Pipeline laying robot

Abstract

The utility model relates to the technical field of pipeline laying, in particular to a pipeline laying robot which comprises an advancing mechanism, a drill bit device and a pipeline printing device, the drill bit device and the pipeline printing device are arranged at the two ends of the advancing mechanism respectively, and the advancing mechanism comprises a first supporting device, a second supporting device and a linear driving device. The first supporting device and the second supporting device each comprise a supporting shell and a plurality of supporting legs evenly distributed in the circumferential direction of the supporting shell, and the linear driving device is arranged between the first supporting device and the second supporting device. The drill bit device comprises a drill bit and a drill bit motor. The stepping type advancing mechanism drives the drill bit and the pipeline printing mechanism to move, the structure and the control system are simple, and the drilling machine can normally walk in the narrow hole environment. The pipeline printing mechanism adopts a rotary cavity to achieve rotary motion, a printer is arranged on a mechanical arm, the diameter of a printer pipeline is controlled through the mechanical arm, and control is convenient.

Description

Technical Field

[0001] The utility model relates to the technical field of pipeline laying, and more specifically, to a pipeline laying robot. Background Art

[0002] Urban underground pipelines refer to pipelines and their ancillary facilities within a city, including those for water supply, drainage, gas, heat, electricity, communications, radio and television, and industry. They are crucial infrastructure and the "lifeline" that ensures the city's operations. Traditional underground pipeline construction methods require extensive excavation and trenching, which not only damages the surrounding soil structure but also generates significant noise and dust, polluting the surrounding environment. Furthermore, some underground pipeline networks are often constructed by excavating the road surface. Due to a lack of unified deployment planning, the road surface is often excavated again shortly after it has been restored. This not only wastes manpower and resources but also easily causes traffic congestion. This not only wastes national financial resources but also causes significant inconvenience to citizens.

[0003] Therefore, it is necessary to improve the existing technology. Utility Model Content

[0004] In order to overcome the deficiencies in the prior art, a trenchless pipe laying robot is provided, which can avoid occupying a large area of road when working, and can reduce the generation of dust and noise when working underground.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0006] A pipeline laying robot comprises a forward mechanism and a drill device and a pipeline printing device respectively arranged at two ends of the forward mechanism;

[0007] The forward mechanism includes a first support device, a second support device and a linear drive device, the first support device and the second support device each include a support shell and a plurality of support legs uniformly distributed along the circumference of the support shell, a drive mechanism for driving the support legs to move radially is provided in the support shell, the support shells of the first support device and the second support device are slidably connected, and the linear drive device is provided between the first support device and the second support device;

[0008] The drill device includes a drill bit and a drill motor. The drill motor is fixedly connected to the forward mechanism, the drill bit is connected to the driving end of the drill motor, the inner cavity of the drill bit is connected to the water inlet pipe and the drain pipe, and the end of the drill bit is provided with a through hole communicating with the inner cavity.

[0009] Preferably, the pipeline printing device includes a drive motor, a rotary chamber, a robotic arm and a printer, the drive motor is fixedly connected to the forward mechanism, the rotary chamber is connected to the driving end of the drive motor, several robotic arms are arranged along the rotary chamber, and the printer is arranged on the robotic arm.

[0010] Preferably, a positioning sleeve coaxial with the rotary cavity is provided on the outer side of the rotary cavity, and the positioning sleeve is connected to the rotary cavity through a plurality of rollers uniformly distributed along the circumferential direction.

[0011] Preferably, the linear drive device includes a rotary motor I, a screw I and a screw nut, the rotary motor I is fixedly arranged on one of the support shells, the screw nut is fixedly arranged on the other support shell, one end of the screw I is fixedly connected to the motor shaft of the rotary motor I, and the screw I is threadedly matched with the screw nut.

[0012] Preferably, the driving mechanism includes a rotary motor II, a sliding frame and a screw II. The rotary motor II is relatively fixed to the support shell, the driving end of the rotary motor II is fixedly connected to the screw II, a threaded hole is provided in the middle of the sliding frame, the screw II is threadedly matched with the sliding frame, and the rotary motor II and the sliding frame are respectively hinged with a first connecting rod and a second connecting rod, the end of the second connecting rod is hinged to the middle of the first connecting rod, and the end of the first connecting rod is hinged to the support foot.

[0013] Preferably, the water inlet pipe and the drain pipe both pass through the interior of the advancing mechanism and the pipeline printing device.

[0014] Preferably, the first supporting device and the second supporting device are both provided with three supporting legs.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] This utility model allows for underground pipeline laying without excavation, minimizing environmental damage. A water inlet and drain pipe are connected to the drill bit, allowing for simultaneous soil and rock removal during drilling, ensuring the robot's forward progress is unimpeded by debris. A step-by-step forward mechanism drives the drill bit and pipe printing mechanism, resulting in a simple structure and control system that allows for smooth operation in narrow holes. The pipe printing mechanism utilizes a rotary chamber for rotational motion, and the printer is mounted on a robotic arm, which controls the diameter of the printed pipe for easy control. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The specific implementation of the present invention will be further described in detail below with reference to the accompanying drawings.

[0018] Figure 1 This is a schematic diagram of the front view structure of the utility model;

[0019] Figure 2This is a schematic diagram of the half-section structure of the utility model;

[0020] Figure 3 for Figure 2 A partial enlarged view of middle A;

[0021] Figure 4 It is a schematic diagram of the forward mechanism structure;

[0022] Figure 5 This is a schematic diagram of the forward mechanism from below;

[0023] Figure 6 It is a schematic diagram of the side view of the forward structure.

[0024] In the figure: 1-drill device, 11-drill bit, 12-drill motor, 13-water inlet pipe, 14-drain pipe, 2-pipe printing device, 21-drive motor, 22-rotary chamber, 23-mechanical arm, 24-printer, 25-positioning sleeve, 26-roller, 3-first supporting device, 31-support shell, 32-support foot, 4-second supporting device, 5-linear driving device, 51-rotary motor I, 52-screw I, 53-screw nut, 6-driving mechanism, 61-rotary motor II, 62-sliding frame, 63-screw II, 64-first connecting rod, 65-second connecting rod. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0026] like Figures 1 to 6 As shown, a pipeline laying robot includes a forward mechanism and a drill device 1 and a pipeline printing device 2 respectively arranged at both ends of the forward mechanism. The forward mechanism drives the drill device 1 to drill and drives the pipeline printing device 2 to print the pipeline.

[0027] In order to facilitate driving, the forward mechanism includes a first supporting device 3, a second supporting device 4 and a linear driving device 5. The first supporting device 3 and the second supporting device 4 alternately support the hole wall and alternately advance to achieve the advancement of the pipe laying robot.

[0028] Specifically, each of the first and second support devices 3 and 4 includes a support housing 31 and a plurality of support legs 32 uniformly distributed along the circumference of the support housing 31. The support housings 31 of the first and second support devices 3 and 4 are slidably connected, and a drive mechanism 6 is disposed within the support housing 31 to drive the support legs 32 in radial motion. When the support legs 32 move outward, they contact the hole wall to position the first or second support device 3 or 4. When the support legs 32 move inward, they disengage from the hole wall and, via the linear drive mechanism 5, drive the first or second support device 3 or 4 forward.

[0029] The driving mechanism 6 includes a rotary motor II 61, a sliding frame 62 and a screw II 63. The rotary motor II 61 is relatively fixed to the support shell 31. The driving end of the rotary motor II 61 is fixedly connected to the screw II 63. The screw II 63 is driven to rotate by the rotary motor II 61. A threaded hole is provided in the middle of the sliding frame 62. The screw II 63 is threadedly matched with the sliding frame 62. When the screw II 63 rotates, it drives the sliding frame 62 to move linearly. The first connecting rod 64 and the second connecting rod 65 are respectively hinged on the rotary motor II 61 and the sliding frame 62. The end of the second connecting rod 65 is hinged to the middle of the first connecting rod 64, and the end of the first connecting rod 64 is hinged to the support foot 32.

[0030] The linear drive device 5 is disposed between the first support device 3 and the second support device 4 and includes a rotary motor I 51, a lead screw I 52, and a lead screw nut 53. The rotary motor I 51 is fixedly mounted on one of the support housings 31, while the lead screw nut 53 is fixedly mounted on the other support housing 31. One end of the lead screw I 52 is fixedly connected to the motor shaft of the rotary motor I 51, and the lead screw I 52 and the lead screw nut 53 are threadedly engaged. The rotary motor I 51 drives the lead screw I 52 to rotate, thereby driving the lead screw nut 53 to move along the lead screw I 52, thereby adjusting the distance between the first support device 3 and the second support device 4.

[0031] The drill bit device 1 includes a drill bit 11 and a drill motor 12. The drill motor 12 is fixedly connected to the advancing mechanism. The drill bit 11 is connected to the drive end of the drill motor 12, and the drill motor 12 drives the drill bit. The inner cavity of the drill bit 11 is connected to a water inlet pipe 13 and a drain pipe 14. The water inlet pipe 13 and the drain pipe 14 both pass through the interior of the advancing mechanism and the pipe printing device 2. The end of the drill bit 11 is provided with a through hole communicating with the inner cavity. The drill bit 11 can simultaneously remove soil and rocks through the water inlet pipe 13 and the drain pipe 14 while drilling.

[0032] The pipeline printing device 2 includes a drive motor 21, a rotary chamber 22, a robotic arm 23, and a printer 24. The drive motor 21 is fixedly connected to the forward mechanism, and the rotary chamber 22 is connected to the drive end of the drive motor 21. The drive motor 21 drives the rotary chamber 22 to rotate. Several robotic arms 23 are arranged along the rotary chamber 22, and the printer 24 is arranged on the robotic arm 23. Simultaneous printing by multiple robotic arms 23 and printers 24 improves printing efficiency. A positioning sleeve 25 is provided on the outside of the rotary chamber 22, coaxial with the rotary chamber 22. The positioning sleeve 25 is connected to the rotary chamber 22 by several rollers 26 evenly distributed along the circumference. The structure of the rotary chamber 22, positioning sleeve 25, and rollers 26 can be replaced by bearings.

[0033] Printer 24 utilizes an existing printer. Drive motor 21 connects to the inner wall of the bearing and controls its rotation, driving printer 24, which is fixed to the inner wall of the bearing, to rotate. Printer 24 utilizes fused deposition modeling technology, melting a specially prepared wire from a heated aluminum block to print the pipe. A level sensor is installed at the nozzle end to ensure the nozzle is parallel to the channel axis, ensuring that the printed pipe meets the requirements.

[0034] Preferably, the number of supporting legs 32 of the first supporting device 3 and the second supporting device 4 are both three.

[0035] The above only describes in detail the preferred embodiments of the present invention, but the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by ordinary technicians in this field, various changes can be made without departing from the purpose of the present invention, and various changes should be included in the scope of protection of the present invention.

Claims

1. A pipe-laying robot, characterized in that: It comprises an advancing mechanism and a drill device (1) and a pipeline printing device (2) respectively arranged at two ends of the advancing mechanism; The forward mechanism comprises a first supporting device (3), a second supporting device (4) and a linear drive device (5); the first supporting device (3) and the second supporting device (4) each comprise a supporting shell (31) and a plurality of supporting legs (32) uniformly distributed along the circumference of the supporting shell (31); a driving mechanism (6) for driving the supporting legs (32) to move radially is provided in the supporting shell (31); the supporting shells (31) of the first supporting device (3) and the second supporting device (4) are slidably connected; and the linear drive device (5) is provided between the first supporting device (3) and the second supporting device (4); The drill bit device (1) comprises a drill bit (11) and a drill bit motor (12), the drill bit motor (12) being fixedly connected to the advancing mechanism, the drill bit (11) being connected to the driving end of the drill bit motor (12), the inner cavity of the drill bit (11) being connected to a water inlet pipe (13) and a drain pipe (14), and the end of the drill bit (11) being provided with a through hole communicating with the inner cavity.

2. The pipe-laying robot according to claim 1, characterized in that: The pipeline printing device (2) comprises a driving motor (21), a rotary chamber (22), a mechanical arm (23) and a printer (24), wherein the driving motor (21) is fixedly connected to the advancing mechanism, the rotary chamber (22) is connected to the driving end of the driving motor (21), a plurality of mechanical arms (23) are arranged along the rotary chamber (22), and the printer (24) is arranged on the mechanical arm (23).

3. The pipe-laying robot according to claim 2, characterized in that: A positioning sleeve (25) coaxial with the rotating chamber (22) is provided outside the rotating chamber (22), and the positioning sleeve (25) and the rotating chamber (22) are connected via a plurality of rollers (26) uniformly distributed along the circumferential direction.

4. The pipe-laying robot according to claim 1, characterized in that: The linear drive device (5) includes a rotary motor I (51), a lead screw I (52) and a lead screw nut (53), wherein the rotary motor I (51) is fixedly arranged on one of the support housings (31), and the lead screw nut (53) is fixedly arranged on the other support housing (31), one end of the lead screw I (52) is fixedly connected to the motor shaft of the rotary motor I (51), and the lead screw I (52) and the lead screw nut (53) are threadedly matched.

5. The pipe-laying robot according to claim 1, characterized in that: The driving mechanism (6) includes a rotary motor II (61), a sliding frame (62) and a lead screw II (63), wherein the rotary motor II (61) is relatively fixed to the support housing (31), the driving end of the rotary motor II (61) is fixedly connected to the lead screw II (63), a threaded hole is provided in the middle of the sliding frame (62), the lead screw II (63) and the sliding frame (62) are threadedly matched, and the rotary motor II (61) and the sliding frame (62) are respectively hinged with a first connecting rod (64) and a second connecting rod (65), the end of the second connecting rod (65) is hinged to the middle of the first connecting rod (64), and the end of the first connecting rod (64) is hinged to the support foot (32).

6. The pipe-laying robot according to claim 1, characterized in that: The water inlet pipe (13) and the drain pipe (14) both pass through the interior of the advancing mechanism and the pipeline printing device (2).

7. The pipe-laying robot according to claim 1, characterized in that: The supporting legs (32) of the first supporting device (3) and the second supporting device (4) are both provided in three numbers.

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