Adjustable traction device for forming a CIPP liner material

Abstract

The application discloses a kind of CIPP lining material forming adjustable traction force traction device, belong to pipeline trenchless repair material and equipment manufacturing technical field, the device mainly includes traction frame, lifting adjusting assembly, movable roller frame, power roller, first fixed roller, second fixed roller, guide limiting assembly and electric control system;Movable roller frame moves along vertical direction under the drive of lifting adjusting assembly, changes the relative position between power roller and first fixed roller, second fixed roller, so that the wrap angle of CIPP lining material that rounds in S-shaped path on power roller continuously changes, to realize stepless regulation to traction force.Electric control system automatically calculates target wrap angle according to the input material thickness and grammage parameters and controls drive motor action, realizes the self-adaptive matching of traction force and material specification, effectively suppresses the tensile deformation of narrow and thin material, avoids wide and thick material slip wrinkle, improves the production efficiency and product quality of trenchless pipeline repair project.

Description

Technical Field

[0001] This invention belongs to the field of trenchless pipeline repair materials and equipment manufacturing technology, specifically relating to an adjustable traction force traction device for CIPP lining material molding. It is mainly used in trenchless repair projects of underground pipelines such as water supply and drainage, oil and gas transportation, and industrial pipeline networks, and is used to achieve adaptive adjustment and precise control of traction force during the continuous molding process of CIPP lining material. Background Technology

[0002] CIPP (Chemical Injection Polymer) lining material is a key material in trenchless pipeline repair projects. It is typically made by impregnating a fiber-based substrate such as needle-punched nonwoven fabric with resin and then continuously processing it using molding equipment. During the molding process, a traction device is required to provide the material with a continuous and stable traction force, allowing it to pass through each process at a predetermined speed and tension. The magnitude of the traction force directly affects the dimensional accuracy, fiber structure integrity, and final mechanical properties of the material after curing. Therefore, the performance of the traction device plays a decisive role in the quality of the lining material.

[0003] Currently, the traction device commonly used in CIPP lining material molding equipment is a two-roller mechanism, where the traction force is transmitted through friction between the rollers and the material. To increase the traction force without changing the power unit, the conventional approach is to increase the number of rollers, arranging adjacent rollers in a vertically spaced manner. The material then winds around each roller in an S-shaped path, transforming the line contact between the rollers and the material into a surface contact, thereby increasing the effective friction area. This multi-roller S-shaped winding structure has minimal impact on materials with stable structures and high tensile strength, effectively improving the traction force.

[0004] However, for CIPP lining materials with loose fiber structures, such as needle-punched nonwoven fabrics, the multi-roller S-shaped winding method has significant technical drawbacks. When the material is narrow and thin, an excessively large wrap angle generates excessive traction force, leading to interlayer slippage, stretching and deformation of the material, and damage to its physical properties. When the material is wide and thick, a constant traction force may not provide sufficient friction, causing the material to slip on the rollers, resulting in wrinkles or loss of synchronization with previous processes, affecting the dimensional accuracy and surface quality of the final product. Furthermore, existing equipment lacks the ability to adaptively adjust the traction force when switching between different material specifications, often requiring machine shutdown for mechanical adjustments, which severely impacts production efficiency and product yield. Summary of the Invention

[0005] The purpose of this invention is to provide an adjustable traction force traction device for molding CIPP lining materials, which solves the problem that existing traction devices, which use a constant traction force roller mechanism, cannot meet the traction requirements of materials with different widths and thicknesses when tractioning loosely structured CIPP lining materials such as needle-punched nonwoven fabrics. This results in thin materials being stretched and deformed due to excessive traction force, and thick materials slipping and wrinkling due to insufficient traction force.

[0006] To address the above problems, the present invention provides an adjustable traction force device for molding CIPP liner material, comprising: Traction frame; The lifting adjustment assembly is installed on the traction frame. The lifting adjustment assembly includes a lifting drive mechanism, a drive motor and a synchronous transmission unit. There are at least two lifting drive mechanisms, which are spaced apart on the top of the traction frame. The drive motor is connected to the lifting drive mechanism. The synchronous transmission unit is connected between each lifting drive mechanism to synchronously transmit the power output by the drive motor to each lifting drive mechanism. The movable roller frame is fixedly connected to the output end of the lifting drive mechanism via a flange, and moves back and forth in the vertical direction under the drive of the lifting drive mechanism. A power roller is rotatably mounted on the movable roller frame, and a roller motor for driving the power roller to rotate is also mounted on the movable roller frame. The fixed roller group is installed on the traction frame. The fixed roller group includes a first fixed roller and a second fixed roller that are spaced apart along the travel direction of the CIPP inner lining material. The power roller is located between the first fixed roller and the second fixed roller. The CIPP inner lining material passes around the first fixed roller, the power roller and the second fixed roller in sequence to form an S-shaped covering path. The guide and limit assembly includes a linear slide rail and a linear slider that cooperate with each other. The linear slide rail is fixedly installed on the traction frame in the vertical direction, and the linear slider is correspondingly installed on the movable roller frame to guide the movable roller frame to rise and fall smoothly. The system includes an electrical control system, which is electrically connected to the drive motor and the roller motor respectively. The electrical control system controls the drive motor to operate according to the input parameters of the thickness and weight of the CIPP lining material, so as to adjust the position of the power roller, thereby changing the wrap angle of the CIPP lining material on the power roller, and thus continuously adjusting the magnitude of the traction force.

[0007] Furthermore, it also includes a torque sensor and an electromagnetic clutch. Both the torque sensor and the electromagnetic clutch are located between the power roller and the roller motor. The torque sensor is used to detect the actual torque output by the power roller in real time, and the electromagnetic clutch is used to adjust the power transmission efficiency between the roller motor and the power roller. Both the torque sensor and the electromagnetic clutch are electrically connected to the electronic control system. The electronic control system automatically controls the engagement degree of the electromagnetic clutch based on the wrap angle data, CIPP lining material parameters, and the actual torque value fed back by the torque sensor, so as to realize adaptive fine adjustment of the torque of the power roller.

[0008] Furthermore, the traction frame is provided with strip-shaped adjustment grooves corresponding to the installation positions of the first fixed roller and the second fixed roller, respectively. The extension direction of the strip-shaped adjustment grooves is basically perpendicular to the travel direction of the CIPP inner lining material. Both ends of the first fixed roller and the second fixed roller are connected to the strip-shaped adjustment grooves by locking bolts. Loosening the locking bolts allows the first fixed roller and the second fixed roller to move laterally along the strip-shaped adjustment grooves to adjust their respective positions in the roller axial direction, adapt to materials of different widths or adjust the lateral relative position of the material and the roller. Tightening the locking bolts can fix the positions of the first fixed roller and the second fixed roller.

[0009] The present invention has the following beneficial effects: (1) The traction device of the present invention adjusts the position of the power roller by raising and lowering the movable roller frame, thereby continuously changing the wrap angle of the CIPP lining material on the power roller, and realizing stepless adjustment of the traction force within a wide range; when the material specification changes from narrow and thin to wide and thick, the system can automatically match the traction force to a level that is compatible with the material characteristics without stopping the machine.

[0010] (2) The present invention effectively eliminates the tensile deformation caused by excessive traction of thin materials by adaptive adjustment of wrap angle and tension closed-loop feedback control, and avoids interlayer slippage and thickness reduction of fiber; at the same time, it prevents slippage and surface wrinkles of thick materials due to insufficient friction.

[0011] (3) The present invention adopts a structure scheme of forced synchronous drive of dual lifting drive mechanism and transmission shaft, and with the precision guidance of double linear guide rails, the lifting process of movable roller frame is smooth and without deviation, with high adjustment accuracy and fast response speed; the mechanical safety locking mechanism automatically locks the position of movable roller frame in the power failure or shutdown state to ensure production safety. Attached Figure Description

[0012] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0013] Figure 1 This is a front view of the adjustable traction force traction device in an embodiment of the present invention; Figure 2 This is a side view of the adjustable traction device in an embodiment of the present invention.

[0014] Explanation of reference numerals in the attached drawings: 1-Traction frame; 2-Moving roller frame; 3-Power roller; 4-First fixed roller; 5-Second fixed roller; 6-Linear slide rail; 7-Linear slider; 8-Drive shaft; 9-Coupling; 10-Lifting drive mechanism; 11-Flange; 12-Roller motor; 13-Drive motor; 14-CIPP inner lining material. Detailed Implementation

[0015] In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the invention. However, it will be apparent to those skilled in the art that the invention can be practiced without one or more of these details. In other instances, certain technical features well-known in the art have not been described in order to avoid obscuring the invention.

[0016] To fully understand this invention, detailed steps and structures will be presented in the following description to illustrate the technical solution of this invention. Preferred embodiments of the invention are described in detail below; however, in addition to these detailed descriptions, the invention may have other embodiments.

[0017] like Figures 1 to 2 The adjustable traction force device for molding CIPP liner material of the present invention is used to actively and continuously adjust the traction force applied to CIPP liner material 14 according to the material specification parameters input by the operator during the continuous molding production process of CIPP liner material 14. This effectively solves a series of process problems caused by the inability to adjust the traction force, such as the deformation of narrow and thin materials due to excessive stretching and the wrinkling of wide and thick materials due to insufficient friction.

[0018] The main load-bearing structure of this device is a traction frame 1. The traction frame 1 is a rigid frame structure made of welded steel or connected by high-strength bolts. It is fixedly installed on the corresponding station of the CIPP lining material forming equipment by anchor bolts or pressure plates, serving as the installation foundation and load-bearing skeleton for all functional components of the entire traction device. The traction frame 1 is equipped with a rotatable first fixed roller 4 and a second fixed roller 5, which are arranged at intervals along the travel direction of the CIPP lining material 14.

[0019] The movable roller frame 2 is located within the internal space of the traction frame 1, between the first fixed roller 4 and the second fixed roller 5. The movable roller frame 2 is a rigid, integral frame structure, constructed from welded profiles or welded plates. A power roller 3 is rotatably mounted on the movable roller frame 2 via bearing seats. The axis of the power roller 3 is arranged horizontally and parallel to the width direction of the CIPP lining material 14. A roller motor 12 for driving the power roller 3 to rotate around its own axis is also fixedly mounted on the movable roller frame 2. The output shaft of the roller motor 12 is connected to the shaft end of the power roller 3 via a coupling, synchronous belt drive mechanism, or chain drive, providing a continuous and stable rotational driving torque for the power roller 3.

[0020] In continuous production, the CIPP liner material 14, after being introduced from the previous process, first passes around the first fixed roller 4 from below or above, then around the power roller 3 from above or below, and finally around the second fixed roller 5, thus forming a complete S-shaped wrapping path. This S-shaped wrapping path creates a contact angle between the CIPP liner material 14 and the outer circumference of the power roller 3. The size of this contact angle directly determines the effective friction area between the CIPP liner material 14 and the power roller 3, and consequently, the amplitude of the traction force that the power roller 3 can transmit to the CIPP liner material 14. By adjusting the vertical height of the movable roller frame 2, the spatial position of the power roller 3 relative to the first fixed roller 4 and the second fixed roller 5 can be changed, thereby altering the geometric envelope shape of the S-shaped path and achieving continuous adjustment of the wrapping angle.

[0021] To guide the smooth lifting and lowering of the movable roller frame 2, a guide and limiting assembly is installed between the movable roller frame 2 and the traction frame 1. The guide and limiting assembly includes a cooperating linear slide rail 6 and a linear slider 7. The linear slide rail 6 is bolted vertically to the inner side of the two columns of the traction frame 1, and the linear slider 7 is correspondingly fixed to the outer edge of the side of the movable roller frame 2. Linear slide rails 6 are installed on both the left and right sides of the traction frame 1, and linear sliders 7 are installed on the left and right sides of the movable roller frame 2 respectively. The linear slide rails 6 on both sides undergo strict parallelism calibration during installation to ensure that the two linear slide rails 6 remain parallel to each other throughout their entire stroke. When the movable roller frame 2 lifts or lowers, the linear slider 7 slides along the linear slide rail 6, effectively constraining the five spatial degrees of freedom of the movable roller frame 2 other than the vertical direction, preventing lateral sway, torsion around the vertical axis, or jamming during movement, thus ensuring the accuracy and repeatability of the wrap angle adjustment.

[0022] Two sets of lifting drive mechanisms 10 are installed on the top of the traction frame 1. These two sets of lifting drive mechanisms 10 are arranged laterally at intervals along the top of the traction frame 1, located at the left and right ends of the traction frame 1 respectively. This ensures that the two ends of the movable roller frame 2 are subjected to equal and synchronous lifting forces during lifting. Specifically, the lifting drive mechanism 10 is a screw jack with mechanical self-locking capability. Its internal core transmission pair is a screw-nut transmission pair, which can convert the rotational motion of the input shaft into linear motion at the end of the screw with high precision. Due to the inherent characteristics of its worm gear or trapezoidal screw, it has the ability to maintain its current stroke position by friction when power is cut off, effectively preventing slippage caused by the weight of the movable roller frame 2. Each set of lifting drive mechanisms 10 has a flange 11 at its output end. The flange 11 is bolted to the corresponding end of the movable roller frame 2, enabling the lifting drive mechanism 10 to drive the movable roller frame 2 to reciprocate vertically.

[0023] A drive shaft 8 is installed between the two sets of lifting drive mechanisms 10. Both ends of the drive shaft 8 are connected to the two lifting drive mechanisms 10 via couplings 9. The lifting drive power of the device is provided by a drive motor 13. The output shaft of the drive motor 13 is connected to the input end of one of the lifting drive mechanisms 10 via a coupling 9, making this one-sided lifting drive mechanism 10 the active end. When the drive motor 13 rotates, its output power directly drives the input end of the active end lifting drive mechanism 10 to rotate. This rotational motion, on the one hand, drives the active end lifting drive mechanism 10 to move, and on the other hand, synchronously transmits power to the input end of the other lifting drive mechanism 10 through the drive shaft 8 and the couplings 9 at both ends. This ensures that the two sets of lifting drive mechanisms 10 output lifting power synchronously, thereby ensuring that the movable roller frame 2 remains horizontal during the lifting process and does not tilt or jam due to differences in lifting speed at both ends.

[0024] The core of the intelligent control of this device is the electrical control system, which is electrically connected to both the drive motor 13 and the roller motor 12. During operation, the operator inputs the thickness and weight parameters of the CIPP lining material 14 for the current production batch through the human-machine interface. Upon receiving these parameters, the electrical control system automatically calculates the optimal wrap angle value matching the characteristics of the current CIPP lining material 14 based on its pre-established and stored algorithm model. It then converts this optimal wrap angle value into the target height position that the movable roller frame 2 should reach, and subsequently generates control commands to control the drive motor 13. The drive motor 13 drives the lifting drive mechanism 10 at the active end via the coupling 9, and simultaneously drives the other lifting drive mechanism 10 on the other side via the transmission shaft 8 and coupling 9, allowing both lifting drive mechanisms 10 to smoothly move the movable roller frame 2 to the target height via the flange 11. As the vertical position of the movable roller frame 2 changes, the spatial position of the power roller 3 changes accordingly relative to the fixed first roller 4 and the second fixed roller 5, thereby continuously adjusting the wrap angle of the CIPP lining material 14 on the power roller 3, and thus realizing stepless continuous adjustment of the magnitude of the traction force on the CIPP lining material 14.

[0025] At the control logic level, the control strategy of the electronic control system is as follows: When the electronic control system determines that the CIPP inner lining material 14 belongs to a narrow and thin specification based on the input thickness value and weight value, that is, the input thickness value and weight value are both lower than the narrow and thin specification threshold preset in the system, the electronic control system controls the drive motor 13 to move, and synchronously drives the two sets of lifting drive mechanisms 10 through the coupling 9 and the transmission shaft 8, thereby driving the movable roller frame 2 to move upward, reducing the wrap angle of the CIPP inner lining material 14 on the power roller 3, thereby reducing the traction force applied by the power roller 3 to the CIPP inner lining material 14, and avoiding excessive traction force from causing tensile deformation or even damaging the physical properties of the narrow and thin specification material. Conversely, when the electronic control system determines that the CIPP lining material 14 belongs to the thick specification based on the input thickness and weight values, that is, when the input thickness and weight values ​​are both higher than the preset thick specification threshold in the system, the electronic control system controls the drive motor 13 to reverse, synchronously driving the two sets of lifting drive mechanisms 10 through the coupling 9 and the transmission shaft 8, driving the movable roller frame 2 to move downward, increasing the wrap angle of the CIPP lining material 14 on the power roller 3, thereby increasing the traction force applied by the power roller 3 to the CIPP lining material 14, preventing slippage during the conveying process due to insufficient friction, and ensuring that the thick specification material can be stably pulled without wrinkles or loss of synchronization with the previous process.

[0026] In one specific embodiment, to achieve closed-loop feedback control of the traction force and further improve the adjustment accuracy and responsiveness to dynamic changes in operating conditions during production, the device also includes a tension detection unit. This tension detection unit is positioned along the travel path of the CIPP lining material 14, specifically integrated into the bearing support of the first fixed roller 4 or the second fixed roller 5. The force sensing axis of the tension detection unit is coaxial with the direction of the resultant force generated when the CIPP lining material 14 passes over the first fixed roller 4 or the second fixed roller 5, thus accurately sensing the actual operating tension of the CIPP lining material 14. The tension detection unit converts the detected traction tension into an electrical signal and continuously transmits it to the electronic control system. The electronic control system pre-stores a target tension threshold range corresponding to the current specifications of the CIPP lining material 14. The electronic control system continuously compares the received real-time tension value with the target tension threshold. Once the real-time tension value is detected to deviate from the target tension threshold range, a compensatory adjustment amount is calculated based on the magnitude and direction of the deviation. This control motor 13 drives the two sets of lifting drive mechanisms 10 through the coupling 9 and transmission shaft 8 to fine-tune the height position of the movable roller frame 2. By changing the size of the wrap angle, the traction force is adjusted in the opposite direction, so that the real-time tension value approaches and stabilizes within the target tension threshold range, thus forming a complete closed-loop adjustment circuit for tension and wrap angle.

[0027] In one specific embodiment, to balance the conflicting requirements of driving friction for the CIPP liner material 14 and surface integrity protection, the outer surfaces of the power roller 3, the first fixed roller 4, and the second fixed roller 5 are functionally partitioned and designed with composite textures. Specifically, a composite texture layer is provided on the outer circumferential surface of the power roller 3, the first fixed roller 4, and the second fixed roller 5. This composite texture layer is divided into two functional areas along the roller axial direction: an anti-slip zone and a buffer zone. The anti-slip zone is located in the central area of ​​the outer circumferential surface of each roller, corresponding to the main load-bearing contact area of ​​the CIPP liner material 14; the buffer zone is located on both sides of the anti-slip zone, corresponding to the edge contact areas of the CIPP liner material 14. The surface of the anti-slip zone is provided with a micro-bump array or mesh texture through embossing or etching processes, which can effectively increase the microscopic contact area and static friction between the anti-slip zone and the fibers of the CIPP liner material 14, preventing slippage during conveying. The buffer is made of elastic material with a smooth curved surface and no sharp texture. When the edge of the CIPP liner material 14 comes into contact with the buffer due to slight deviation, the elastic material can undergo a slight yielding deformation. The smooth curved surface will not hook or wear the loose fiber edge of the CIPP liner material 14, thus effectively protecting the integrity of the material without reducing the driving force in the middle of the roller.

[0028] In one specific embodiment, to address potential power outages or emergency shutdowns during production and to ensure the safety of the equipment and the CIPP lining material 14, a mechanical safety locking mechanism is added between the movable roller frame 2 and the traction frame 1. This mechanism includes a locking seat fixedly mounted on the column of the traction frame 1 and a corresponding locking mating part fixedly mounted on the side of the movable roller frame 2. The locking seat integrates a retractable locking pin, whose actuator is electrically connected to the electrical control system and controlled by an independent power failure protection logic circuit. When the equipment is under normal power supply and in a permissible operating state, the locking pin remains retracted, completely contained within the locking seat, and does not mechanically interfere with the normal lifting and lowering movement of the movable roller frame 2. Once the system detects a shutdown signal or a sudden interruption of external power supply, the power failure protection logic is immediately triggered. The locking pin extends automatically and instantaneously under the drive of the energy storage spring or backup power supply, and accurately engages into the preset slot or pin hole on the locking mating part, thereby forming a mechanical rigid connection between the movable roller frame 2 and the traction frame 1. This reliably locks the movable roller frame 2 in its current position or a preset safe height position, preventing the movable roller frame 2 from falling uncontrollably due to gravity, thus avoiding the sudden change of the S-shaped path that could cause the CIPP inner lining material 14 to break.

[0029] In one specific embodiment, to actively correct the lateral deviation that may occur in the CIPP lining material 14 during continuous conveying, this device integrates a correction function into the existing structure. On the traction frame 1, a set of photoelectric edge detection sensors is respectively installed in front of the first fixed roller 4 and behind the second fixed roller 5. These two sets of sensors are used to detect the spatial position of the two edges of the CIPP lining material 14 in the width direction as it passes the detection position. The photoelectric edge detection sensors are electrically connected to the electronic control system and continuously transmit the detected edge position signals to the system. The electronic control system has a dedicated processing module that receives the position data of the two edges and, combined with the system's preset optimal center path position, calculates the current lateral offset of the CIPP lining material 14 in real time. When the calculated lateral offset exceeds the system's preset allowable deviation threshold, the electronic control system automatically starts the correction control program. Unlike the traditional approach of adding independent correction rollers, this device has a fine-tuning mechanism at the flange 11 connection point at one end of the movable roller frame 2. The fine-tuning mechanism is specifically a servo electric cylinder. The cylinder body of the servo electric cylinder is fixedly installed on the lower surface of the flange 11, and the end of the telescopic push rod of the servo electric cylinder is connected to the upper surface of the corresponding end of the movable roller frame 2. The servo electric cylinder is electrically connected to the electronic control system and can independently drive the end of the movable roller frame 2 to perform micro-lifting in the vertical direction. When the electronic control system issues a correction command according to the direction and amplitude of the lateral offset, it controls the servo electric cylinder to move, causing its telescopic push rod to extend or retract by a small stroke, thereby causing the end of the movable roller frame 2 to produce a small displacement in the vertical direction. The other end of the movable roller frame 2 remains at a constant height because it is fixedly connected to the flange 11 on the other side, thus causing the axis of the movable roller frame 2 and the power roller 3 mounted on it to produce a controllable micro-tilt angle relative to the horizontal plane. When the CIPP lining material 14 is wrapped around the inclined power roller 3, a tension difference occurs on both sides of the material's width. This tension difference drives the entire material to move laterally towards the side with less tension, thus gently correcting the misaligned CIPP lining material 14 back onto the preset center travel path, achieving non-destructive active correction. After correction, the electronic control system controls the servo electric cylinder's telescopic push rod to return to a balanced state, and the movable roller frame 2 returns to horizontal. This fine-tuning mechanism has a simple structure, reliable operation, and does not change the overall scheme of the drive shaft 8 forcibly and synchronously driving the two sets of lifting drive mechanisms 10, thus balancing the synchronicity of normal lifting and the independent fine-tuning function required for correction.

[0030] In one specific embodiment, the microstructure of the power roller 3 surface was further optimized to completely eliminate the risk of snagging damage to loose fiber materials such as needle-punched nonwoven fabrics while providing sufficient driving friction. The surface of the power roller 3 is divided along its axial direction into a central functional area and two edge transition areas symmetrically distributed on both sides of the central functional area. The surface of the central functional area has a first surface roughness, and a micro-dimple structure arranged in a regular array is processed in this area by precision laser etching or electroforming. The micro-dimple structure is specifically a circular or elliptical pit, and the depth of the circular or elliptical pit is strictly controlled within the range of 50 to 200 micrometers. The micro-dimple structure increases the actual contact area between the power roller 3 and the fiber bundle of the CIPP inner lining material 14 at the microscale. The traction force is transmitted by the multi-point friction formed by the fiber part embedding into the edge of the micro-dimple. The smooth circular or elliptical pit edge will not produce a sharp hooking or pulling effect on the fiber when the fiber is detached, thus achieving the technical effect of increasing friction without damaging the fiber. The edge transition zone has a second surface roughness, which is significantly smaller than the first surface roughness. This second surface roughness smoothly decreases from the boundary of the central functional area towards both ends of the power roller 3, forming a gradual transition. When the edge of the CIPP liner material 14 slips into the edge transition zone due to accidental misalignment, the lower roughness and smooth decreasing morphology of this area provide a relatively gentle contact environment, effectively protecting the loose edges of the CIPP liner material 14 from wear or tear during contact friction.

[0031] In one specific embodiment, to address the potential momentary slippage issue that may occur during equipment startup, shutdown, or when the CIPP lining material 14 splices pass over the power roller 3, an auxiliary pressure roller assembly is added to the device. This auxiliary pressure roller assembly includes a swing arm, an auxiliary pressure roller, and an elastic loading mechanism. One end of the swing arm is hinged to the side plate of the movable roller frame 2 via a hinge shaft, allowing the swing arm to swing freely within a certain angle range around the hinge shaft. The auxiliary pressure roller is rotatably mounted to the other end of the swing arm via rolling bearings and is suspended and positioned directly above the power roller 3, with its axis strictly parallel to the axis of the power roller 3. One end of the elastic loading mechanism is connected to the middle or end of the swing arm, and the other end is connected to the movable roller frame 2. The elastic loading mechanism applies a preset thrust towards the power roller 3 to the swing arm, thereby applying an additional positive pressure to the upper surface of the CIPP lining material 14 passing over the power roller 3 via the auxiliary pressure roller. The elastic loading mechanism can be a cylinder or gas spring with an electronically controlled proportional valve for precise pressure control. The electrical control system is communicatively connected to the elastic loading mechanism. During production, the system monitors the difference between the outer circumferential linear speed of the power roller 3 and the actual traveling linear speed of the CIPP inner lining material 14 in real time, using this as a basis for determining whether slippage has occurred. When momentary slippage is detected, the electrical control system immediately sends a pressurization command to the elastic loading mechanism, controlling it to instantaneously increase the output pressure. The auxiliary pressure roller instantly increases the positive pressure applied to the CIPP inner lining material 14, thereby rapidly increasing the maximum static friction between the power roller 3 and the CIPP inner lining material 14 and quickly suppressing slippage. Once the slippage is eliminated and the speed difference returns to the normal range, the electrical control system controls the elastic loading mechanism to restore the output pressure to the preset holding pressure during normal production. This avoids continuous high pressure damaging the material under steady-state conditions, achieving an effective balance between steady-state low-tension conveying and transient anti-slip.

[0032] In one specific embodiment, to address the problem that CIPP lining material 14 is prone to generating and accumulating static charge due to friction during the conveying process after resin impregnation or in a drying environment, leading to the adsorption of environmental impurities and even the risk of combustion and explosion, a detachable antistatic roller sleeve is provided to cover the outer surface of at least one of the power roller 3, the first fixed roller 4, and the second fixed roller 5. The antistatic roller sleeve is a specially designed multi-layer composite structure, comprising, from the inside out, a highly conductive elastic rubber base layer, a carbon fiber braided reinforcement layer, and an ionized surface treatment layer. The highly conductive elastic rubber base layer has good elasticity and conductivity, allowing it to tightly adhere to and cover the outer circumferential surface of the roller's metal substrate; the carbon fiber braided reinforcement layer provides high conductivity and structural strength; the outermost ionized surface treatment layer undergoes a special surface modification process, resulting in a surface containing numerous hydrophilic functional groups that can effectively adsorb water molecules from the surrounding environment, forming an extremely thin and continuous conductive water film on the outer surface of the roller sleeve. To facilitate on-site installation and replacement, the antistatic roller sleeve has a continuous opening along its generatrix, with adjustable quick-locking clamps at both ends. During installation, simply fasten the antistatic roller sleeve around the roller from the side and tighten the quick-locking clamps for a secure fixation, without disassembling the roller shaft system. When the CIPP lining material 14 comes into contact with the antistatic roller sleeve and generates friction, the resulting static charge is immediately and rapidly transferred through the conductive water film to the carbon fiber braided reinforcement layer, then through the highly conductive elastic rubber base layer to the covered roller metal substrate, and finally conducted away through the grounding device connected to the roller shaft end, thus effectively eliminating various risks caused by static electricity accumulation.

[0033] In one specific embodiment, to achieve closed-loop control of the wrap angle adjustment and to ensure that the wrap angle adjustment does not solely rely on the theoretically calculated open-loop control mode, angle sensors are added to each roller. These angle sensors are respectively installed at the ends of the roller shafts of the power roller 3, the first fixed roller 4, and the second fixed roller 5. The stators of the angle sensors are fixed to bearing seats, and the rotors rotate synchronously with the roller shafts. All angle sensors are electrically connected to the electronic control system to collect the actual wrap angle of the CIPP lining material 14 on each roller in real time, i.e., the actual value of the wrap angle, and feed the wrap angle data back to the electronic control system in real time. The electronic control system has a pre-established and stored wrap angle preset database, which contains empirically optimal wrap angle thresholds or threshold ranges corresponding to the thickness and weight parameters of different CIPP lining materials 14. In actual production, the electronic control system automatically retrieves and matches the corresponding optimal wrap angle threshold from the preset wrap angle database based on the thickness and weight parameters of the CIPP lining material 14 input before production. Subsequently, throughout the entire production process, the electronic control system continuously compares the actual wrap angle value fed back by the angle sensor with the optimal wrap angle threshold. Once it is found that the actual wrap angle deviates from the optimal threshold, it automatically generates a fine-tuning command, controls the drive motor 13 to drive the two sets of lifting drive mechanisms 10 through the coupling 9 and the transmission shaft 8, and makes a small correction to the height of the movable roller frame 2 until the actual wrap angle value returns to and stabilizes within the optimal threshold range. This achieves real-time closed-loop adjustment of the wrap angle, ensuring the long-term stability and accuracy of traction control.

[0034] In one specific embodiment, to further improve the control accuracy and response flexibility of the output torque of the power roller 3 and achieve multi-level adaptive fine control of the traction force of the CIPP liner material 14, a torque sensor and an electromagnetic clutch are connected in series on the transmission chain between the power roller 3 and the roller motor 12 that drives its rotation. The torque sensor is dedicated to detecting the actual torque value output by the power roller 3 in real time, while the electromagnetic clutch is used to adjust the power transmission efficiency between the roller motor 12 and the power roller 3 online. Both are electrically connected to the electronic control system. Under certain operating conditions, when the angle sensor feedback has adjusted the wrap angle to the mechanical limit position or the process-allowed limit position, but the actual torque value detected by the torque sensor still exceeds or falls below the ideal traction torque target value, continuing to rely on adjusting the wrap angle may generate adverse bending stress on the CIPP liner material 14 or cause abrupt changes in path geometry. At this point, the electronic control system performs a comprehensive logical judgment based on the current actual wrap angle data, the input CIPP liner material 14 parameters, and the actual torque value fed back by the torque sensor. It then issues a control command to the electromagnetic clutch, adjusting the torque transmitted to the power roller 3 by changing the engagement degree of the electromagnetic clutch, thus achieving adaptive fine-tuning of the power roller 3's torque. This effectively decouples the wrap angle adjustment from the torque adjustment. Even when the wrap angle adjustment reaches mechanical or process limits, precise traction control can still be met through torque fine-tuning, expanding the device's adaptability to various operating conditions.

[0035] In one specific embodiment, to accommodate the different requirements of various CIPP lining materials 14 for S-shaped path geometry parameters, the mounting structure of the first fixed roller 4 and the second fixed roller 5 is designed to be adjustable. On the traction frame 1, elongated strip-shaped adjustment grooves are machined at the positions of the mounting bearing seats of the first fixed roller 4 and the second fixed roller 5, respectively. The extension direction of the strip-shaped adjustment grooves is set to be substantially perpendicular to the travel direction of the CIPP lining material 14, i.e., extending along the axial direction of the rollers. The shaft end bearing seats of the first fixed roller 4 and the second fixed roller 5 are connected to the corresponding strip-shaped adjustment grooves by locking bolts. In daily production, if it is necessary to adjust the axial position of the fixed rollers according to the physical properties of the CIPP lining material 14, the operator only needs to loosen the locking bolts to move the first fixed roller 4 or the second fixed roller 5 laterally along the strip-shaped adjustment grooves, thereby flexibly changing their respective positions in the axial direction of the rollers. This lateral adjustment allows for the adaptation of CIPP liner materials 14 with different widths, aligning the material's centerline with the center of the anti-slip zone of each roller, while ensuring that the material's edges fall within the buffer zone. It can also be used to fine-tune the lateral position of the material entering the S-shaped path, optimizing the uniformity of the wrap angle distribution along the material's width. After adjustment to the desired position, retightening the locking bolts securely locks the first fixed roller 4 and the second fixed roller 5 in the target position, ensuring rapid adaptation to significant process changes without requiring replacement of frame components, thus improving the device's versatility and process adaptability.

[0036] The preferred embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, nor is it limited to the adjustable traction force device for molding CIPP lining materials. Devices and structures not described in detail herein should be understood as being implemented in a manner common to the art. Any person skilled in the art can make many possible variations and modifications to the technical solutions of the present invention, or modify them into equivalent embodiments, without departing from the scope of the present invention. This does not affect the essential content of the present invention. Therefore, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present invention, without departing from the content of the present invention, still fall within the protection scope of the present invention.

Claims

1. An adjustable traction force device for molding CIPP lining material, characterized in that, include: Traction frame; The lifting adjustment assembly is installed on the traction frame. The lifting adjustment assembly includes a lifting drive mechanism, a drive motor and a synchronous transmission unit. There are at least two lifting drive mechanisms, which are spaced apart on the top of the traction frame. The drive motor is connected to the lifting drive mechanism. The synchronous transmission unit is connected between each lifting drive mechanism to synchronously transmit the power output by the drive motor to each lifting drive mechanism. The movable roller frame is fixedly connected to the output end of the lifting drive mechanism via a flange, and moves back and forth in the vertical direction under the drive of the lifting drive mechanism. A power roller is rotatably mounted on the movable roller frame, and a roller motor for driving the power roller to rotate is also mounted on the movable roller frame. The fixed roller group is installed on the traction frame. The fixed roller group includes a first fixed roller and a second fixed roller that are spaced apart along the travel direction of the CIPP inner lining material. The power roller is located between the first fixed roller and the second fixed roller. The CIPP inner lining material passes around the first fixed roller, the power roller and the second fixed roller in sequence to form an S-shaped covering path. The guide and limit assembly includes a linear slide rail and a linear slider that cooperate with each other. The linear slide rail is fixedly installed on the traction frame in the vertical direction, and the linear slider is correspondingly installed on the movable roller frame to guide the movable roller frame to rise and fall smoothly. The system includes an electrical control system, which is electrically connected to the drive motor and the roller motor respectively. The electrical control system controls the drive motor to operate according to the input parameters of the thickness and weight of the CIPP lining material, so as to adjust the position of the power roller, thereby changing the wrap angle of the CIPP lining material on the power roller, and thus continuously adjusting the magnitude of the traction force.

2. The adjustable traction force device for molding CIPP lining material according to claim 1, characterized in that: The synchronous transmission unit includes a drive shaft and a coupling. The two ends of the drive shaft are respectively connected to two sets of lifting drive mechanisms through the coupling. The lifting drive mechanism is a screw jack. The output end of the lifting drive mechanism is equipped with a flange, which is fixedly connected to the movable roller frame. The output shaft of the drive motor is connected to the input end of one set of lifting drive mechanisms through the coupling. This set of lifting drive mechanisms serves as the active end. The drive motor drives the active end lifting drive mechanism to move and synchronously transmits power to the other set of lifting drive mechanisms through the drive shaft and coupling.

3. The adjustable traction force device for molding CIPP lining material according to claim 1, characterized in that: Linear slide rails are provided on both sides of the traction frame, and linear sliders are provided on both sides of the movable roller frame. The linear slide rails on both sides are arranged parallel to each other.

4. The adjustable traction force device for molding CIPP lining material according to claim 1, characterized in that: It also includes a tension detection unit, which is set on the travel path of the CIPP lining material to detect the traction tension of the material in real time and transmit the detected tension data to the electronic control system; The electronic control system compares the real-time tension with the target tension threshold and controls the drive motor to adjust the position of the power roller based on the comparison result, so that the real-time tension approaches the target tension threshold.

5. The adjustable traction force device for molding CIPP lining material according to claim 1, characterized in that: Both the power roller and the stationary roller assembly have a composite texture layer on their outer peripheral surfaces. The composite texture layer includes an anti-slip zone and a buffer zone. The anti-slip zone is located in the middle area of ​​the outer peripheral surface of the roller, and the buffer zone is located on both sides of the edge area of ​​the anti-slip zone. The surface of the anti-slip zone is provided with a micro-bump array or a mesh texture, and the buffer zone is made of elastic material with a smooth curved surface.

6. The adjustable traction force device for molding CIPP liner material according to claim 1, characterized in that: A mechanical safety locking mechanism is provided between the movable roller frame and the traction frame. The mechanical safety locking mechanism includes a locking seat installed on the traction frame and a locking engagement part installed on the movable roller frame. The locking seat is provided with a locking pin. The actuator of the locking pin is electrically connected to the electrical control system and is controlled by the power failure protection logic. When the equipment is stopped or the power is off, the locking pin automatically extends and engages with the locking engagement part to mechanically lock the movable roller frame in the current position or a safe height position.

7. The adjustable traction force device for molding CIPP lining material according to claim 1, characterized in that: Photoelectric edge detection sensors are respectively installed on the traction frame in front of the first fixed roller and behind the second fixed roller. The photoelectric edge detection sensors are electrically connected to the electronic control system. The electronic control system calculates the lateral offset based on the edge position signal of the CIPP lining material detected by the photoelectric edge detection sensors. When the lateral offset exceeds a preset threshold, the system controls the fine-tuning mechanism located at the flange connection of one end of the movable roller frame to move, so that one end of the movable roller frame produces an independent slight lift, thereby causing the axis of the movable roller frame and the power roller on it to tilt slightly relative to the horizontal plane, so as to correct the lateral offset of the CIPP lining material.

8. The adjustable traction force device for molding CIPP lining material according to claim 1, characterized in that: The roller surface of the power roller is divided along its axial direction into a central functional area and two edge transition areas symmetrically distributed on both sides of the central functional area; the central functional area has a first surface roughness and has an array of micro-pit structures formed on its surface. The micro-pit structures are circular or elliptical pits with a depth range of 50 to 200 micrometers, which are used to increase the frictional contact area at the microscale and avoid snagging fibers. The edge transition zone has a second surface roughness, which is less than the first surface roughness and smoothly decreases from the central functional area toward the roll end to protect the edges of the CIPP liner material from damage upon contact.

9. The adjustable traction force device for molding CIPP lining material according to claim 1, characterized in that: It also includes an auxiliary pressure roller assembly, which includes: A swing arm, one end of which is hinged to a movable roller frame; An auxiliary pressure roller is rotatably mounted on the other end of the swing arm and located above the power roller, with the axis of the auxiliary pressure roller parallel to the axis of the power roller. An elastic loading mechanism is connected between the swing arm and the movable roller frame. The elastic loading mechanism is used to apply a preset pressure to the auxiliary pressure roller in the direction of the power roller. The electronic control system is connected to the elastic loading mechanism. When instantaneous slippage is detected between the power roller and the CIPP lining material, the elastic loading mechanism is controlled to increase the output pressure instantaneously. This increases the positive pressure through the auxiliary pressure roller to suppress slippage. After the slippage is eliminated, the pressure is restored to the preset level, achieving a balance between steady-state low tension and transient anti-slip.

10. The adjustable traction force device for molding CIPP lining material according to claim 1, characterized in that: At least one of the power roller, the first fixed roller, and the second fixed roller is covered with a detachable antistatic roller sleeve. The antistatic roller sleeve is a multi-layer composite structure consisting of a highly conductive elastic rubber base layer, a carbon fiber braided reinforcement layer, and an ionized surface treatment layer arranged sequentially from the inside out. An opening slit is opened along the generatrix direction, and quick-locking clamps are provided at both ends. The ionized surface treatment layer contains hydrophilic functional groups after surface modification treatment, which are used to adsorb environmental moisture to form a conductive water film. The static electricity on the CIPP liner material is transferred to the covered roller metal substrate through the conductive water film, the carbon fiber braided reinforcement layer, and the highly conductive elastic rubber base layer and then conducted away.

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