. The chain curling arm is disclosed in patents with application numbers 2018201163137 and 2022235926674, and will not be repeated here.

[0035] When the tool holder 300 rotates, it can drive the hook structure on the tool holder 340 to rotate. The rotation of the hook structure can be used to connect or disengage with the connecting hook 110. There are many structural forms. For example, the hook structure on the tool holder 340 is a hook groove. When the tool holder 340 is close to the connecting hook 110 and rotates, the connecting hook 110 can be relatively connected to the hook groove. When the tool holder 340 is reversed, the connecting hook 110 can be relatively disengaged from the hook groove, thereby achieving the separation 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, the tool holder 300 is formed with a connecting portion 320 on the side close to the pipe drawing vehicle 100, and the cutter 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, and a plurality of the cutting tools 350 are respectively arranged on the outer sides of the two tool holders 340. The rotary drive device 330 is transmission-connected to the two tool holders 340, and a connecting gap is formed between the two tool holders 340. The hook structure includes an anti-slip ridge 360 formed on one side of the two tool holders 340 close to the connecting gap, and the two anti-slip ridges 360 respectively extend in an arc shape around the axis of the two tool holders 340. Hook portions 111 are respectively formed on both sides of the end portion of the connecting hook 110, and the two tool holders 340 can be rotated so that the two hook portions 111 are relatively stuck in the inner sides of the two anti-slip ridges 360 or relatively detached from the two anti-slip ridges 360.

[0036] In this embodiment, the rotary drive device 330 transmits power to the two knife seats 340, which can drive the two knife seats 340 to rotate, so that the cutting tools 350 on the two knife seats 340 process the inner wall of the drainage pipe. When the cutter head 310 and the connecting hook 110 need to be connected to each other, the rotary drive device 330 drives the two knife seats 340 to rotate, so that the anti-slip convex edges 360 of the two knife seats 340 rotate to the side of the knife seats 340 away from the connecting hook 110, so that the anti-slip convex edges 360 and the knife seats 340 are staggered with each other. At this time, the hook portions 111 formed on both sides of the end of the connecting hook 110 can enter between the connection gaps of the two knife seats 340, and then the rotary drive device 330 drives the two knife seats 340 to rotate, so that the two knife heads 310 and the connecting hook 110 are connected to each other. The anti-slip ridges 360 of the holder 340 move to the two hooks 111, causing the two connecting hooks 110 to engage with the inner sides of the two anti-slip ridges 360. When the tool holder 300 moves toward the middle of the drainage pipe, the two anti-slip ridges 360 apply force to the two hooks 111, driving the pipe pulling vehicle 100 toward the middle of the drainage pipe. At this time, the pipe pulling vehicle 100 clamps the repair pipe at the end position through the pipe clamping structure, driving the repair pipe to move synchronously, thereby reaching 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-slip ridges 360 of the two tool holders 340 to be offset from the tool holders 340 again, and the hook structure can be disengaged from the connecting hooks 110. In this way, the rotation of the tool holders 340 is cleverly used to achieve engagement and disengagement with the connecting hooks 110, so that the dredging robot main body 200 can drag the repair pipe to the target position in the drainage pipe.

[0037] The rotation drive device 330 provides rotational driving force for the two blade holders 340. Its transmission structure can be exposed. In order to better protect the transmission structure, in this embodiment, a receiving chamber is provided within the connecting portion 320. The rotation 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 chamber. A connecting shaft is passed through the connecting portion 320 and rotatably connected. The ends of the connecting shaft are respectively connected to the two blade holders 340. The output end of the motor is in transmission connection with the connecting shaft. The connecting portion 320 itself has an internal receiving chamber to 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 chamber and is connected to a driving gear. The connecting shaft is located in the receiving chamber and is also connected to a transmission gear. A transmission chain is connected between the driving gear and the transmission gear. When the driving gear is driven, the transmission chain drives the transmission gear to rotate synchronously, thereby driving the two blade holders 340 to rotate synchronously through the connecting shaft.

[0038] In the above embodiment, the dredging robot main unit 200 can only drive the blade holder 300 to move axially along the drainage pipe. In this case, the adjustable range of the cutter head 310 is relatively small. During use, the cutter head 310 can maintain a certain position within the drainage pipe by relying on the support of the cutter head 310 by the blade holder 300 itself. In addition, the connection between the blade holder 300 and the mobile end can be provided with an adjustment structure such as a mechanical arm to adjust the position of the blade holder 300 within the drainage pipe. In order to better stabilize the position of the blade holder 300 within the drainage pipe, in this embodiment, the blade holder 300 is provided with a first limit assembly, a second limit assembly, and a support assembly. The first limit assembly is provided on one side of the blade holder 300, and is movable toward or away from the blade holder 300. The second limit assembly is provided on the other side of the blade holder 300, and is movable toward or away from the blade holder 300. The support assembly is provided on the bottom side of the blade holder 300, and is movable upward and downward. Support member 392. 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 limiting member 372 in the first limiting assembly moves in a direction away from the cutter holder 300, and the second limiting member 382 in the second limiting assembly moves in a direction away from the cutter holder 300, so that the first limiting member 372 and the second limiting member 382 abut against both sides of the drainage pipe, and the support member 392 in the support assembly also moves downward and abuts against the inner bottom side of the drainage pipe. At this time, the first limiting member 372, the second limiting 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 limiting member 372, the second limiting 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.

[0039] As a specific embodiment of the first position-limiting assembly, the first position-limiting assembly includes a first translational drive member 371 disposed within the tool holder 300. The first translational drive member 371 is transmission-connected to the first position-limiting member 372. In practical applications, the first translational drive member 371 is primarily used to provide a driving force for the first position-limiting member 372 to reciprocate in a linear direction. The first translational drive member 371 can be implemented in various structural forms, such as a cylinder, a screw, or a hydraulic cylinder. The first position-limiting member 372 is a plate. When it is necessary to further stabilize the position of the tool head 310 during machining, or to align the hook structure with the connecting hook 110, the first translational drive member 371 drives the plate-shaped first position-limiting member 372 against the inner wall of the drainage pipe, thereby increasing the stability of the pressure against the inner wall of the drainage pipe. In particular, when the inner wall of the drainage pipe is heavily scaled, 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.

[0040] As a specific embodiment of the second position-limiting assembly, the second position-limiting assembly includes a second translational drive member 381 disposed within the tool holder 300. The second translational drive member 381 is transmission-connected to the second position-limiting member 382. In practical applications, the second translational drive member 381 is primarily used to provide a driving force for the second position-limiting member 382 to reciprocate in a linear direction. The second translational drive member 381 can be implemented in a variety of structural forms, such as a cylinder, a screw, or a hydraulic cylinder. The second position-limiting member 382 is a plate. When it is necessary to further stabilize the position of the tool head 310 during machining, or to align the hook structure with the connecting hook 110, the second translational drive member 381 drives the plate-shaped second position-limiting member 382 against the inner wall of the drainage pipe, thereby increasing the stability of the pressure against the inner wall of the drainage pipe. In particular, when the inner wall of the drainage pipe is heavily scaled, 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.

[0041] As a specific embodiment of the support assembly, the support assembly includes a lifting drive member 391 disposed within the tool holder 300. In actual use, the lifting drive member 391 is primarily used to provide a driving force for the tool holder 300 to reciprocate in the up and down directions. Its structure can take various forms, such as a pneumatic cylinder, a screw rod, or a hydraulic cylinder. The lifting drive member 391 is connected to the support member 392, which is a roller. When it is necessary to further stabilize the position of the tool head 310 during machining, or to align the hook structure with the connecting hook 110, the lifting drive member 391 drives the roller downward until it contacts the inner wall of the drainage pipe, providing single-point support for the tool holder 300 from below.

[0042] 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 trolley 100 is used to press 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 trolley 100, and the boss is used to press against the narrowed slot structure at the end of the repair pipe. In order to facilitate the movement of the pipe drawing trolley 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 trolley 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 provided at both ends of the pipe drawing trolley 100. For example, three rotating wheels 120 are arranged around one end of the pipe drawing trolley 100, and three rotating wheels 120 are also arranged around the other end. When the pipe-drawing trolley 100 enters the repair pipe, the multiple rotating wheels 120 on its outside can abut against the inside of the repair pipe, thereby improving the smoothness of the movement of the pipe-drawing trolley 100 in the repair pipe. When the multiple rotating wheels 120 located on the same plane reach the narrowed position of the end of the repair pipe, the outer sides of the multiple rotating wheels 120 abut against the inner edge position of the end of the repair pipe, which will limit the pipe-drawing trolley 100 from escaping the repair pipe, thereby driving the repair pipe to move synchronously with the tool holder 300.

[0043] After the repair pipe is moved into place within the drainage pipe, the pipe pulling cart 100 needs to be pulled out of the repair pipe using a drawstring secured to the tool holder 300. To facilitate securing the drawstring, in this embodiment, a drawstring hole 130 is provided on the side of the pipe pulling cart 100 away from the tool holder 300. Before use, the drawstring can be passed through the drawstring hole 130 and tied securely, thereby making it easier to secure the drawstring to the cart 100.

[0044] The drainage pipe repair method, applied to the above-mentioned drainage pipe repair robot, includes but is not limited to the following steps:

[0045] In step S100 , the desilting robot 200 drives the cutter head 310 to mill the position of the drainage pipe that needs to be repaired.

[0046] In step S200, a repair pipe is placed from the end of the drainage pipe away from the desilting robot main unit 200, and the pipe pulling vehicle 100 is placed in the repair pipe. The hook structure and the connecting hook 110 are engaged with each other, and a pull rope is tied to the pipe pulling vehicle 100.

[0047] 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.

[0048] Step S400: Fix the drainage pipe and the repair pipe. There are many ways to fix the drainage pipe and the repair pipe to each other, for example, welding them together or bonding them together.

[0049] Through the above-mentioned method for repairing the drainage pipe, there is no need to damage the ground and remove the entire section of the drainage pipe. The inner wall of the drainage pipe is first cleaned by the cutter head 310, which is conducive to moving the repair pipe into place in the drainage pipe and then covering and repairing the damaged position of the drainage pipe. The entire repair process is more efficient and reduces the maintenance cost of the drainage pipe.

[0050] The above specifically describes the preferred embodiments of the present invention, but the invention is not limited to the embodiments. Those skilled in the art may make various equivalent modifications or substitutions without violating the spirit of the present invention. These equivalent modifications or substitutions are all included in the scope defined by the claims of this application.

Claims

1. Drainage pipe repair robot, characterized by: include: A pipe-drawing trolley (100) is provided with a pipe-clamping structure on the outside, and a connecting hook (110) is provided at one end of the pipe-drawing trolley (100); A dredging robot main unit (200) having a mobile end that can move forward and backward; The tool holder (300) is connected to the mobile end. 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). A rotation drive device (330) is provided on the tool holder (300). The rotation drive device (330) is connected to the cutter head (310) in a transmission manner. The rotation drive device (330) can drive the cutter head (310) to rotate. When the cutter head (310) rotates, the hook structure and the connecting hook (110) can be mutually engaged or disengaged. A connecting portion (320) is formed on the tool holder (300) on one side close to the pipe drawing vehicle (100). The cutter head (310) includes a cutter seat (340) and a cutter (350). Both sides of the connecting portion (320) are divided into The two knife seats (340) are rotatably connected to each other, and a plurality of cutting tools (350) are respectively arranged on the outside of the two knife seats (340). The rotation drive device (330) is transmission-connected to the two knife seats (340), and a connection gap is formed between the two knife seats (340). The hook structure includes an anti-slip convex edge (360) formed on one side of the two knife seats (340) close to the connection gap. The two anti-slip convex edges (360) respectively extend in an arc shape around the axis of the two knife seats (340). Hook portions (111) are respectively formed on both sides of the end of the connecting hook (110). The two knife seats (340) can be rotated so that the two hook portions (111) are relatively stuck in the inner sides of the two anti-slip convex edges (360) or relatively separated from the two anti-slip convex edges (360).

2. The drainage pipe repair robot according to claim 1, characterized in that: An accommodating cavity is provided inside the connecting portion (320), and the rotation driving device (330) includes a motor connected to the outside of the connecting portion (320), and the output end of the motor extends into the accommodating cavity. A connecting shaft is passed through and rotatably connected to the connecting portion (320), and both ends of the connecting shaft are respectively connected to the two knife seats (340), and the output end of the motor is in transmission connection with the connecting shaft.

3. The drainage pipe repair robot according to claim 1, characterized in that: The tool holder (300) is provided with a first limiting component, a second limiting component and a supporting component. The first limiting component is provided on one side of the tool holder (300) with a first limiting member (372) that can move closer to or away from the tool holder (300). The second limiting component is provided on the other side of the tool holder (300) with a second limiting member (382) that can move closer to or away from the tool holder (300). The supporting component is provided on the bottom side of the tool holder (300) with a supporting member (392) that can move up and down.

4. The drainage pipe repair robot according to claim 3, characterized in that: The first limiting component comprises a first translation driving member (371) arranged in the tool holder (300), the first translation driving member (371) is transmission-connected to the first limiting member (372), and the first limiting member (372) is a plate.

5. The drainage pipe repair robot according to claim 3, characterized in that: The second limiting component includes a second translation driving member (381) arranged in the tool holder (300), the second translation driving member (381) is transmission-connected to the second limiting member (382), and the second limiting member (382) is a plate.

6. The drainage pipe repair robot according to claim 3, characterized in that: The support assembly comprises a lifting drive member (391) arranged in the tool holder (300), the lifting drive member (391) is transmission-connected to the support member (392), and the support member (392) is a roller.

7. The drainage pipe repair robot according to claim 1, characterized in that: The pipe clamping structure comprises 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.

8. The drainage pipe repair robot according to claim 1, characterized in that: A rope threading hole (130) is provided on a side of the pipe drawing vehicle (100) away from the tool holder (300).

9. A drainage pipe repair method, applied to the drainage pipe repair robot according to any one of claims 1 to 8, characterized in that: include: The desilting robot main unit (200) drives the cutter head (310) to perform milling processing on the position of the drainage pipe that needs to be repaired; A repair pipe is placed from one end of the drainage pipe away from the main body of the desilting robot (200), and the pipe pulling vehicle (100) is placed in 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); The desilting robot main unit (200) pulls the repair pipe to a position covering the inside of 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; The drainage pipe and the repair pipe are fixed.

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