A guide device for trenchless repair of pipelines

Abstract

The application discloses a guide device for trenchless repair of a pipeline, and relates to the technical field of pipeline repair devices. The guide device comprises a fixing block, the fixing block is provided with a positioning block on one side, the fixing block and the positioning block are jointly fixedly connected with an air bag, the fixing block and the positioning block are both provided with a connecting shell, the connecting shell is provided with a mounting block, and the mounting block is provided with a fixing assembly. The fixing assembly comprises a plurality of first connecting rods, the first connecting rods are all hingedly connected to the mounting block, the first connecting rods are hingedly connected with connecting seats, and the connecting seats are provided with driving wheels. The two groups of first connecting rod-driving wheel mechanisms are arranged, the central axis of the air bag can coincide with the central axis of the pipeline, the probability that the resin-dipped hose is scraped and contacted with residual silt, impurities and oil stains at the bottom of the pipeline in the conveying process is reduced, and the cleanliness, integrity and coating position accuracy of the resin layer are ensured.

Description

Technical Field

[0001] This invention relates to the field of pipeline repair equipment technology, and in particular to a guiding device for trenchless pipeline repair. Background Technology

[0002] Trenchless pipeline repair technology, especially resin-based spot repair technology, has become a key means of maintaining modern urban infrastructure. This method involves wrapping a flexible resin-impregnated lining material (such as fiberglass fabric) around the surface of an airbag and guiding it to the defect location inside the pipeline. Inflation causes the material to adhere tightly to the pipe wall, and then curing at room temperature or with heat forms a high-strength lining, achieving localized repair of damage. This method avoids the high costs, traffic disruptions, and environmental impacts of traditional excavation and is widely used in the repair of drainage, water supply, and gas pipelines.

[0003] However, in practical applications of existing airbag traction repair technology, the diameter of the airbag and traction device must be smaller than the inner diameter of the target pipe to ensure the overall device can pass smoothly through the pipe (especially old pipes with deformation, misalignment, or deposits). This dimensional difference, combined with gravity, causes the airbag to be in a naturally eccentric state within the pipe. The gap between its lower side and the lower side of the pipe's inner wall is smaller than the gap between its upper side and the pipe's inner wall. Even if the pipe undergoes pretreatment such as high-pressure water jetting before construction, trace amounts of moisture, oil film, extremely fine particles, or uneven hard scale will inevitably remain on the lower side of the pipe's inner wall. This eccentric state, combined with residual impurities, makes the resin layer impregnated on the lower side of the repair hose easily come into contact with and be scratched by these impurities during the movement of the hose by the airbag. This not only leads to resin contamination, affecting its performance after curing, but may also cause partial scraping or displacement of resin, resulting in uneven resin thickness or even missing resin covering the defect area. Summary of the Invention

[0004] In order to overcome the shortcomings mentioned in the background art, the present invention provides a guiding device for trenchless pipeline repair.

[0005] The technical solution of this invention is: a guiding device for trenchless pipeline repair, comprising:

[0006] A fixed block, a positioning block is provided on one side of the fixed block, a monitoring probe is provided on the positioning block, an airbag is fixedly connected to the fixed block and the positioning block, a connecting shell is provided on both the fixed block and the positioning block, an installation block is provided inside each of the two connecting shells, and a fixing component is provided on the opposite sides of the two installation blocks.

[0007] The fixing component includes:

[0008] The first connecting rod has several circumferentially evenly distributed members, all of which are hinged to the mounting block. The end of the first connecting rod away from the corresponding mounting block is hinged to a connecting seat, and the connecting seat is provided with equally spaced drive wheels.

[0009] A threaded rod is rotatably connected to the mounting block. The threaded rod is threadedly connected to an extrusion member. A limiting groove is provided on the first connecting rod. The extrusion member slides within a plurality of corresponding and circumferentially evenly distributed limiting grooves to change the relative position of the corresponding connecting seat.

[0010] Preferably, it further includes:

[0011] The number of elastic telescopic rods is the same as the number of drive wheels, and they are respectively fixed to the corresponding connecting seats. The telescopic end of the elastic telescopic rod is fixed to a rotating seat, and the rotating seat on the elastic telescopic rod is rotatably connected to the corresponding drive wheel.

[0012] The number of limiting members is the same as the number of connecting seats, and each limiting member is detachably connected to the corresponding connecting seat. The limiting member is slidably connected to the rotating seat on the telescopic end of the corresponding elastic telescopic rod, and the limiting member is used to maintain the position of the corresponding rotating seat.

[0013] Preferably, it further includes:

[0014] The number of connecting plates is the same as the number of connecting seats, and they are respectively limited and slidably connected to the corresponding connecting seats. A first spring is fixed between the connecting plate and the corresponding connecting seat.

[0015] The number of first limiting blocks is the same as the number of connecting plates, and they are respectively fixed to the side of the corresponding connecting plate near the elastic telescopic rod. The first limiting blocks are used to control the movement of the connecting plate by being squeezed by the telescopic end of the corresponding elastic telescopic rod. The connecting plate is fixed with a plurality of second limiting blocks that are evenly distributed, and the second limiting blocks are used to limit the telescopic end of the corresponding elastic telescopic rod.

[0016] Preferably, both the first limiting block and the telescopic end of the corresponding elastic telescopic rod are provided with symmetrically distributed inclined surfaces, and the inclined surface on the first limiting block is in contact with the inclined surface on the telescopic end of the corresponding elastic telescopic rod.

[0017] Preferably, the distance between the side of the first limiting block away from the corresponding connecting plate and the connecting plate is D, and the distance between the side of the second limiting block away from the corresponding connecting plate and the connecting plate is d, where D ≥ d.

[0018] Preferably, an electric push rod is fixedly connected inside the connecting shell, and the telescopic ends of the two electric push rods are respectively fixedly connected to the fixing block and the positioning block. The fixing block and the positioning block are respectively slidably connected to the corresponding connecting shell. A self-locking motor is embedded in the mounting block, and a gear is fixedly connected to the output shaft of the self-locking motor. The connecting shell is rotatably connected to the corresponding mounting block, and a gear ring is fixedly connected to the connecting shell. The gear ring meshes with the gear on the output shaft of the corresponding self-locking motor.

[0019] Preferably, it further includes:

[0020] The second connecting rods are arranged in a linear array of several, all disposed between the fixed block and the positioning block. The second connecting rods on both sides are fixedly connected to the fixed block and the positioning block respectively. Except for the second connecting rods fixedly connected to the positioning block, the remaining second connecting rods are provided with arc-shaped portions. Except for the second connecting rods fixedly connected to the fixed block, the remaining second connecting rods are provided with spherical portions, and the spherical portions are located within the corresponding arc-shaped portions.

[0021] Preferably, it further includes:

[0022] The driving component includes a fixed block with a cavity, the driving component being fixedly connected to the cavity of the fixed block, the driving component having an external thread, and a guide rod being fixedly connected to the cavity of the fixed block; and an extrusion block being slidably connected to the cavity of the fixed block, the extrusion block being slidably connected to the guide rod, and the extrusion block being threadedly connected to the driving component.

[0023] The limiting rods are arranged in a linear array and are respectively slidably connected to the corresponding second connecting rods. Two adjacent limiting rods are in contact. A second spring is fixed between the limiting rod and the corresponding second connecting rod. The limiting rod near the extrusion block passes through the fixed block, and the extrusion block is used to extrude the corresponding limiting rod.

[0024] Preferably, the spherical portion is provided with an inclined annular surface, and the diameter of the inclined annular surface gradually decreases towards the side away from the extrusion block. The inclined annular surface on the spherical portion is used to guide the corresponding limiting rod.

[0025] Preferably, both the extrusion block and the corresponding limiting rod are provided with inclined surfaces, and the inclined surfaces of the two are in contact with each other. The width of the projection of the inclined surface on the horizontal plane of the extrusion block is greater than the maximum working stroke of the second spring.

[0026] Compared with the prior art, the present invention provides a guiding device for trenchless pipeline repair, which has the following beneficial effects: By setting two sets of first connecting rod-drive wheel mechanisms, the present invention ensures that the central axis of the airbag can coincide with the central axis of the pipeline, thereby reducing the probability of the resin-impregnated hose scraping and contacting the residual silt, impurities and oil at the bottom of the pipeline during the transportation process, and ensuring the cleanliness, integrity and accuracy of the resin layer and the coating position.

[0027] Through the coordinated design of the drive wheels and the elastic telescopic rods, this device can not only passively adapt to single depressions or bulges in the pipeline, but also collaboratively cope with large-scale, irregular concave areas. When one of the drive wheels in a group first encounters a concave area, it can trigger the linkage mechanism to release the limits of the other drive wheels in the same group, allowing them to retract successively, thereby ensuring that the entire device can smoothly and steadily pass through complex deformed pipe sections. Attached Figure Description

[0028] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0029] Figure 2 This is a three-dimensional structural cross-sectional view of the airbag of the present invention;

[0030] Figure 3 This is a three-dimensional structural cross-sectional view of the connecting shell of the present invention;

[0031] Figure 4 This is a three-dimensional sectional view of the mounting block of the present invention;

[0032] Figure 5 This is a three-dimensional structural cross-sectional view of the fixing block of the present invention;

[0033] Figure 6 This is a three-dimensional structural diagram of the limiting component and connecting plate of the present invention;

[0034] Figure 7 This is a three-dimensional structural diagram of the elastic telescopic rod and the first limiting block of the present invention;

[0035] Figure 8 This is a three-dimensional structural diagram of the first limiting block and the second limiting block of the present invention;

[0036] Figure 9 This is a three-dimensional structural cross-sectional view of the second connecting rod of the present invention.

[0037] The markings in the attached diagram are as follows: 1: Fixing block, 111: Positioning block, 101: Airbag, 2: Connecting shell, 3: Mounting block, 4: First connecting rod, 5: Connecting seat, 6: Drive wheel, 7: Threaded rod, 8: Extrusion part, 9: Limiting groove, 10: Elastic telescopic rod, 12: Limiting part, 13: Connecting plate, 14: First spring, 15: First limiting block, 16: Second limiting block, 17: Electric push rod, 18: Self-locking motor, 19: Gear ring, 21: Drive part, 22: Guide rod, 23: Extrusion block, 24: Second connecting rod, 25: Limiting rod, 26: Second spring, 27: Arc-shaped part, 28: Spherical part. Detailed Implementation

[0038] The embodiments of the present invention will be described below with reference to the accompanying drawings.

[0039] Example 1

[0040] This embodiment discloses a guiding device for trenchless pipeline repair. Addressing the problem in existing trenchless repair technologies where, during the movement of the airbag, the resin coated on its flexible hose easily scrapes and comes into contact with impurities remaining on the inner wall of the pipeline, leading to resin contamination, affecting its cured performance, and causing some resin to be scraped off or displaced, the solution of this invention is as follows:

[0041] like Figures 1-5 As shown, the guiding device for trenchless pipeline repair includes: a fixed block 1, an airbag 101, and a connecting shell 2. A positioning block 111 is provided on one side of the fixed block 1, and a monitoring probe is provided on the positioning block 111. The airbag 101 is fixedly connected to both the fixed block 1 and the positioning block 111. There are two symmetrically distributed connecting shells 2, which are respectively provided on the fixed block 1 and the positioning block 111. Each of the two connecting shells 2 is provided with an installation block 3, and a fixing component is provided on the opposite side of the two installation blocks 3. The fixing component includes: a first connecting rod 4, which has several evenly distributed circumferentially, all hinged to the installation block 3. The end of the first connecting rod 4 away from the corresponding installation block 3 is hinged to a connecting seat 5, and the connecting seat 5 is provided with equally spaced drive wheels 6. A threaded rod 7 is rotatably connected to the installation block 3. The threaded rod 7 is threadedly connected to an extrusion member 8. The first connecting rod 4 is provided with a limit groove 9. The extrusion member 8 slides within the corresponding and evenly distributed circumferential limit grooves 9 to change the relative position of the corresponding connecting seat 5.

[0042] In the above scheme, the monitoring probe on the positioning block 111 is an existing device and is not shown in the figure. The monitoring probe on the positioning block 111 is used to observe the specific condition of the inner wall of the pipe and assist the staff in judging whether the inner wall of the pipe has deformed. The fixing block 1 is located to the left of the positioning block 111. The airbag 101 is an existing device and is connected to the existing gas delivery device through a hose. The left connecting shell 2 is located to the left of the fixing block 1, and the right connecting shell 2 is located to the right of the positioning block 111. In this embodiment, the connecting shell 2 and the corresponding mounting block 3 can be regarded as fixedly connected. The specific number of the first connecting rods 4 can be selected by the staff. In this article, three first connecting rods 4 evenly distributed in the circumference are set on the same mounting block 3 as an example. The connecting seat 5 and the corresponding first connecting rods 4 are connected to the fixed block 111. The rods 4 can be locked together using existing devices, thereby keeping the side of the connecting seat 5 away from the central axis of the airbag 101 parallel to the central axis of the airbag 101. The specific number of drive wheels 6 on the same connecting seat 5 can also be selected by the operator. In the figure and text, four drive wheels 6 on the same connecting seat 5 are used as an example. The drive wheels 6 are electric wheels, and the four drive wheels 6 on the same connecting seat 5 form a group. Under normal conditions, the distance between the three connecting seats 5 corresponding to the same mounting block 3 is the smallest, and the minimum distance between the three connecting seats 5 and the central axis of the airbag 101 is greater than the outer diameter of the airbag 101. The rotation method of the threaded rod 7 can be selected by the operator during use. In this article, manual rotation by the operator is used as an example.

[0043] like Figures 5-8 As shown, it also includes: elastic telescopic rods 10, the number of which is the same as the number of drive wheels 6, which are respectively fixed to the corresponding connecting seats 5. The telescopic end of the elastic telescopic rod 10 is fixed to a rotating seat, and the rotating seat on the elastic telescopic rod 10 is rotatably connected to the corresponding drive wheel 6; limiting members 12, the number of which is the same as the number of connecting seats 5, which are respectively detachably connected to the corresponding connecting seats 5. The limiting member 12 is limited and slidably connected to the rotating seat on the telescopic end of the corresponding elastic telescopic rod 10, and the limiting member 12 is used to maintain the position of the corresponding rotating seat.

[0044] In the above scheme, the elastic telescopic rod 10 is always in a stored state; the limiting member 12 is used to limit the corresponding drive wheel 6 and keep the corresponding elastic telescopic rod 10 in a stored state. The four elastic telescopic rods 10 on the same connecting seat 5 are set as a group.

[0045] The specific workflow of the above scheme is as follows:

[0046] When this device is needed to repair a damaged pipe, the operator places a hose on the outside of the airbag 101 and coats the hose with resin. Then, the device is placed inside the pipe, and the threaded rod 7 on the right side is rotated. During the rotation, the threaded rod 7 drives the extrusion member 8 to move to the left through its external thread. During the movement, the extrusion member 8 extrudes the three first connecting rods 4, causing the right ends of the three first connecting rods 4 to move away from each other and gradually open. At the same time, the first connecting rods 4 drive the corresponding connecting seats 5 and drive wheels 6 to move synchronously. During this process, the operator adjusts the position of the three connecting seats 5 on the right side so that the four drive wheels 6 in the same group contact the inner wall of the pipe synchronously. When the three sets of drive wheels 6 on the right side have moved to a position where they are all in close contact with the inner wall of the pipe, the operator uses the existing device to lock and fix the three connecting seats 5 on the right side to the corresponding first connecting rods 4. The operator then stops rotating the threaded rod 7 on the right side and fixes the three first connecting rods 4 on the right side in their moved positions.

[0047] After adjusting the positions of the three first connecting rods 4 on the right, the worker pulls the limiting piece 12 to the left, causing it to lose contact with the rotating seats on the telescopic ends of the four elastic telescopic rods 10 on the right (during this process, the three sets of drive wheels 6 are unable to move due to the pressure of the inner wall of the pipe). After pulling out all three limiting pieces 12 on the right, the worker pushes the device into the pipe (to the right) until all three connecting seats 5 on the left are inside the pipe. The worker then adjusts the positions of the three connecting seats 5 on the left according to the above operation, so that the drive wheels 6 on the left are tightly fitted to the inner wall of the pipe. Thus, the device is positioned and calibrated by the combined support of the six first connecting rods 4, so that the central axes of the two fixing blocks 1 are collinear with the central axis of the pipe (the central axis of the airbag 101 is collinear with the central axis of the pipe). (The axes are collinear), which reduces the probability of the resin-impregnated hose scraping and contacting the silt, impurities and oil residue at the bottom of the pipe during transportation, ensuring the cleanliness, integrity and accuracy of the resin layer and the coating position. In turn, the airbag 101 can apply pressure to the surrounding hoses simultaneously and evenly during inflation, and make the outer periphery of the hose contact the inner wall of the pipe at the same time and compact the resin, ensuring the uniformity of the resin layer thickness and density. After the drive wheel 6 on the left side is tightly attached to the inner wall of the pipe, the operator pulls out the limit piece 12 on the left side. Then the operator controls the drive wheel 6 to drive the device to move to the right. During the movement, the visual probe on the positioning block 111 monitors the environment of the inner wall of the pipe (to help the operator determine the location of the pipe to be repaired).

[0048] Once the device is moved to the designated location (i.e., the location where the pipeline needs repair), the operator shuts off the drive wheel 6 and uses an external gas delivery device to inflate the airbag 101, causing the airbag 101 to expand. Simultaneously, the airbag 101 compresses the hose on it during expansion, causing the hose to expand circumferentially and adhere tightly to the inner wall of the pipeline, compressing the resin to repair the damaged area. After the repair is completed, the operator controls the gas delivery device to extract the gas from the airbag 101 and removes the device from the pipeline for subsequent use.

[0049] During the movement of this device to the right, if it encounters a concave part of the pipe, the drive wheel 6 will be squeezed and move towards the central axis of the airbag 101, thereby driving the telescopic end of the corresponding elastic telescopic rod 10 to move synchronously, compressing and storing force on the elastic telescopic rod 10, so that the device can smoothly pass through the deformed part of the pipe, while increasing the stability of the position of the airbag 101; when passing through the convex part of the inner wall of the pipe, the drive wheel 6 will move away from the central axis of the airbag 101 under the action of the corresponding elastic telescopic rod 10, ensuring that the drive wheel 6 contacts the inner wall of the pipe, thereby ensuring the normal movement of the device.

[0050] Example 2

[0051] Based on Example 1, this example aims to optimize the process of a guide device for trenchless pipeline repair proposed above passing through the deformed part of the pipeline.

[0052] like Figures 6-8 As shown, it also includes: connecting plates 13, the number of which is the same as the number of connecting seats 5, which are respectively limited and slidably connected to the corresponding connecting seats 5, and a first spring 14 is fixed between the connecting plates 13 and the corresponding connecting seats 5; first limiting blocks 15, the number of which is the same as the number of connecting plates 13, which are respectively fixed to the side of the corresponding connecting plate 13 near the elastic telescopic rod 10, the first limiting blocks 15 are used to control the movement of the connecting plate 13 by being squeezed by the telescopic end of the corresponding elastic telescopic rod 10, and a number of second limiting blocks 16 are fixedly distributed at equal intervals on the connecting plate 13, the second limiting blocks 16 are used to limit the telescopic end of the corresponding elastic telescopic rod 10.

[0053] In the above scheme, the two upper connecting plates 13 are respectively located behind the corresponding connecting seat 5, and initially, the two upper connecting plates 13 cannot move forward, and the first spring 14 is always in a charged state; the first limiting block 15 is located on the right side of the corresponding connecting plate 13, and the first limiting block 15 is in contact with the rightmost elastic telescopic rod 10 in the corresponding set of elastic telescopic rods 10; there are three second limiting blocks 16 on the same connecting plate 13, and the three connecting plates 13 are respectively used to limit the telescopic ends of the other three in the corresponding set of elastic telescopic rods 10, keep the position of the corresponding drive wheel 6 stable, and thus, under the combined action of all connecting plates 13, all first limiting blocks 15 and all second limiting blocks 16, the overall device remains stable during normal movement.

[0054] like Figure 8 As shown, both the first limiting block 15 and the corresponding elastic telescopic rod 10 have symmetrically distributed inclined surfaces on their telescopic ends, and the inclined surface on the first limiting block 15 is in contact with the inclined surface on the telescopic end of the corresponding elastic telescopic rod 10.

[0055] In the above scheme, the aim is to define the shape of the first limiting block 15 and the telescopic end of the elastic telescopic rod 10 that is attached to it, so that the telescopic end of the elastic telescopic rod 10 can squeeze the corresponding first limiting block 15 during the up and down movement, so that it moves.

[0056] like Figure 8 As shown, the distance between the side of the first limiting block 15 away from the corresponding connecting plate 13 and the connecting plate 13 is D, and the distance between the side of the second limiting block 16 away from the corresponding connecting plate 13 and the connecting plate 13 is d, where D≥d, so that when the first limiting block 15 loses contact with the inclined surface on the telescopic end of the corresponding elastic telescopic rod 10 due to the compression of the telescopic end of the corresponding elastic telescopic rod 10, the second limiting block 16 simultaneously loses contact with the telescopic end of the corresponding elastic telescopic rod 10.

[0057] The workflow of the above solution is as follows:

[0058] The working process of the drive wheels 6 at the upper right corner as the device moves to the right will be described as an example:

[0059] When the rightmost drive wheel 6 contacts the concave part of the pipe, the drive wheel 6 is compressed by the pipe, causing the corresponding telescopic end of the elastic telescopic rod 10 to move synchronously, compressing the corresponding elastic telescopic rod 10. Simultaneously, the telescopic end of the elastic telescopic rod 10 presses against the corresponding first limiting block 15 during its movement, causing the first limiting block 15 to move in a direction perpendicular to the central axis of the elastic telescopic rod 10. During its movement, the first limiting block 15 transmits the corresponding second limiting block 16 to move synchronously via the connecting plate 13 (during the movement, the connecting plate 13 compresses the first spring 14, causing the first spring 14 to store force), thus causing the second limiting block 16 to lose contact with the telescopic end of the corresponding elastic telescopic rod 10. Consequently, the remaining three drive wheels 6 in the same group can also move within the concave part of the pipe. The device moves downward under pressure, compressing the corresponding elastic telescopic rod 10, allowing it to pass smoothly through the concave area of ​​the pipe. When the device passes through the convex area of ​​the pipe, the rightmost drive wheel 6 moves away from the central axis of the airbag 101 under the action of the corresponding elastic telescopic rod 10. During the movement, the inclined surface on the telescopic end of the elastic telescopic rod 10 presses against the corresponding second limiting block 16, causing the second limiting block 16 to move the transmission connecting plate 13. This allows the other three drive wheels 6 in the same group to move upward under the action of the corresponding elastic telescopic rod 10. The specific process is described above and will not be detailed further. This further increases the stability of the device's position and ensures that the central axis of the airbag 101 is collinear with the central axis of the pipe.

[0060] When the rightmost drive wheel 6 passes through the concave area of ​​the pipe, the second limiting block 16 is limited by the telescopic end of the corresponding elastic telescopic rod 10 and cannot be reset under the action of the first spring 14. Until the set of drive wheels 6 in the upper right has passed through the concave area of ​​the pipe, the set of drive wheels 6 is no longer squeezed by the pipe, so that the set of drive wheels 6 is reset upward under the action of the corresponding elastic telescopic rod 10. When the set of drive wheels 6 is reset to the initial position relative to the connecting seat 5, the connecting plate 13 drives the first limiting block 15 and the three second limiting blocks 16 to move synchronously under the action of the first spring 14, so that the first limiting block 15 and the second limiting block 16 re-contact the telescopic end of the corresponding elastic telescopic rod 10, in preparation for subsequent use.

[0061] The workflow when the set of drive wheels 6 on the upper right passes through the protruding part of the pipe is the same as described above, and will not be described in detail again.

[0062] Example 3

[0063] Based on Example 2, this example aims to improve the repair strength of the hose on the pipe when the part of the pipe to be repaired is concave.

[0064] like Figure 4 , Figure 5 and Figure 9As shown, an electric push rod 17 is fixedly connected inside the connecting shell 2. The telescopic ends of the two electric push rods 17 are fixedly connected to the fixed block 1 and the positioning block 111, respectively. The fixed block 1 and the positioning block 111 are slidably connected to the corresponding connecting shell 2. A self-locking motor 18 is embedded in the mounting block 3. A gear is fixedly connected to the output shaft of the self-locking motor 18. The connecting shell 2 is rotatably connected to the corresponding mounting block 3. A gear ring 19 is fixedly connected to the connecting shell 2. The gear ring 19 meshes with the gear on the output shaft of the corresponding self-locking motor 18.

[0065] In the above scheme, the telescopic end of the left electric push rod 17 is fixedly connected to the fixed block 1, and the telescopic end of the right electric push rod 17 is fixedly connected to the positioning block 111; the toothed ring 19 is located inside the corresponding connecting shell 2.

[0066] The specific workflow of the above scheme is as follows:

[0067] After the device moves to the designated position to the right, the operator observes the specific location and shape of the part of the pipe to be repaired through the visual probe on the positioning block 111. When the part of the pipe to be repaired is recessed inward, two self-locking motors 18 are activated. The output shafts of the two self-locking motors 18 drive the corresponding gears to rotate. The gears on the output shafts of the self-locking motors 18 drive the corresponding gear rings 19 to rotate. The gear rings 19 drive the corresponding connecting shells 2 to rotate synchronously. Thus, the two connecting shells 2 drive the fixed block 1 and the positioning block 111 to rotate respectively. The fixed block 1 and the positioning block 111 together drive the airbag 101 to rotate. During the rotation of the fixed block 1, the fixed block 1 drives the electric push rod 17 to rotate synchronously. When the electric push rod 17 rotates, the airbag 101 rotates. After the telescopic end of rod 17 faces the area of ​​the pipe to be repaired, the operator shuts off the self-locking motor 18 and starts the two electric push rods 17. The telescopic ends of the two electric push rods 17 drive the corresponding fixed block 1 and the corresponding positioning block 111 to move synchronously. Thus, the fixed block 1 and the positioning block 111 jointly drive the airbag 101 to move, thereby reducing the distance between the outside of the airbag 101 and the area of ​​the pipe to be repaired. This allows the airbag 101 to drive the hose to contact the damaged part of the pipe first during the expansion process, so that the pressure of the airbag 101 expansion acts on the defect area first. This causes the resin on the hose to be squeezed and fully penetrate into the crack and hole, forming a mechanical interlock and increasing the overall structural strength.

[0068] Example 4

[0069] Based on Example 3, this example considers that in actual use, the guiding equipment for trenchless pipeline repair typically does not have rigid supports inside the airbag to facilitate movement into the pipeline. However, once the airbag is inside the pipeline, it is prone to non-uniform deformation due to gravity, frictional resistance of the pipeline wall, or fluid disturbance, forming wrinkles or creases on the airbag surface. This leads to uneven resin thickness distribution during pressure curing, resulting in problems such as voids, peeling, or insufficient strength in the repair layer. The following solution is proposed to address this issue:

[0070] like Figure 2 and Figure 9 As shown, it also includes: a second connecting rod 24, which has several in a linear array, all disposed between the fixing block 1 and the positioning block 111. The second connecting rods 24 on both sides are fixedly connected to the fixing block 1 and the positioning block 111 respectively. Except for the second connecting rod 24 fixedly connected to the positioning block 111, the other second connecting rods 24 are provided with an arc-shaped portion 27. Except for the second connecting rod 24 fixedly connected to the fixing block 1, the other second connecting rods 24 are provided with a spherical portion 28, which is located within the corresponding arc-shaped portion 27.

[0071] In the above scheme, the specific number of the second connecting rods 24 can be selected by the staff, and will not be described in detail here; the leftmost second connecting rod 24 does not have a spherical part 28, and the rightmost second connecting rod 24 does not have an arc part 27. The spherical part 28 can swing freely within the corresponding arc part 27.

[0072] like Figure 9 As shown, it also includes: a driving component 21, a fixed block 1 with a cavity, the driving component 21 being fixedly connected to the cavity of the fixed block 1, the driving component 21 having an external thread, and a guide rod 22 being fixedly connected to the cavity of the fixed block 1; a pressing block 23, slidably connected to the cavity of the fixed block 1, the pressing block 23 being slidably connected to the guide rod 22, and the pressing block 23 being threadedly connected to the driving component 21; and a limiting rod 25, having several in a linear array, each being slidably connected to the corresponding second connecting rod 24, with two adjacent limiting rods 25 in contact, and a second spring 26 fixedly connected between the limiting rod 25 and the corresponding second connecting rod 24, the limiting rod 25 near the pressing block 23 passing through the fixed block 1, and the pressing block 23 being used to press the corresponding limiting rod 25.

[0073] In the above scheme, the driving component 21 is an existing device, which can be specifically selected by the staff during actual use. In this article, an electric rotating shaft is used as an example. The guide rod 22 is used to guide the extrusion block 23 and limit the movement direction of the extrusion block 23. The inclined surfaces on the two are in contact. The specific number of limiting rods 25 is also selected by the staff. In actual use, the number of limiting rods 25 can be one less than the number of second connecting rods 24. The rightmost second connecting rod 24 may not be equipped with limiting rods 25.

[0074] like Figure 5 and 9 As shown, the spherical part 28 is provided with an inclined annular surface, and the diameter of the inclined annular surface gradually decreases towards the side away from the extrusion block 23. The inclined annular surface on the spherical part 28 is used to guide the corresponding limiting rod 25.

[0075] In the above scheme, the inclined ring on the spherical part 28 guides the limiting rod 25 located on its left side, so that the limiting rod 25 located on its left side can be smoothly connected to it.

[0076] like Figure 9 As shown, both the extrusion block 23 and the corresponding limiting rod 25 are provided with inclined surfaces, and the inclined surfaces of the two are in contact. The width of the projection of the inclined surface on the horizontal plane of the extrusion block 23 is greater than the maximum working stroke of the second spring 26.

[0077] In the above scheme, the extrusion block 23 can extrude the corresponding limiting rod 25 during the movement of the extrusion block 23, and the limiting rod 25 moves to the right, ensuring that the limiting rod 25 is extruded by the extrusion block 23 and moves to the limit position. At the same time, after the limiting rod 25 moves to the limit position, it can react on the extrusion block 23, so that the extrusion block 23 cannot continue to move upward.

[0078] The specific workflow of the above scheme is as follows:

[0079] During the process of moving this device into the pipeline, the two adjacent second connecting rods 24 can rotate freely, so that the airbag 101 can be bent at will to facilitate the movement of this device. After the device is moved into the pipeline, the operator starts the drive component 21. During the rotation of the drive component 21, the external thread drives the squeezing block 23 to move upward along the guide rod 22 and the fixed block 1. During the upward movement of the squeezing block 23, the leftmost limiting rod 25 is squeezed, causing the limiting rod 25 to move to the right. At the same time, the limiting rod 25 squeezes the other limiting rods 25 during the movement, so that all the limiting rods 25 move to the right synchronously. During the rightward movement of the limiting rod 25, the corresponding second spring 26 is compressed to store force.

[0080] During the movement of all the limiting rods 25 to the right, if the central axes of the two leftmost second connecting rods 24 are not collinear (there is an angle between the two second connecting rods 24), the leftmost limiting rod 25 will be guided by the inclined ring surface on the spherical part 28 after contacting the inclined ring surface on the spherical part 28. At the same time, the limiting rod 25 generates an additional torque on the reaction force of the inclined ring surface on the spherical part 28, forcing the second second connecting rod 24 on the left to rotate along the corresponding arc part 27 under pressure until the central axes of the two leftmost second connecting rods 24 are collinear again. After the central axes of the two leftmost second connecting rods 24 are collinear, the leftmost limiting rod 25 is inserted into the second second connecting rod 24 on the left, thereby fixing the position of the second second connecting rod 24 on the left. The movement process of the remaining limiting rods 25 can be referred to the above. The combined action of all the limiting rods 25 and all the second connecting rods 24 makes the central axes of the fixing block 1 and the positioning block 111 collinear, forming a rigid support structure to maintain the stability of the airbag 101 position.

[0081] When the extrusion block 23 moves upward to its limit position, that is, after the limit rod 25 moves to its limit position to the right (at this time, the inclined surface of the extrusion block 23 is still in contact with the inclined surface of the leftmost limit rod 25), the operator shuts off the drive unit 21 and adjusts the position of the six connecting seats 5 according to the above operation. Then, the device is controlled to move to the right to repair the damaged part of the pipeline.

[0082] The technical principles of the embodiments of the present invention have been described above with reference to specific examples. These descriptions are merely for explaining the principles of the embodiments of the present invention and should not be construed as limiting the scope of protection of the embodiments of the present invention in any way. Based on the explanation herein, those skilled in the art can conceive of other specific embodiments of the present invention without creative effort, and these embodiments will all fall within the scope of protection of the embodiments of the present invention.

Claims

1. A guiding device for trenchless repair of a pipe, characterized in that Include: Fixed block (1), one side of the fixed block (1) is provided with a positioning block (111), the positioning block (111) is provided with a monitoring probe, the fixed block (1) and the positioning block (111) are jointly fixed with an air bag (101), the fixed block (1) and the positioning block (111) are provided with a connecting shell (2), two connecting shells (2) are provided with a mounting block (3), and the opposite sides of the two mounting blocks (3) are provided with a fixed assembly; The connecting shell (2) is fixedly connected with an electric push rod (17), the telescopic ends of the two electric push rods (17) are respectively fixedly connected with the fixed block (1) and the positioning block (111), the fixed block (1) and the positioning block (111) are respectively connected with the corresponding connecting shell (2) in a sliding manner, the mounting block (3) is embedded with a self-locking motor (18), the output shaft of the self-locking motor (18) is fixedly connected with a gear, the connecting shell (2) is connected with the corresponding mounting block (3) in a rotating manner, the connecting shell (2) is fixedly connected with a gear ring (19), and the gear ring (19) is engaged with the gear on the output shaft of the corresponding self-locking motor (18); Also include: Second connecting rod (24), a plurality of straight line arrays are arranged between the fixed block (1) and the positioning block (111), wherein the second connecting rods (24) on both sides are respectively fixedly connected with the fixed block (1) and the positioning block (111), and the remaining second connecting rods (24) are provided with an arc-shaped part (27) except the second connecting rod (24) fixedly connected with the positioning block (111), and the remaining second connecting rods (24) are provided with a spherical part (28) except the second connecting rod (24) fixedly connected with the fixed block (1), and the spherical part (28) is located in the corresponding arc-shaped part (27); Also include: Driving piece (21), the fixed block (1) is provided with a cavity, the driving piece (21) is fixedly connected in the cavity of the fixed block (1), the driving piece (21) is provided with external threads, and a guide rod (22) is fixedly connected in the cavity of the fixed block (1); The extrusion block (23) is connected in the cavity of the fixed block (1) in a sliding manner, the extrusion block (23) is connected with the guide rod (22) in a sliding manner, and the extrusion block (23) is connected with the driving piece (21) in a threaded manner; Limiting rod (25), a plurality of straight line arrays are respectively located in the corresponding second connecting rod (24) in a sliding manner, the adjacent two limiting rods (25) are in contact, the second spring (26) is fixedly connected between the limiting rod (25) and the corresponding second connecting rod (24), the limiting rod (25) close to the extrusion block (23) penetrates through the fixed block (1), and the extrusion block (23) is used for extruding the corresponding limiting rod (25).

2. A guiding device for trenchless rehabilitation of a pipe according to claim 1, characterized in that The fixed assembly comprises: A first connecting rod (4) is hingedly connected to the mounting block (3), and a connecting seat (5) is hingedly connected to one end of the first connecting rod (4) away from the mounting block (3), and a driving wheel (6) is arranged on the connecting seat (5) at equal intervals; A threaded rod (7) is rotatably connected to the mounting block (3), and an extrusion piece (8) is threadedly connected to the threaded rod (7), and a limiting groove (9) is arranged on the first connecting rod (4), and the extrusion piece (8) is slidably arranged in corresponding limiting grooves (9) arranged at equal intervals in the circumferential direction, and the relative position of the connecting seat (5) is changed.

3. A guiding device for trenchless rehabilitation of a pipe according to claim 2, characterized in that Further comprising: A plurality of elastic telescopic rods (10) are arranged at equal intervals in the circumferential direction, and each elastic telescopic rod (10) is fixedly connected to a corresponding connecting seat (5), and a rotating seat is fixedly connected to the telescopic end of the elastic telescopic rod (10), and the rotating seat on the elastic telescopic rod (10) is rotatably connected to a corresponding driving wheel (6); A plurality of limiting pieces (12) are arranged at equal intervals in the circumferential direction, and each limiting piece (12) is detachably connected to a corresponding connecting seat (5), and the limiting piece (12) is limitingly and slidably connected to the rotating seat on the telescopic end of a corresponding elastic telescopic rod (10), and the limiting piece (12) is used to maintain the position of the corresponding rotating seat.

4. A guiding device for trenchless rehabilitation of a pipe according to claim 3, characterized in that Further comprising: A plurality of connecting plates (13) are arranged at equal intervals in the circumferential direction, and each connecting plate (13) is limitingly and slidably connected to a corresponding connecting seat (5), and a first spring (14) is fixedly connected between the connecting plate (13) and the connecting seat (5); A plurality of first limiting blocks (15) are arranged at equal intervals in the circumferential direction, and each first limiting block (15) is fixedly connected to one side of a corresponding connecting plate (13) close to the elastic telescopic rod (10), and the first limiting block (15) is used to control the movement of the connecting plate (13) by being pressed by the telescopic end of a corresponding elastic telescopic rod (10), and a plurality of second limiting blocks (16) are arranged at equal intervals on the connecting plate (13), and the second limiting blocks (16) are used to limit the telescopic end of a corresponding elastic telescopic rod (10).

5. A guiding device for trenchless rehabilitation of a pipe according to claim 4, characterized in that The first limiting block (15) and the telescopic end of a corresponding elastic telescopic rod (10) are both provided with symmetrically distributed inclined surfaces, and the inclined surface on the first limiting block (15) is in contact with the inclined surface on the telescopic end of a corresponding elastic telescopic rod (10).

6. A guiding device for trenchless rehabilitation of a pipe according to claim 4, characterized in that The distance between one side of the first limiting block (15) away from the corresponding connecting plate (13) and the connecting plate (13) is D, and the distance between one side of the second limiting block (16) away from the corresponding connecting plate (13) and the connecting plate (13) is d, and D≥d.

7. A guiding device for trenchless rehabilitation of a pipe according to claim 1, characterized in that The spherical part (28) is provided with an inclined annular surface, and the diameter of the inclined annular surface gradually decreases away from the extrusion block (23), and the inclined annular surface on the spherical part (28) is used to guide a corresponding limiting rod (25).

8. A guiding device for trenchless rehabilitation of a pipe according to claim 7, characterized in that The extrusion block (23) and the corresponding limiting rod (25) are provided with inclined surfaces, and the inclined surfaces on the two are fitted, the width of the inclined surface on the extrusion block (23) in the horizontal plane projection is greater than the maximum working stroke of the second spring (26).

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