Non-excavation pipeline repairing robot

Abstract

The utility model relates to a trenchless pipeline repairing robot, and belongs to the technical field of pipeline repairing. Comprising a repairing robot body, a circular push plate arranged on the repairing robot body, a fixing frame fixedly installed on the right side face of the circular push plate, a driving motor fixedly installed on the right side face of the circular push plate and a cleaning mechanism used for cleaning a pipeline. The cleaning mechanism comprises a rotating rod fixedly connected to the output end of the driving motor, and one end of the rotating rod penetrates through the fixing frame and extends to the right side of the fixing frame. According to the trenchless pipeline repairing robot, a scraper is driven to rotate through a mounting bin, then a repaired position is cleaned, the cleaning efficiency and the repairing efficiency are improved, a mounting plate is driven to move through threaded connection between a driving rod and a screw rod, the position of the scraper is conveniently adjusted, and meanwhile, the position of the scraper is conveniently adjusted. And through clearance fit between the positioning rods and the positioning holes, the fixing rods are fixed, and the stability of the fixing rods is improved.

Description

Technical Field

[0001] The present application relates to the technical field of pipeline repair, and specifically to a trenchless pipeline repair robot. Background Art

[0002] Trenchless technology refers to the use of rock and soil drilling technology to lay, repair and replace pipelines without excavating or only excavating a small amount of working pits. It is efficient, high-quality, moderately cost-effective, and environmentally friendly. It has the advantages of not affecting traffic and not polluting the environment. In many cases, it has a shorter construction period, lower overall cost and better safety than the excavation method.

[0003] Chinese patent CN217736664U discloses a trenchless pipeline repair robot. This patent discloses a technical solution for completely trenchless repair, which solves the problem that existing pipeline lining repair technology often requires excavation at special locations such as the ends of the pipeline to be repaired, branches, reducers, large-angle elbows, etc., and cannot achieve completely trenchless repair. Due to the harsh underground environment, the repair method of manual entry is very dangerous.

[0004] In the process of implementing this application, the inventors found that there are at least the following problems in this technology. When the device is in use, ultraviolet curing glue is applied to the repair area through a brush roller to complete the pipeline repair. However, when the circular push plate is moved to clean the repair area, when encountering a hard soil layer, the soil cannot be cleaned, which reduces the repair efficiency. Therefore, a trenchless pipeline repair robot is proposed to solve the above problems. Utility Model Content

[0005] In response to the shortcomings of the existing technology, the utility model provides a trenchless pipeline repair robot with the advantage of convenient cleaning. It solves the problem that when the device is in use, ultraviolet curing glue is applied to the repair area by a brush roller to complete the pipeline repair. However, when the circular push plate is moved to clean the repair area, the soil cannot be cleaned when encountering a hard soil layer, thereby reducing the repair efficiency.

[0006] To achieve the above-mentioned purpose of convenient cleaning, the present application provides the following technical solution: a trenchless pipeline repair robot, comprising a repair robot body, a circular push plate provided on the repair robot body, a fixing frame fixedly mounted on the right side of the circular push plate, a driving motor fixedly mounted on the right side of the circular push plate, and a cleaning mechanism for cleaning the pipeline;

[0007] The cleaning mechanism includes a rotating rod fixedly connected to the output end of the driving motor and one end of which passes through the fixing frame and extends to the right side thereof, a mounting chamber fixedly connected to the right side of the rotating rod, three driving rods rotatably connected to the inner circumferential wall of the mounting chamber through bearings and one end of which passes through the mounting chamber and extends to the outside thereof, a screw rod movably connected to a side of the three driving rods away from the mounting chamber and one end of which extends to the inside of the driving rod, a mounting plate fixedly connected to a side of the three screw rods away from the driving rod, a scraper fixedly mounted on a side of the three mounting plates away from the screw rod, a driving assembly for driving the driving rod to rotate, and a fixing assembly for fixing the driving assembly.

[0008] This application uses a scraper to make circular motions to clean the repaired area conveniently, making it easier for staff to operate.

[0009] Furthermore, the fixing frame is a U-shaped frame, and the rotating rod is rotatably connected to the fixing frame via a bearing.

[0010] The beneficial effect of adopting the above further solution is that the installation bin can be conveniently driven to rotate under the action of the rotating rod.

[0011] Furthermore, threaded holes are formed on the side surfaces of the three driving rods away from the installation chamber, and the three screw rods extend into the interiors of the three threaded holes and are threadedly connected thereto.

[0012] The beneficial effect of adopting the above further solution is that the mounting plate is driven to move through the threaded connection between the driving rod and the screw, thereby conveniently adjusting the position of the scraper.

[0013] Furthermore, the driving assembly includes a connecting ring fixedly mounted on the outer peripheral wall of the mounting chamber, a fixing rod rotatably connected to the right side of the mounting chamber through a bearing and with one end extending into the interior of the mounting chamber, a driving bevel gear fixedly mounted on the outer peripheral wall of the fixing rod, a driven bevel gear fixedly mounted on the outer walls of the three driving rods, an upper limit rod fixedly connected to the three side surfaces close to the driving rod, and a rotating plate fixedly connected to the right side surface of the fixing rod.

[0014] The beneficial effect of adopting the above further solution is that the fixed rod is driven to rotate under the action of the rotating plate, which makes it easier for staff to operate.

[0015] Furthermore, the mounting chamber is in the shape of a hollow cylinder, and the three driven bevel gears are all meshed with the driving bevel gear.

[0016] The beneficial effect of adopting the above further solution is that the driving rod is driven to rotate through the engagement between the active bevel gear and the driven bevel gear, which facilitates operation by the staff.

[0017] Furthermore, the outer peripheral wall of the connecting ring is provided with three limiting holes for three limiting rods to pass through respectively, and the limiting rods and the limiting holes are clearance-fitted.

[0018] The beneficial effect of adopting the above further solution is that the mounting plate is supported by the clearance fit between the limiting rod and the limiting hole, thereby improving the stability of the mounting plate.

[0019] Furthermore, the fixing assembly includes two telescopic rods fixedly connected to the right side of the installation bin, a movable plate fixedly connected to the right sides of the two telescopic rods, a spring sleeved on the outer peripheral walls of the two telescopic rods, a positioning rod fixedly connected to the right sides of the two movable plates, and a plurality of positioning holes opened on the left side of the rotating plate.

[0020] The beneficial effect of adopting the above further solution is that the positioning rod is supported by the action of the spring, thereby improving the stability of the positioning rod.

[0021] Furthermore, the two ends of the spring are fixedly connected to the installation bin and the rotating plate respectively, the positioning rod extends to the inside of the positioning hole, the positioning rod and the positioning hole are clearance-matched, the movable plate and the rotating plate are fitted together, and the multiple positioning holes are distributed in a circle with the fixed rod as the center.

[0022] The beneficial effect of adopting the above further solution is that the rotating plate is fixed by the clearance fit between the positioning rod and the positioning hole, thereby improving the stability of the rotating plate.

[0023] Compared with the existing technology, the technical solution of this application has the following beneficial effects:

[0024] This trenchless pipe repair robot drives the scraper to rotate through the installation chamber, thereby cleaning the repair area, improving the cleaning efficiency and repair efficiency. The threaded connection between the driving rod and the screw drives the mounting plate to move, and the position of the scraper is conveniently adjusted. At the same time, the fixing rod is fixed through the clearance fit between the positioning rod and the positioning hole, thereby improving the stability of the fixing rod. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a schematic diagram of the structure of the utility model;

[0026] Figure 2 This is a schematic diagram of the right side of the internal structure of the installation bin in the structure of the utility model;

[0027] Figure 3 This is a top view of the fixing frame in the structure of the utility model;

[0028] Figure 4 for Figure 1 A schematic diagram of the structure of the middle part;

[0029] Figure 5 This is a schematic diagram of the left side of the transfer plate in the structure of the present utility model.

[0030] Description of reference numerals:

[0031] 1. Repair robot body; 2. Circular push plate; 3. Fixed frame; 4. Drive motor; 5. Limit rod; 6. Scraper; 7. Mounting plate; 8. Screw; 9. Drive rod; 10. Mounting chamber; 11. Limit hole; 12. Rotating rod; 13. Fixed rod; 14. Rotating plate; 15. Positioning hole; 16. Positioning rod; 17. Moving plate; 18. Spring; 19. Telescopic rod; 20. Driving bevel gear; 21. Driven bevel gear; 22. Connecting ring. DETAILED DESCRIPTION

[0032] 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.

[0033] See also Figure 1-3 In this embodiment, a trenchless pipe repair robot includes a repair robot body 1, a circular push plate 2 arranged on the repair robot body 1, a fixing frame 3 fixedly installed on the right side of the circular push plate 2, a driving motor 4 fixedly installed on the right side of the circular push plate 2, and a cleaning mechanism for cleaning the pipe.

[0034] The cleaning mechanism includes a rotating rod 12 fixedly connected to the output end of the driving motor 4, one end of which passes through the fixing frame 3 and extends to its right side, a mounting chamber 10 fixedly connected to the right side of the rotating rod 12, three driving rods 9 rotatably connected to the inner circumferential wall of the mounting chamber 10 through bearings, one end of which passes through the mounting chamber 10 and extends to its outside, a screw 8 movably connected to the side of the three driving rods 9 away from the mounting chamber 10 and one end extends to the inside of the driving rod 9, a mounting plate 7 fixedly connected to the side of the three screws 8 away from the driving rod 9, a scraper 6 fixedly mounted on the side of the three mounting plates 7 away from the screw 8, a driving assembly for driving the driving rod 9 to rotate, and a fixing assembly for fixing the driving assembly. The fixing frame 3 is a U-shaped frame, the rotating rod 12 is rotatably connected to the fixing frame 3 through a bearing, and the three driving rods 9 are provided with threaded holes on one side away from the mounting chamber 10. The three screws 8 extend to the inside of the three threaded holes and are threadedly connected thereto.

[0035] Specifically, the drive rod 9 rotates, and through the threaded connection between the drive rod 9 and the screw rod 8, the screw rod 8 drives the mounting plate 7 to move, and the position of the scraper 6 is adjusted. After the position of the scraper 6 is adjusted, the drive motor 4 is started, and the output end of the drive motor 4 drives the rotating rod 12 to rotate, and then drives the mounting bin 10 to rotate, so that the scraper 6 performs a circular motion to clean the repaired area.

[0036] See also Figure 1 、 Figure 2 and Figure 4 In this embodiment, the driving assembly includes a connecting ring 22 fixedly mounted on the outer peripheral wall of the mounting chamber 10, a fixing rod 13 rotatably connected to the right side of the mounting chamber 10 through a bearing and one end extending into the interior of the mounting chamber 10, a driving bevel gear 20 fixedly mounted on the outer peripheral wall of the fixing rod 13, a driven bevel gear 21 fixedly mounted on the outer walls of the three driving rods 9, a limiting rod 5 fixedly connected to three side surfaces close to the driving rod 9, and a rotating plate 14 fixedly connected to the right side surface of the fixing rod 13. The mounting chamber 10 is shaped like a hollow cylinder. The three driven bevel gears 21 are all meshed with the driving bevel gear 20. The outer peripheral wall of the connecting ring 22 is provided with three limiting holes 11 for the three limiting rods 5 to pass through respectively. The limiting rod 5 and the limiting hole 11 are clearance-matched.

[0037] Specifically, the rotating plate 14 is rotated, and the rotating plate 14 drives the fixed rod 13 to rotate, thereby rotating the active bevel gear 20. The engagement between the active bevel gear 20 and the driven bevel gear 21 drives the driving rod 9 to rotate, and the clearance between the limiting rod 5 and the limiting hole 11 is matched to support the mounting plate 7, thereby improving the stability of the mounting plate 7.

[0038] See also Figure 1 、 Figure 4 and Figure 5 In this embodiment, the fixing assembly includes two telescopic rods 19 fixedly connected to the right side of the installation bin 10, a movable plate 17 fixedly connected to the right side of the two telescopic rods 19, a spring 18 sleeved on the outer peripheral wall of the two telescopic rods 19, a positioning rod 16 fixedly connected to the right side of the two movable plates 17, and a plurality of positioning holes 15 opened on the left side of the rotating plate 14. The two ends of the spring 18 are fixedly connected to the installation bin 10 and the rotating plate 14 respectively. The positioning rod 16 extends to the inside of the positioning hole 15. The positioning rod 16 and the positioning hole 15 are clearance-fitted. The movable plate 17 and the rotating plate 14 are in contact. The multiple positioning holes 15 are distributed in a circle with the fixed rod 13 as the center.

[0039] Specifically, the movable plate 17 is pulled so that the movable plate 17 drives the positioning rod 16 to move, and the telescopic rod 19 and the spring 18 are squeezed so that the telescopic rod 19 and the spring 18 are contracted. After the position of the scraper 6 is adjusted, the movable plate 17 is loosened, and the positioning rod 16 is pushed to reset under the action of the spring 18. The positioning rod 16 is reinserted into the interior of the positioning hole 15, and the rotating plate 14 is fixed by the clearance between the positioning rod 16 and the positioning hole 15.

[0040] The electrical components appearing in the text are all electrically connected to the controller and the power supply. The control method of the present invention is controlled by the controller. The control circuit of the controller can be implemented by simple programming by technicians in this field. The provision of power is also common knowledge in this field. In addition, the present invention is mainly used to protect mechanical devices, so the control method and circuit connection are no longer explained in detail in the present invention.

[0041] The working principle of the above embodiment is:

[0042] Pull the movable plate 17, so that the movable plate 17 drives the positioning rod 16 to move, squeezes the telescopic rod 19 and the spring 18, and shrinks the telescopic rod 19 and the spring 18, and then rotates the rotating plate 14. The rotating plate 14 drives the fixed rod 13 to rotate, and then the active bevel gear 20 rotates. The active bevel gear 20 and the driven bevel gear 21 are engaged, and the driving rod 9 is driven to rotate. The screw 8 drives the fixing rod 8 to rotate through the threaded connection between the driving rod 9 and the screw 8 and the clearance between the limiting rod 5 and the limiting hole 11. The mounting plate 7 is moved to adjust the position of the scraper 6. After the position of the scraper 6 is adjusted, the movable plate 17 is loosened, and the positioning rod 16 is pushed to reset under the action of the spring 18. The positioning rod 16 is reinserted into the interior of the positioning hole 15. The rotating plate 14 is fixed by the clearance between the positioning rod 16 and the positioning hole 15, and then the driving motor 4 is started. The output end of the driving motor 4 drives the rotating rod 12 to rotate, and then drives the mounting bin 10 to rotate, so that the scraper 6 performs a circular motion to clean the repaired area.

Claims

1. A trenchless pipeline repair robot, characterized in that: The invention comprises a repair robot body (1), a circular push plate (2) arranged on the repair robot body (1), a fixing frame (3) fixedly mounted on the right side of the circular push plate (2), a driving motor (4) fixedly mounted on the right side of the circular push plate (2), and a cleaning mechanism for cleaning a pipeline; The cleaning mechanism comprises a rotating rod (12) fixedly connected to the output end of the driving motor (4) and having one end passing through the fixing frame (3) and extending to the right side thereof, a mounting chamber (10) fixedly connected to the right side of the rotating rod (12), three driving rods (9) rotatably connected to the inner peripheral wall of the mounting chamber (10) through a bearing and having one end passing through the mounting chamber (10) and extending to the outside thereof, a screw rod (8) movably connected to a side of the three driving rods (9) away from the mounting chamber (10) and having one end extending into the interior of the driving rod (9), a mounting plate (7) fixedly connected to a side of the three screw rods (8) away from the driving rod (9), a scraper (6) fixedly mounted on a side of the three mounting plates (7) away from the screw rod (8), a driving assembly for driving the driving rod (9) to rotate, and a fixing assembly for fixing the driving assembly.

2. The trenchless pipeline repair robot according to claim 1, characterized in that: The fixing frame (3) is a U-shaped frame, and the rotating rod (12) is rotatably connected to the fixing frame (3) via a bearing.

3. The trenchless pipeline repair robot according to claim 2, characterized in that: The three driving rods (9) are each provided with a threaded hole on a side away from the installation chamber (10), and the three screw rods (8) respectively extend into the interior of the three threaded holes and are threadedly connected thereto.

4. The trenchless pipeline repair robot according to claim 1, characterized in that: The driving assembly comprises a connecting ring (22) fixedly mounted on the outer peripheral wall of the mounting chamber (10), a fixing rod (13) rotatably connected to the right side of the mounting chamber (10) through a bearing and with one end extending into the interior of the mounting chamber (10), an active bevel gear (20) fixedly mounted on the outer peripheral wall of the fixing rod (13), a driven bevel gear (21) fixedly mounted on the outer walls of the three driving rods (9), an upper limit rod (5) fixedly connected to one side of the three driving rods (9), and a rotating plate (14) fixedly connected to the right side of the fixing rod (13).

5. The trenchless pipeline repair robot according to claim 4, characterized in that: The mounting chamber (10) is in the shape of a hollow cylinder, and the three driven bevel gears (21) are all meshed with the driving bevel gear (20).

6. The trenchless pipeline repair robot according to claim 5, characterized in that: The outer peripheral wall of the connecting ring (22) is provided with three limiting holes (11) for three limiting rods (5) to pass through respectively, and the limiting rods (5) and the limiting holes (11) are clearance-fitted.

7. The trenchless pipeline repair robot according to claim 4, characterized in that: The fixing assembly includes two telescopic rods (19) fixedly connected to the right side of the installation chamber (10), a movable plate (17) fixedly connected to the right side of the two telescopic rods (19), a spring (18) sleeved on the outer peripheral wall of the two telescopic rods (19), a positioning rod (16) fixedly connected to the right side of the two movable plates (17), and a plurality of positioning holes (15) opened on the left side of the rotating plate (14).

8. The trenchless pipeline repair robot according to claim 7, characterized in that: The two ends of the spring (18) are fixedly connected to the installation chamber (10) and the rotating plate (14), respectively. The positioning rod (16) extends to the inside of the positioning hole (15). The positioning rod (16) and the positioning hole (15) are clearance-matched. The movable plate (17) and the rotating plate (14) are in close contact. The plurality of positioning holes (15) are distributed in a circle with the fixed rod (13) as the center.

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