Ultraviolet curing repair robot suitable for reducing pipeline

Abstract

The invention belongs to the technical field of ultraviolet light curing pipeline repairing, and particularly relates to an ultraviolet light curing repairing robot suitable for a variable-diameter pipeline. Four sliding grooves are formed in the surface of the supporting base in an annular array mode. A supporting leg assembly is rotationally connected into the sliding groove and used for expanding and abutting against the inner wall of the pipeline. A traction rope is connected to the middle part of the supporting seat in a penetrating manner; the supporting leg assembly comprises a swing arm; one end of the swing arm is hinged to the sliding groove through a shaft, and the other end of the swing arm is slidably connected with a connecting base. By arranging the connecting seat and the connecting rod, the connecting rod at the bottom of the connecting seat can slide in the movable cavity when the swing arm adapts to a variable-diameter lining pipeline, so that the gap between the connecting seat and the end part of the swing arm can be adjusted, and the swing arm can adapt to lining pipelines with different inner diameters and the variable-diameter lining pipelines on the premise of not changing the deflection angle of the swing arm; and the position of the ultraviolet lamp tube is not changed, so that the curing effect of the ultraviolet lamp tube on the lining pipeline is not influenced.

Description

[0001] This application is a divisional application of the invention application with the application date of July 6, 2023, the Chinese application number of 2023108271547, and the invention name of "Adjusting structure for ultraviolet light curing pipeline repair". TECHNICAL FIELD

[0002] The application belongs to the technical field of ultraviolet light curing pipeline repair, and specifically relates to an ultraviolet light curing repair robot suitable for variable-diameter pipelines. BACKGROUND

[0003] Drainage pipeline modification methods include two ways of excavation rearrangement and non-excavation repair. For problems existing in underground pipelines, the simplest and most direct method is excavation rearrangement, but due to the adverse factors of affecting traffic, increasing social costs, long construction period, etc., the most widely used at present is still the non-excavation repair technology.

[0004] Non-excavation repair technology includes ultraviolet light curing repair, non-excavation spiral winding repair, and hot inversion type CIPP repair methods. Among them, ultraviolet light curing repair is an advanced technology internationally. The emergence of ultraviolet in-situ curing repair technology greatly reduces the social cost of the entire drainage pipeline repair. Using intelligent repair robots to repair pipelines can achieve no excavation of earthwork, no dust emission, no noise pollution, fast repair speed, and is of great significance to ecological environment protection and control of the formation of haze.

[0005] In the ultraviolet light curing repair technology, the factors that greatly affect the repair effect are the irradiation position of the ultraviolet light carried by the repair robot and the contact force of the supporting legs on the pipe wall. In order to improve the repair effect of ultraviolet light curing, some solutions to the above factors have been proposed in the prior art: For example, patent No. CN109899619A proposes a stepless gear shifting type position adjusting system and method suitable for supporting leg mechanism, which includes a lamp holder frame body, a supporting leg mechanism, a position adjusting limiting device, a supporting leg driving motor and an electric control system. The supporting leg driving motor is started or reversed by the electric control system, the supporting leg is expanded or contracted, and when the angle of the expanded supporting leg reaches the maximum angle limited by the position adjusting limiting device, the adjusting limiting device sends a stop signal to the electric control system. When the angle of the contracted supporting leg reaches the minimum angle limited by the position adjusting limiting device, the adjusting limiting device sends a stop signal to the electric control system. After receiving the stop signal, the electric control system controls the supporting leg driving motor to stop rotating.

[0006] For the above patent, its content includes a lamp holder, a supporting leg, realizes the adjustment of the opening angle of the supporting leg and the control of the contact force of the supporting leg with the inner lining pipeline, and also realizes the adjustment of the position of the lamp holder, but based on the required effects realized in the above scheme, a relatively complex electric control system is required, and the required driving source is also relatively more, in addition to being easy to damage and having high maintenance cost, the effect of reducing the weight and size of the repair robot is not obvious, secondly, when applied to different pipelines, such as variable diameter pipelines, the supporting legs at both ends of the robot need to be independently adjusted in angle through electric signals, which will cause the position of the lamp holder associated with the movement of the supporting leg to change, thereby changing the curing effect on the inner lining pipeline.

[0007] Therefore, the present application provides a UV curing repair robot suitable for variable diameter pipelines. SUMMARY

[0008] In order to make up for the deficiencies of the prior art and solve at least one technical problem proposed in the background art.

[0009] The technical scheme adopted by the present application to solve its technical problems is: the UV curing repair robot suitable for variable diameter pipelines comprises a supporting seat, a plurality of parallel sliding grooves are formed on the surface of the supporting seat, and two symmetrical supporting leg assemblies are installed in each sliding groove. The supporting seat is provided with a traction rope at both ends outside the supporting seat. The supporting leg assembly comprises a swing arm, a connecting seat and a fixing frame, one end of the swing arm is hingedly connected to the sliding groove, and the other end is connected to the corresponding connecting seat, and a ball is installed at the end of the connecting seat away from the corresponding swing arm. The two swing arms corresponding to the same sliding groove are connected through the fixing frame, and the fixing frame is provided with an ultraviolet lamp tube. An adjusting assembly is also installed in the sliding groove for moving the two swing arms in the sliding groove closer to or farther away from each other. A plurality of adjusting assemblies are synchronously driven by a driving assembly.

[0010] Preferably, a through hole is provided on the supporting seat in parallel with the sliding groove in the radial direction, and a bidirectional screw rod is rotatably connected in the through hole; ball nut seats are threadedly connected to both ends of the bidirectional screw rod corresponding to the swing arm; and the ball nut seat is hingedly connected to the swing arm through a first connecting arm.

[0011] Preferably, an active cavity is formed at one end of the swing arm close to the connecting seat, and a connecting rod is slidingly connected in the active cavity; a first spring is sleeved on the connecting rod, and the first spring is used to provide buffering for the extension and retraction action of the connecting rod; a pressure sensor is installed on the connecting seat; the pressure sensor is electrically connected to a cable, and the cable extends to the outside of the swing arm through the swing arm.

[0012] Preferably, a limiting plate parallel to the swing arm is fixed to the surface of one end of the swing arm close to the connecting seat; a limiting rod arranged vertically is fixed to one side of the connecting seat relative to the limiting plate; a stop plate is further fixed to the end of the limiting rod away from the connecting seat; the limiting rod is penetrated into the waist round groove on the limiting plate; a second spring is sleeved on the limiting rod, and the two ends of the second spring are fixed on the limiting plate and the stop plate respectively.

[0013] Preferably, a second connecting arm is hingedly connected to one side of the swing arm corresponding to the fixed frame; the second connecting arm and the first connecting arm are respectively located on two sides of the swing arm; the fixed frame is hingedly connected between the two symmetrical second connecting arms.

[0014] Preferably, the fixed frame is arranged in a U-shaped structure; two inflection points on the fixed frame are provided with a corner end, and a limiting roller is fixed to the corner end; a screw rod is fixed to the bottom of the limiting roller, and the screw rod is penetrated through the fixed frame and fixed by a nut.

[0015] Preferably, the middle part of the support seat is connected with a connecting module; the connecting module comprises a first fixed plate and a second fixed plate; the outer edges of the first fixed block and the second fixed block are fixed with a fitting plate, and the first fixed block and the second fixed block are connected with the two sides of the support seat through the fitting plate; an installation groove is formed in the inside of the first fixed block and the second fixed block, and a driving assembly is arranged in the installation groove, and the driving assembly is used for driving the bidirectional screw rod to rotate.

[0016] Preferably, the driving assembly comprises a first gear, a second gear and a servo motor; the first gear is fixed on the bidirectional screw rod, and the first gear is located in the installation groove; the second gear is fixed on the center sleeve of the installation groove of the first fixed plate, and a traction rope is penetrated in the center sleeve; the second gear is engaged with the four first gears; the output end of the servo motor is fixed with a driving gear, and the driving gear is engaged with the second gear.

[0017] Preferably, a plurality of the foot assemblies are arranged in a circular array at the end of the support seat; the foot assemblies on the two support seats are mirror-symmetrical, and the corresponding foot assemblies on the two support seats are arranged in parallel.

[0018] Preferably, the bidirectional screw rod is penetrated in the connecting module, and is rotationally connected with the connecting module seat.

[0019] The beneficial effects of the present application are as follows: 1. The ultraviolet light curing repair robot suitable for variable-diameter pipeline according to the present application, by setting the connecting seat and the connecting rod, when adapting to the variable-diameter lining pipeline, the connecting rod at the bottom of the connecting seat will slide in the movable cavity, so that the gap between the connecting seat and the end of the swing arm can be adjusted, so that different inner diameters of the lining pipeline can be adapted without changing the deflection angle of the swing arm, and the variable-diameter lining pipeline can be adapted, and the position of the ultraviolet lamp will not change, which will not affect the curing effect of the ultraviolet lamp on the lining pipeline.

[0020] 2. The ultraviolet light curing repair robot suitable for variable-diameter pipeline according to the present application, by setting the limiting plate on the swing arm, using the second spring between the stop plate and the limiting plate to generate a counteracting force on the connecting rod, so that the vertical force on the connecting seat is only the parallel component of the force, and the extension and contraction of the connecting seat and the swing arm can be realized, so that when adapting to the variable-diameter pipeline, the extension and contraction of the end of the connecting seat and the swing arm can be adapted, and by eliminating the vertical force on the swing arm, the connecting seat will not excessively grind the end of the swing arm when extending and contracting, causing the end of the swing arm to be severely worn out, and even the end of the swing arm needs to be replaced after a period of time. BRIEF DESCRIPTION OF DRAWINGS

[0021] The present application will be further described below with reference to the accompanying drawings.

[0022] Figure 1 is a perspective view of the first embodiment of the present application; Figure 2 is a partial perspective view of the first embodiment of the present application; Figure 3 is a partial exploded perspective view of the first embodiment of the present application; Figure 4 is a perspective view of the cooperation of the foot assembly and the fixing frame in the first embodiment of the present application; Figure 5 is a perspective view of the foot assembly in the first embodiment of the present application; Figure 6 is a partial perspective view of the foot assembly in the first embodiment of the present application; Figure 7 is a perspective view of the cooperation of the fixing frame and the second swing arm in the first embodiment of the present application; Figure 8 is a perspective view of the cooperation of the third spring and the swing arm in the second embodiment of the present application; In the figure: 1, support seat; 11, sliding groove; 12, bidirectional screw rod; 13, ball nut seat; 14, first connecting arm; 2, traction rope; 31, swing arm; 311, movable cavity; 32, connecting seat; 321, connecting rod; 322, first spring; 33, limiting plate; 34, limiting rod; 341, second spring; 35, ball; 36, second connecting arm; 37, fixing frame; 38, limiting roller; 381, screw rod; 39, electric cable; 4, connecting module; 41, first fixed plate; 42, second fixed plate; 43, engagement plate; 44, mounting groove; 45, first gear; 46, second gear; 47, servo motor; 5, ultraviolet lamp tube; 6, third spring. DETAILED DESCRIPTION

[0023] In order to make the technical means, creative features, purposes and effects of the present application easy to understand, the present application is further described below in combination with specific embodiments.

[0024] Embodiment one As Figures 1-2As shown, the ultraviolet light curing repair robot suitable for variable diameter pipeline of the embodiment of the present application comprises a support base 1; four sliding grooves 11 are arranged on the surface of the support base 1 in a ring shape; a supporting leg assembly is rotatably connected in the sliding groove 11, and the supporting leg assembly is used for expanding and abutting against the inner wall of the pipeline; a traction rope 2 is connected through the middle part of the support base 1; the supporting leg assembly comprises a swing arm 31; one end of the swing arm 31 is hinged on the sliding groove 11 through a shaft, and the other end of the swing arm 31 is slidably connected with a connecting seat 32; a connecting rod 321 is fixedly connected to one end of the connecting seat 32 towards the swing arm 31, and the connecting rod 321 is slidably connected with the end of the swing arm 31; a ball 35 is rollingly connected to the other end of the connecting seat 32; a fixing frame 37 is arranged between two parallel and adjacent supporting leg assemblies, and an ultraviolet lamp 5 is installed on the fixing frame 37, and the ultraviolet lamp 5 is used for curing the pipeline; the supporting leg assembly is loaded by the support base 1, after the equipment is placed in the inner lining pipeline, the supporting leg assembly is driven to expand to the state that the ball 35 is attached to the inner wall of the inner lining pipeline, the adaptability adjustment of the equipment is completed, then the equipment is smoothly moved in the inner lining pipeline by the traction rope 2, and the inner lining pipeline is cured by the ultraviolet lamp 5, wherein in the expansion process of the swing arm 31, the fixing frame 37 between the two parallel and adjacent supporting leg assemblies is lifted, and then the ultraviolet lamp is changed from being close to the support base 1 to being close to the inner lining pipeline, by changing the position of the ultraviolet lamp 5, the curing effect on the inner lining pipeline can be improved, and meanwhile, when the inner lining pipeline with variable diameter is adapted, since the connecting seat 32 and the end of the swing arm 31 are slidably connected through the connecting rod 321, when the inner lining pipeline with large inner diameter is changed into the inner lining pipeline with small inner diameter, the connecting seat 32 on the supporting leg assembly at one end of the support base 1 can be telescoped to adapt to the inner lining pipeline with variable inner diameter, and the position of the ultraviolet lamp 5 will not be changed by the telescoping change between the connecting seat 32 and the support base 1, and the distance between the ultraviolet lamp 5 and the inner lining pipeline can be kept unchanged, so the curing effect will not be reduced.

[0025] As shown, Figures 2-3 The support base 1 is provided with a through hole parallel to the sliding groove 11 in the radial direction, and a bidirectional screw rod 12 is rotatably connected in the through hole; ball nut seats 13 are threadedly connected to both ends of the bidirectional screw rod 12 corresponding to the swing arms 31; the ball nut seats 13 are hinged to the swing arms 31 through first connecting arms 14; the bidirectional screw rod 12 is used for connecting two parallel and adjacent ball nut seats 13, and the two parallel and adjacent swing arms 31 are driven through the first connecting arms 14, when one bidirectional screw rod 12 rotates, the two parallel and adjacent swing arms 31 are deflected to be adjusted from being parallel to the support base 1 to being at an angle with the support base 1, that is, expansion, so that the balls 35 on the connecting seats 32 are attached to the inner lining pipeline, the equipment is supported in the inner lining pipeline, and the equipment is driven to move in the inner lining pipeline by the traction rope 2, and the curing effect is realized.

[0026] As Figure 6 shown, the swing arm 31 is provided with a movable cavity 311 near one end of the connecting seat 32, and a connecting rod 321 is slidingly connected in the movable cavity 311; the connecting rod 321 is sleeved with a first spring 322, and the first spring 322 is used to provide buffering for the extension and retraction action of the connecting rod 321; the connecting seat 32 is provided with a pressure sensor; the pressure sensor is electrically connected with a cable 39, and the cable 39 extends through the swing arm 31 to the outside of the swing arm 31; specifically, when adapting to the variable-diameter inner lining pipe, the connecting rod 321 at the bottom of the connecting seat 32 will slide in the movable cavity 311, so that the gap between the connecting seat 32 and the end of the swing arm 31 can be adjusted, so that different inner diameters of the inner lining pipe can be adapted without changing the deflection angle of the swing arm 31, and the variable-diameter inner lining pipe can be adapted, and the position of the ultraviolet lamp tube 5 will not change. Specifically, in order to avoid that the pressure of the ball 35 on the inner lining pipe is too large, causing indentation on the inner lining pipe and affecting the service life of the inner lining pipe after curing, before the inner lining pipe is laid, the pressure Fm that the inner lining pipe can bear without deformation is measured by testing; after the swing arm 31 is deflected, the connecting rod 321 will move downward when the ball 35 contacts the inner lining pipe, and after the ball 35 gives the inner lining pipe a pressure Fn, a corresponding counterforce corresponding to Fn is generated on the connecting seat 32, the pressure sensor and the cable 39 are used to transmit the counterforce Fn and compare it with the pressure Fm; when Fn is less than Fm, it indicates that the ball 35 has not caused indentation on the inner lining pipe at this time; when Fn is greater than or equal to Fm, it indicates that the contact force of the ball 35 on the inner lining pipe is too large, triggering an alarm, and the expansion angle of the swing arm 31 needs to be adjusted back, to avoid that the ball 35 causes indentation on the inner lining pipe. By pressure judgment, the expansion angle of the swing arm 31 and the support seat 1 is controlled, and when adapting to the variable-diameter inner lining pipe, since the ball 35, the connecting seat 32 and the inner lining pipe do not generate a large pressure and abut, there is still a certain extension and retraction range between the connecting seat 32 and the swing arm 31, which can be used to adapt to the variable-diameter inner lining pipe, and the deflection angle of the swing arm 31 is avoided from being adjusted multiple times.

[0027] As Figures 5-6As shown, the end surface of the swing arm 31 close to the connecting seat 32 is fixed with a limiting plate 33 parallel to the swing arm 31; the side of the connecting seat 32 opposite to the limiting plate 33 is fixed with a limiting rod 34 arranged vertically; the end of the limiting rod 34 away from the connecting seat 32 is also fixed with a stop plate; the limiting rod 34 penetrates into the waist circular groove on the limiting plate 33; the limiting rod 34 is sleeved with a second spring 341, and the two ends of the second spring 341 are fixed on the limiting plate 33 and the stop plate respectively; because the swing arm 31 and the inner lining pipeline are arranged obliquely, the pressure on the inner lining pipeline by the ball 35 will give the connecting seat 32 an opposite force, which is vertically downward, and the future eliminating the vertical component force of the connecting seat 32 on the swing arm 31, the limiting plate 33 is arranged on the swing arm 31, and the second spring 341 between the stop plate and the limiting plate 33 generates a force to offset the component force, so that the vertical force on the connecting seat 32 is only the component force parallel to the swing arm 31, and then the expansion and contraction of the connecting seat 32 and the swing arm 31 can be realized, so that when the pipeline is adapted to the variable diameter, the expansion and contraction of the end of the connecting seat 32 and the swing arm 31 can be adapted, and by eliminating the vertical force on the swing arm 31, the connecting seat 32 will not excessively grind the end of the swing arm 31 during expansion and contraction, which will not cause serious wear of the end of the swing arm 31, and even the end of the swing arm 31 will be scrapped and replaced after a period of time.

[0028] As shown in the drawings, Figure 4 As shown, the side of the swing arm 31 corresponding to the fixed frame 37 is hingedly connected with a second connecting arm 36; the second connecting arm 36 and the first connecting arm 14 are respectively located on the two sides of the swing arm 31; the symmetrical two second connecting arms 36 are hingedly connected with the fixed frame 37; by hingedly connecting the second connecting arm 36 with the swing arm 31, the fixed frame 37 hingedly connected between the two second connecting arms 36 can be lifted during the deflection and expansion of the swing arm 31, so as to carry the ultraviolet lamp tube 5 to rise, so that the ultraviolet lamp tube 5 is closer to the inner lining pipeline, and a more effective curing effect is provided.

[0029] As shown in the drawings, Figure 7 As shown, the fixed frame 37 is arranged in a U-shaped structure; two inflection points on the fixed frame 37 are provided with angle ends, and the angle ends are fixed with limiting rollers 38; the bottom of the limiting roller 38 is fixed with a screw rod 381, and the screw rod 381 penetrates through the fixed frame 37 and is fixed by a nut; the limiting roller 38 is arranged at the corner of the fixed frame 37, and the distance between the limiting roller 38 and the inner wall of the inner lining pipeline is less than the ultraviolet lamp tube 5 during the lifting of the fixed frame 37, which can prevent the ultraviolet lamp tube 5 from being too close to the inner lining pipeline, so that a certain gap is left between the ultraviolet lamp tube 5 and the inner lining pipeline for light diffusion, thereby improving the range of ultraviolet light curing.

[0030] As shown in the drawings, Figure 3As shown, the middle part of the support base 1 is connected with a connecting module 4; the connecting module 4 comprises a first fixed plate 41 and a second fixed plate 42; the outer edges of the first fixed block and the second fixed block are fixedly connected with a fitting plate 43, and the first fixed block and the second fixed block are connected with the support bases 1 on both sides through the fitting plate 43; the first fixed block and the second fixed block are internally provided with mounting grooves 44, and the mounting grooves 44 are provided with a driving assembly for driving the bidirectional screw rod 12 to rotate; the connecting module 4 is connected with the support bases 1 on both sides through the fitting plate 43, and the driving assembly is arranged in the connecting module 4, so that the bidirectional screw rod 12 can be controlled to rotate, thereby achieving the purpose of driving the swing arm 31 to expand and deflect.

[0031] As shown in Figure 3 The driving assembly comprises a first gear 45, a second gear 46 and a servo motor 47; the first gear 45 is fixedly connected to the bidirectional screw rod 12 and located in the mounting groove 44; the second gear 46 is fixedly connected to the center sleeve of the mounting groove 44 of the first fixed plate 41, and the traction rope 2 penetrates through the center sleeve; the second gear 46 is engaged with the four first gears 45; the output end of the servo motor 47 is fixedly connected with a driving gear, and the driving gear is engaged with the second gear 46; after the servo motor 47 is started, the driving gear can be driven to rotate, the driving gear is engaged with the second gear 46, so that the second gear 46 can rotate on the center sleeve, and the second gear 46 is engaged with the four first gears 45 on the periphery, so that the first gears 45 can be driven to rotate, thereby driving the plurality of bidirectional screw rods 12 to rotate respectively, and achieving the expansion effect of the plurality of swing arms 31, wherein the driving gear and the first gear 45 are arranged in parallel.

[0032] As shown in Figures 1-2 The foot assemblies are arranged in a circular array at the ends of the support base 1; the foot assemblies on the two support bases 1 are mirror-symmetric, and the corresponding foot assemblies on the upper ends of the two support bases 1 are arranged in parallel.

[0033] As shown in Figures 1-3 The bidirectional screw rod 12 penetrates through the connecting module and is rotationally connected with the connecting module seat.

[0034] Embodiment two As shown in Figure 8 In order to make the second swing arm 31 more easily expand, thereby driving the fixed frame 37 to rise, compared with embodiment one, another embodiment of the present application is that a third spring 6 is fixedly connected between the second connecting arm 36 and the swing arm 31; through the third spring 6 between the second connecting arm 36 and the swing arm 31, the elastic potential can be used to promote the second connecting arm 36 to expand quickly, thereby driving the ultraviolet lamp tube 5 to rise.

[0035] Working principle: due to the prior art for pipeline repair robot, the need to use more complex electric control system, and the required drive source is also relatively more, in addition to easy to damage and high maintenance cost, the effect of reducing the weight and size of the repair robot is not obvious, secondly, suitable for different pipe, for example, the pipe with variable diameter, the robot both ends of the supporting leg need to be adjusted by the angle of the electric signal independently, at this time will cause the change of the lamp holder position associated with the supporting leg movement, and then change the curing effect of the inner lining pipe.

[0036] The device in use, the support seat 1 is used for supporting the foot assembly, after placing the equipment in the inner lining pipe, the foot assembly is driven to expand to the ball 35 and the inner wall of the inner lining pipe, the adaptability of the equipment is adjusted, then the traction rope 2 is used to drive the equipment to move smoothly in the inner lining pipe, the ultraviolet lamp 5 is used for curing the inner lining pipe, wherein in the expansion process of the swing arm 31, the fixed frame 37 between the two foot assemblies arranged in parallel and adjacent is lifted, and then the ultraviolet lamp is changed from close to the support seat 1 to close to the inner lining pipe, by changing the position of the ultraviolet lamp 5, the curing effect of the inner lining pipe can be improved, at the same time, when adapting to the variable diameter of the inner lining pipe, because the connecting seat 32 and the end of the swing arm 31 are connected through the connecting rod 321, when adapting to the inner lining pipe with large inner diameter to small inner diameter, the connecting seat 32 on the foot assembly at one end of the support seat 1 can be extended and retracted to adapt to the inner lining pipe with variable inner diameter, and the extension and retraction between the connecting seat 32 and the support seat 1 will not change the position of the ultraviolet lamp 5, which can keep the distance between the ultraviolet lamp 5 and the inner lining pipe unchanged, so the curing effect will not be reduced; In the case of adapting to the variable diameter of the inner lining pipe, the connecting rod 321 at the bottom of the connecting seat 32 will slide in the movable cavity 311, so that the gap between the connecting seat 32 and the end of the swing arm 31 can be adjusted, so as to adapt to the inner lining pipe with different diameters without changing the deflection angle of the swing arm 31, and the position of the ultraviolet lamp tube 5 will not change. Specifically, in order to avoid that the pressure of the ball 35 on the inner lining pipe is too large to cause indentation on the inner lining pipe and affect the service life of the inner lining pipe after curing, before the inner lining pipe is laid, the pressure Fm that the inner lining pipe can bear without deformation is measured by testing; after the swing arm 31 is deflected, the connecting rod 321 will move downward when the ball 35 contacts the inner lining pipe, and after the ball 35 gives the inner lining pipe a pressure Fn, a corresponding counterforce corresponding to Fn is generated on the connecting seat 32, and the pressure sensor and the cable 39 are used to transmit the counterforce Fn and compare it with the pressure Fm; when Fn is less than Fm, it indicates that the ball 35 does not cause indentation on the inner lining pipe at this time; when Fn is greater than or equal to Fm, it indicates that the contact force of the ball 35 on the inner lining pipe is too large, so the expansion angle of the swing arm 31 needs to be adjusted back to avoid that the ball 35 causes indentation on the inner lining pipe. By pressure judgment, the expansion angle of the swing arm 31 and the support seat 1 is controlled, and at the same time, in the case of adapting to the variable diameter of the inner lining pipe, since the ball 35, the connecting seat 32 and the inner lining pipe do not generate a large pressure and abut, there is still a certain telescopic movement range between the connecting seat 32 and the swing arm 31, which can be used to adapt to the variable diameter of the inner lining pipe and avoid adjusting the deflection angle of the swing arm 31 multiple times. Since the swing arm 31 and the inner lining pipe are arranged obliquely, the pressure acting on the inner lining pipe by the ball 35 will correspondingly give the connecting seat 32 an opposite force, which is vertically downward. In the future, the vertical component of this vertical force, which is perpendicular to the swing arm 31, is eliminated, and the limiting plate 33 is arranged on the swing arm 31. By using the second spring 341 between the abutting plate and the limiting plate 33, an action force that offsets the component is generated on the connecting rod 321, so that the vertical force on the connecting seat 32 only has a component parallel to the swing arm 31, and then the telescopic movement of the connecting seat 32 and the swing arm 31 can be realized. In this way, when adapting to the variable diameter pipe, the telescopic movement of the end of the connecting seat 32 and the swing arm 31 can be adapted, and by eliminating the vertical force on the swing arm 31, the connecting seat 32 will not excessively grind the end of the swing arm 31 when telescoping, which will not cause serious wear of the end of the swing arm 31, and even the end of the swing arm 31 will be scrapped and replaced after a period of time.

[0037] The above shows and describes the basic principles, main features and advantages of the present application. Those skilled in the art should understand that the present application is not limited to the above-mentioned embodiments, and the above-mentioned embodiments and descriptions in the specification are only to illustrate the principles of the present application. Without departing from the spirit and scope of the present application, various changes and improvements can be made to the present application, and these changes and improvements all fall within the scope of the claimed present application. The scope of protection of the present application is defined by the appended claims and their equivalents.

Claims

1. A UV-curing repair robot for variable diameter pipes, characterized in that: Including support seat (1), the surface of support seat (1) is equipped with multiple parallel sliding slots (11), two pairs of symmetrical support leg assemblies are installed in each sliding slot (11); The support seat (1) is provided with a traction rope (2) with both ends outside the support seat (1); The support leg assembly comprises a swing arm (31), a connecting seat (32) and a fixing frame (37), one end of the swing arm (31) is hingedly connected to the sliding slot (11), the other end is connected with the corresponding connecting seat (32), and the end of the connecting seat (32) away from the corresponding swing arm (31) is provided with a ball (35); Two swing arms (31) corresponding to the same sliding slot (11) are connected through the fixing frame (37), and the fixing frame (37) is provided with an ultraviolet lamp tube (5). The sliding slot (11) is also provided with an adjusting assembly for allowing the two swing arms (31) in the sliding slot (11) to approach or move away from each other. A plurality of adjusting assemblies are synchronously driven by a driving assembly.

2. The UV-curing repair robot for variable diameter pipes according to claim 1, characterized in that: The adjusting assembly comprises a bidirectional screw rod (12) radially installed in each sliding slot (11), two swing arms (31) located on the same sliding slot (11) are respectively threadedly connected with both ends of the bidirectional screw rod (12), and ball nut seats (13) are threadedly connected with both ends of the bidirectional screw rod (12) corresponding to the swing arms (31); the ball nut seat (13) is hingedly connected with the swing arm (31) through a first connecting arm (14).

3. The UV-curing repair robot for variable diameter pipes according to claim 1 or 2, characterized in that: One end of the connecting seat (32) towards the swing arm (31) is fixedly connected with a connecting rod (321), and the connecting rod (321) is in sliding fit with the end of the swing arm (31); one end of the swing arm (31) close to the connecting seat (32) is provided with a movable cavity (311), and the connecting rod (321) is slidingly connected in the movable cavity (311); a first spring (322) is sleeved on the connecting rod (321), and the first spring (322) is used for providing buffering for the extension and retraction action of the connecting rod (321); a pressure sensor is installed on the connecting seat (32); the pressure sensor is electrically connected with a cable (39), and the cable (39) extends to the outside of the swing arm (31) through the swing arm (31).

4. The UV-curing repair robot for variable diameter pipes according to claim 3, characterized in that: One end of the swing arm (31) close to the connecting seat (32) is fixedly connected with a limiting plate (33) parallel to the swing arm (31); a limiting rod (34) is fixedly connected on one side of the connecting seat (32) opposite to the limiting plate (33); one end of the limiting rod (34) away from the connecting seat (32) is also fixedly connected with a stop plate; the limiting rod (34) penetrates through a waist round groove in the limiting plate (33); a second spring (341) is sleeved on the limiting rod (34), and two ends of the second spring (341) are fixedly connected on the limiting plate (33) and the stop plate respectively.

5. The UV-curing repair robot for variable diameter pipes according to claim 2, characterized in that: One side of the swing arm (31) corresponding to the fixing frame (37) is hingedly connected with a second connecting arm (36) through a shaft; the second connecting arm (36) and the first connecting arm (14) are respectively located on both sides of the swing arm (31); the fixing frame (37) is hingedly connected between the two second connecting arms (36).

6. The UV-curing repair robot for variable diameter pipes according to claim 1, characterized in that: The fixed frame (37) is provided in a U-shaped structure; two inflection points on the fixed frame (37) are provided with a corner end, and a limiting roller (38) is fixedly connected to the corner end; a screw rod (381) is fixedly connected to the bottom of the limiting roller (38), and the screw rod (381) penetrates through the fixed frame (37) and is fixed by a nut.

7. The UV-curing repair robot for variable diameter pipes according to claim 1, characterized in that: The middle part of the support base (1) is connected with a connecting module (4) in a fitting mode; the connecting module (4) comprises a first fixed plate (41) and a second fixed plate (42); the outer side edges of the first fixed plate and the second fixed plate are fixedly connected with a fitting plate (43), and the first fixed plate and the second fixed plate are connected with the support bases (1) on the two sides in a fitting mode through the fitting plate (43); the first fixed plate and the second fixed plate are internally provided with an installation groove (44), and a driving assembly is installed in the installation groove (44) and used for driving the bidirectional screw rod (12) to rotate.

8. The UV-curing repair robot for variable diameter pipes according to claim 7, characterized in that: The driving assembly comprises a first gear (45), a second gear (46) and a servo motor (47); the first gear (45) is fixedly connected to the bidirectional screw rod (12), and the first gear (45) is located in the installation groove (44); the second gear (46) is fixedly connected to the center sleeve of the installation groove (44) on the first fixed plate (41), and a traction rope (2) penetrates through the center sleeve; the second gear (46) is engaged with the four first gears (45); the output end of the servo motor (47) is fixedly connected with a driving gear, and the driving gear is engaged with the second gear (46).

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