A non-excavation pipe rehabilitation pulling apparatus

Abstract

The utility model relates to non -excavation pipeline repair technical field discloses a non -excavation pipeline repair traction equipment, including the support assembly for the traction object traction in pipeline, the support assembly lower extreme is evenly provided with the drive mechanism for moving the support assembly in four diagonal places, the support assembly outside is provided with the blowing assembly for removing the dust of four drive mechanism contact area, and the cooperation of drive mechanism passes through motor, Mecanum wheel and connecting rod system, has realized efficient and multidirectional traction operation, and the design of damper and spring has reduced the vibration in operation, has guaranteed the smooth operation of equipment, and the effective cooperation of this series of components makes the equipment can complete pipeline repair task fast and accurately under the condition of not carrying out large -scale excavation, not only has improved work efficiency, still reduced the influence to environment and construction cost, is applicable to a variety of complex pipeline repair environment.

Description

Technical Field

[0001] This utility model relates to the field of trenchless pipeline repair technology, specifically to a trenchless pipeline repair traction device. Background Technology

[0002] Pipeline repair traction equipment is a specialized mechanical device used in pipeline repair projects. It is primarily used to guide or drag repair materials or pipeline repair components into damaged or aging pipelines via a traction system. This equipment typically includes a traction machine, traction belt or steel cable, and a related control system. Through efficient and precise traction, the equipment can repair old or damaged pipelines without large-scale excavation, reducing earthwork operations, improving construction efficiency, and minimizing environmental impact. Pipeline repair traction equipment is widely used in urban pipeline network repair, especially in water, gas, and sewage systems. It effectively extends pipeline lifespan, reduces operating costs, and has minimal environmental and social impact, making it an important tool in modern pipeline repair engineering.

[0003] In existing technologies, traditional pipeline repair traction equipment typically requires complete excavation of the pipeline area to repair damaged or aging pipelines. This repair method is not only time-consuming but also has a significant environmental impact, especially in urban or densely populated areas. Excavation often causes traffic congestion, noise pollution, and damage to surrounding facilities. Furthermore, complete excavation can easily cause secondary damage to the original pipeline and the surrounding soil structure, potentially leading to further pipeline rupture or soil subsidence. Especially near aging or damaged pipelines, excessive excavation may exacerbate the pipeline's structural problems, causing more serious consequences. At the same time, the complexity of excavation construction increases project costs and prolongs the construction period, thus affecting the rapid repair and normal maintenance of pipeline operations. Therefore, traditional excavation-based pipeline repair traction equipment has revealed several shortcomings in practical applications and urgently needs improvement to meet the increasingly severe pipeline repair demands. Therefore, those skilled in the art provide a trenchless pipeline repair traction device to solve the problems mentioned in the background art. Utility Model Content

[0004] The purpose of this utility model is to provide a trenchless pipeline repair traction device to solve the problems mentioned in the background art.

[0005] This utility model provides the following technical solution: a trenchless pipeline repair traction device, including a support component for traction of a traction object inside the pipeline, a drive mechanism for moving the support component is provided at the four diagonal points of the lower end of the support component, an air blowing component for removing dust from the areas contacted by the four drive mechanisms is provided on the outside of the support component, and a monitoring component for detecting the travel path status inside the pipeline is provided at both ends of the upper part of the support component.

[0006] As a preferred embodiment of the above technical solution, the support assembly includes a support plate, with a main connecting plate fixedly connected to the center of each end of the support plate, and a secondary connecting plate fixedly connected to both sides of the two main connecting plates. A traction hook is fixedly connected to the center of the side of the two main connecting plates that are far apart from each other, and a storage battery is fixedly connected to the center of the upper end of the support plate on one side.

[0007] As a preferred embodiment of the above technical solution, the air blowing assembly includes two clamps and multiple connecting rods. The two clamps are fixedly connected to the center of the upper end of the support plate. The multiple connecting rods are equidistantly arranged and fixedly connected to the center of the opposite side of the support plate. An air pump body is fixedly connected inside the two clamps. The air pump body is connected to the battery via communication. The opposite side of the multiple connecting rods and the opposite side of the multiple connecting rods are fixedly connected to sleeves. Each of the multiple sleeves has a high-pressure air outlet fixedly fitted inside. The air inlet of the multiple high-pressure air outlets is connected to the air outlet of the air pump body through a hose.

[0008] As a preferred embodiment of the above technical solution, the monitoring component includes a connector, which is fixedly connected to the upper center of the support plate on one side, and a rotating connecting block is rotatably connected to the upper center of the connector. The upper end of the rotating connecting block is fixedly connected to the monitoring body, and the monitoring body is connected to the battery for communication.

[0009] As a preferred embodiment of the above technical solution, the driving mechanism includes a first docking plate, which is fixedly connected to the side away from the secondary connecting plate. A first rotating joint is fixedly connected to both sides of the upper center of the first docking plate. A first main rotating seat is fixedly connected to both upper ends of the side of the first docking plate away from the secondary connecting plate. A second main rotating seat is fixedly connected to both lower ends of the side of the first docking plate close to the two first main rotating seats.

[0010] As a preferred embodiment of the above technical solution, each of the two first main rotating seats is rotatably connected to a first connecting rod, and each of the two second main rotating seats is rotatably connected to a second connecting rod. The driving mechanism also includes two first auxiliary rotating seats and two second auxiliary rotating seats. The two first auxiliary rotating seats are rotatably connected to the outside of the two first connecting rods at one end away from the first main rotating seat, and the two second auxiliary rotating seats are rotatably connected to the outside of the two second connecting rods at one end away from the second main rotating seat. A second docking plate is fixedly connected between the first auxiliary rotating seat and the second auxiliary rotating seat on one side and the first auxiliary rotating seat and the second auxiliary rotating seat on the other side.

[0011] As a preferred embodiment of the above technical solution, a second rotating joint is fixedly connected to both sides of the upper center of the second docking plate, a right-angle connecting plate is fixedly connected to the lower center of the side of the second docking plate away from the first docking plate, a motor is fixedly connected to the center of the side of the second docking plate away from the right-angle connecting plate, the motor is connected to the battery for communication, and the rotating end of the motor on one side is rotatably sleeved inside the right-angle connecting plate through a bearing, and a Mecanum wheel is fixedly connected to the rotating end of the motor on one side.

[0012] As a preferred embodiment of the above technical solution, a first rotating block is rotatably connected to the upper outer side of each of the two first rotating joints, and a damper is fixedly connected to the center of each of the two first rotating blocks on the side away from the two first rotating joints. A second rotating block is fixedly connected to the telescopic end of each of the two dampers on the side away from the two first rotating blocks. A spring is sleeved on the outside of each of the two dampers. One end of each spring abuts against the side of each of the two second rotating blocks that is close to each other, and the other end of each spring abuts against the side of each of the two first rotating blocks that is close to each other. The two second rotating blocks are rotatably connected to the outside of the two second rotating joints respectively.

[0013] Compared with the prior art, the beneficial effects of this utility model are: This trenchless pipeline repair traction device offers an efficient and safe pipeline repair solution through its rational structural design and multifunctional components. The support component ensures stable operation of the equipment within the pipeline through robust support and traction force transmission, preventing imbalance or instability during the repair process. The air blowing component removes dust and debris from the equipment's contact points in real time, effectively extending the equipment's lifespan and improving the efficiency of the repair work. The monitoring component provides operators with accurate pipeline path status and environmental information through real-time data acquisition and feedback, helping to adjust work strategies and ensuring the accuracy and safety of the repair process.

[0014] The drive mechanism, through the cooperation of the motor, Mecanum wheel, and linkage system, achieves efficient and multi-directional traction operation. The design of the damper and spring reduces vibration during operation and ensures the smooth operation of the equipment. The effective cooperation of this series of components enables the equipment to complete pipeline repair tasks quickly and accurately without large-scale excavation. This not only improves work efficiency but also reduces environmental impact and construction costs, making it suitable for a variety of complex pipeline repair environments. Attached Figure Description

[0015] Figure 1 A three-dimensional structural diagram of a trenchless pipeline repair traction device; Figure 2 This is a three-dimensional structural diagram of a trenchless pipeline repair traction device from another perspective. Figure 3 A three-dimensional disassembled structural diagram of a trenchless pipeline repair traction device; Figure 4 A schematic diagram of the three-dimensional structure supporting the components; Figure 5 A schematic diagram of the three-dimensional disassembled structure of the monitoring component; Figure 6 This is a schematic diagram of the three-dimensional disassembled structure of the drive mechanism.

[0016] In the diagram: 1. Support assembly; 101. Support plate; 102. Main connecting plate; 103. Secondary connecting plate; 104. Traction hook; 105. Battery; 2. Air blowing assembly; 201. Clamp; 202. Connecting rod; 203. Air pump body; 204. Sleeve; 205. High-pressure air outlet; 3. Monitoring components; 301. Connector; 302. Rotary connecting block; 303. Monitoring body; 4. Drive mechanism; 401. First docking plate; 402. First rotary joint; 403. First main rotary seat; 404. Second main rotary seat; 405. First connecting rod; 406. Second connecting rod; 407. First auxiliary rotary seat; 408. Second auxiliary rotary seat; 409. Second docking plate; 4010. Second rotary joint; 4011. Right-angle connecting plate; 4012. Motor; 4013. Mecanum wheel; 4014. First rotating block; 4015. Damper; 4016. Second rotating block; 4017. Spring. Detailed Implementation

[0017] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention.

[0018] Please see Figures 1-3As shown, this utility model provides a technical solution: a trenchless pipeline repair traction device, including a support component 1 for traction of a traction object inside the pipeline, a drive mechanism 4 for moving the support component 1 is provided at the four opposite corners of the lower end of the support component 1, an air blowing component 2 for removing dust from the areas contacted by the four drive mechanisms 4 is provided on the outside of the support component 1, and a monitoring component 3 for detecting the travel path status inside the pipeline is provided at both ends of the upper part of the support component 1.

[0019] This trenchless pipeline repair traction device offers an efficient and safe pipeline repair solution through its rational structural design and multifunctional components. Support component 1 ensures stable operation of the device within the pipeline through robust support and traction force transmission, preventing imbalance or instability during repair. Air blowing component 2 removes dust and debris from contact points in real time, effectively extending device life and improving repair efficiency. Monitoring component 3 provides operators with accurate pipeline path status and environmental information through real-time data acquisition and feedback, helping to adjust work strategies and ensuring the accuracy and safety of the repair process. Drive mechanism 4, through the cooperation of motor 4012, Mecanum wheel 4013, and linkage system, achieves efficient and multi-directional traction operation. The design of damper 4015 and spring 4017 reduces vibration during operation, ensuring smooth operation. The effective coordination of these components enables the device to quickly and accurately complete pipeline repair tasks without large-scale excavation, improving work efficiency, reducing environmental impact and construction costs, and making it suitable for various complex pipeline repair environments.

[0020] As one implementation method in this embodiment, please refer to Figure 4 As shown, the support assembly 1 includes a support plate 101. A main connecting plate 102 is fixedly connected to the center of both ends of the support plate 101. A secondary connecting plate 103 is fixedly connected to both sides of the two main connecting plates 102. A traction hook 104 is fixedly connected to the center of the side of the two main connecting plates 102 that is far apart from each other. A storage battery 105 is fixedly connected to the center of the upper end of the support plate 101 on one side.

[0021] The support assembly 1 mainly includes a support plate 101 and a structure connected to a secondary connection plate 103 via a main connecting plate 102. The support plate 101 is located at the center of the equipment and plays a major load-bearing role, supporting the stability of the equipment in the pipeline. The main connecting plate 102 is fixedly connected to both ends of the support plate 101 and supports the secondary connecting plate 103. During the operation of the equipment, the support assembly 1 can evenly distribute the traction force from the drive mechanism 4, ensuring the stability and accuracy of the pipeline repair process. Through its robust design, the support assembly 1 effectively avoids unnecessary shaking or uneven load transmission, thereby improving the working efficiency and accuracy during the traction process. The battery 105 fixedly connected to the upper end of the support assembly 1 provides power support for the entire equipment, ensuring that each component can operate smoothly and meet the needs of long-term operation.

[0022] As one implementation method in this embodiment, please refer to Figure 4 As shown, the air blowing assembly 2 includes two clamps 201 and multiple connecting rods 202. The two clamps 201 are fixedly connected to the center of the upper end of the support plate 101. The multiple connecting rods 202 are equidistantly arranged and fixedly connected to the center of the side of the support plate 101 that is far apart from each other. The air pump body 203 is fixedly connected inside the two clamps 201. The air pump body 203 is connected to the battery 105 for communication. The ends of the multiple connecting rods 202 on one side and the multiple connecting rods 202 on the other side that are far apart from each other are fixedly connected to the sleeves 204. The multiple sleeves 204 are fixedly fitted with high-pressure air outlets 205. The air inlet of the multiple high-pressure air outlets 205 is connected to the air outlet of the air pump body 203 through hoses.

[0023] The air blowing assembly 2 is designed to remove dust or other debris from the contact area of ​​the drive mechanism 4 during the movement of the support assembly 1. The air blowing assembly 2 includes a clamp 201, a connecting rod 202, and an air pump body 203. The clamp 201 is fixed to the upper end of the support plate 101, and the connecting rod 202 is evenly distributed on one side of the support plate 101. Airflow is blown towards the contact area through multiple high-pressure air nozzles 205. The high-pressure air nozzles 205 are connected to the air pump body 203 through hoses. The air pump body 203 is powered by a battery 105. The key to this design is its ability to remove dust and debris from the pipes or equipment contact areas in real time, preventing these substances from affecting the operating efficiency of the equipment or damaging parts. Through continuous air blowing, it can effectively ensure that all parts of the equipment remain clean during the traction process, thereby reducing the risk of equipment failure and extending the service life of the equipment. In addition, the independent action of the air blowing assembly 2 can ensure that the drive mechanism 4 and other sensitive parts operate efficiently during work, ensuring the smooth progress of the entire repair process.

[0024] As one implementation method in this embodiment, please refer to Figure 5As shown, the monitoring component 3 includes a connector 301, which is fixedly connected to the upper center of the support plate 101 on one side. A rotating connecting block 302 is rotatably connected to the upper center of the connector 301. A monitoring body 303 is fixedly connected to the upper end of the rotating connecting block 302. The monitoring body 303 and the battery 105 are connected for communication.

[0025] The monitoring component 3 mainly consists of a connecting seat 301, a rotating connecting block 302, and a monitoring body 303. The function of the monitoring component 3 is to monitor the environment and equipment operating status inside the pipeline in real time to ensure the accuracy of the repair operation. The connecting seat 301 is connected to the monitoring body 303 through the rotating connecting block 302, and can be flexibly adjusted according to different conditions inside the pipeline to obtain a clearer view and data. The core function of this component is to help operators grasp the actual progress of the repair operation through real-time data feedback and adjust the equipment operation strategy in a timely manner. Through the effective operation of the monitoring body 303, operators can clearly see the path conditions and potential problems inside the pipeline, which helps to avoid misoperation and accelerate the repair process. The monitoring component 3 is powered by a battery 105, which can continuously and stably collect data and transmit the information to the control system to further optimize repair efficiency and safety.

[0026] As one implementation method in this embodiment, please refer to Figure 6As shown, the drive mechanism 4 includes a first docking plate 401, which is fixedly connected to the side of the auxiliary connecting plate 103 away from the auxiliary connecting plate 103. First rotating joints 402 are fixedly connected to both sides of the upper center of the first docking plate 401. First main rotating seats 403 are fixedly connected to the upper ends of both ends of the side of the first docking plate 401 away from the auxiliary connecting plate 103. Second main rotating seats 404 are fixedly connected to the lower ends of both ends of the side of the first docking plate 401 near the two first main rotating seats 403. First connecting rods 405 are rotatably connected inside both first main rotating seats 403, and second connecting rods are rotatably connected inside both second main rotating seats 404. 406. The drive mechanism 4 also includes two first auxiliary rotary seats 407 and two second auxiliary rotary seats 408. The two first auxiliary rotary seats 407 are rotatably connected to the ends of the two first connecting rods 405 away from the first main rotary seat 403. The two second auxiliary rotary seats 408 are rotatably connected to the ends of the two second connecting rods 406 away from the second main rotary seat 404. A second mating plate 409 is fixedly connected between the first auxiliary rotary seats 407 and 408 on one side and the first auxiliary rotary seats 407 and 408 on the other side. A second rotating joint is fixedly connected to the upper center of the second mating plate 409 on both sides. 4010, A right-angle connecting plate 4011 is fixedly connected to the lower center of the side of the second docking plate 409 away from the first docking plate 401. A motor 4012 is fixedly connected to the center of the side of the second docking plate 409 away from the right-angle connecting plate 4011. The motor 4012 is connected to the battery 105 for communication. The rotating end of the motor 4012 is rotatably sleeved inside the right-angle connecting plate 4011 via a bearing. A Mecanum wheel 4013 is fixedly connected to the rotating end of the motor 4012. A first rotating block 4014 is rotatably connected to the upper outer side of each of the two first rotating joints 402. A damper 4015 is fixedly connected to the center of the side of 4014 away from the two first rotary joints 402. A second rotary block 4016 is fixedly connected to the telescopic end of the two dampers 4015 away from the two first rotary blocks 4014. A spring 4017 is sleeved on the outside of the two dampers 4015. One end of the two springs 4017 abuts against the side of the two second rotary blocks 4016 that is close to each other. The other end of the two springs 4017 abuts against the side of the two first rotary blocks 4014 that is close to each other. The two second rotary blocks 4016 are rotatably connected to the outside of the two second rotary joints 4010 respectively.

[0027] The drive mechanism 4 includes several key components, such as the first docking plate 401, the first rotating joint 402, the first main rotating seat 403, the second main rotating seat 404, the first connecting rod 405, the second connecting rod 406, and the motor 4012. The main function of the drive mechanism 4 is to provide power through the motor 4012 and the Mecanum wheel 4013 to push the support assembly 1 along the pipeline direction and achieve precise traction. First, the motor 4012 is connected to other mechanical components through the second docking plate 409 to convert electrical energy into mechanical energy, driving the Mecanum wheel 4013 to rotate, which can achieve precise traction in multiple directions. This design allows the equipment to move flexibly in narrow or complex pipeline environments without jamming or being unable to move forward. In addition, the damper 4015 and the spring 4017 of the drive mechanism 4 are designed to reduce mechanical vibration and impact, ensure the smooth operation of the equipment, and avoid equipment failure or repair errors caused by vibration. Through these precise control components, the drive mechanism 4 can efficiently and safely traction the support assembly 1, achieving efficient advancement of pipeline repair.

[0028] Working principle: The support assembly 1 mainly includes a support plate 101 and a structure connected to the auxiliary connection plate 103 via a main connection plate 102. The support plate 101 is located at the center of the equipment and plays the main load-bearing role, supporting the stability of the equipment in the pipeline. The main connection plate 102 is fixedly connected to both ends of the support plate 101 and supports the auxiliary connection plate 103. During the operation of the equipment, the support assembly 1 can evenly distribute the traction force from the drive mechanism 4, ensuring the stability and accuracy of the pipeline repair process. Through its stable design, the support assembly 1 effectively avoids unnecessary shaking or uneven load transmission, thereby improving the working efficiency and accuracy during the traction process. The battery 105 fixedly connected to the upper end of the support assembly 1 provides power support for the entire equipment, ensuring that each component can operate smoothly and meet the needs of long-term operation.

[0029] The air blowing assembly 2 is designed to remove dust or other debris from the contact area of ​​the drive mechanism 4 during the movement of the support assembly 1. The air blowing assembly 2 includes a clamp 201, a connecting rod 202, and an air pump body 203. The clamp 201 is fixed to the upper end of the support plate 101, and the connecting rod 202 is evenly distributed on one side of the support plate 101. Airflow is blown towards the contact area through multiple high-pressure air nozzles 205. The high-pressure air nozzles 205 are connected to the air pump body 203 through hoses. The air pump body 203 is powered by a battery 105. The key to this design is its ability to remove dust and debris from the pipes or equipment contact areas in real time, preventing these substances from affecting the operating efficiency of the equipment or damaging parts. Through continuous air blowing, it can effectively ensure that all parts of the equipment remain clean during the traction process, thereby reducing the risk of equipment failure and extending the service life of the equipment. In addition, the independent action of the air blowing assembly 2 can ensure that the drive mechanism 4 and other sensitive parts operate efficiently during work, ensuring the smooth progress of the entire repair process.

[0030] The monitoring component 3 mainly consists of a connecting seat 301, a rotating connecting block 302, and a monitoring body 303. The function of the monitoring component 3 is to monitor the environment and equipment operating status inside the pipeline in real time to ensure the accuracy of the repair operation. The connecting seat 301 is connected to the monitoring body 303 through the rotating connecting block 302, and can be flexibly adjusted according to different conditions inside the pipeline to obtain a clearer view and data. The core function of this component is to help operators grasp the actual progress of the repair operation through real-time data feedback and adjust the equipment operation strategy in a timely manner. Through the effective operation of the monitoring body 303, operators can clearly see the path conditions and potential problems inside the pipeline, which helps to avoid misoperation and accelerate the repair process. The monitoring component 3 is powered by a battery 105, which can continuously and stably collect data and transmit the information to the control system to further optimize repair efficiency and safety.

[0031] The drive mechanism 4 includes several key components, such as the first docking plate 401, the first rotating joint 402, the first main rotating seat 403, the second main rotating seat 404, the first connecting rod 405, the second connecting rod 406, and the motor 4012. The main function of the drive mechanism 4 is to provide power through the motor 4012 and the Mecanum wheel 4013 to push the support assembly 1 along the pipeline direction and achieve precise traction. First, the motor 4012 is connected to other mechanical components through the second docking plate 409 to convert electrical energy into mechanical energy, driving the Mecanum wheel 4013 to rotate, which can achieve precise traction in multiple directions. This design allows the equipment to move flexibly in narrow or complex pipeline environments without jamming or being unable to move forward. In addition, the damper 4015 and the spring 4017 of the drive mechanism 4 are designed to reduce mechanical vibration and impact, ensure the smooth operation of the equipment, and avoid equipment failure or repair errors caused by vibration. Through these precise control components, the drive mechanism 4 can efficiently and safely traction the support assembly 1, achieving efficient advancement of pipeline repair.

[0032] The above embodiments are only used to illustrate the technical solution of this utility model, and are not intended to limit it.

Claims

1. A trenchless pipeline repair traction device, characterized in that: It includes a support assembly (1) for pulling a towing object inside the pipeline. The support assembly (1) is provided with a drive mechanism (4) at each of the four diagonal corners at the lower end for moving the support assembly (1). The support assembly (1) is provided with an air blowing assembly (2) for removing dust from the areas contacted by the four drive mechanisms (4) on the outside. The support assembly (1) is provided with a monitoring assembly (3) at each of the two ends at the upper part for detecting the travel path condition inside the pipeline.

2. The trenchless pipeline repair traction device according to claim 1, characterized in that: The support assembly (1) includes a support plate (101), with a main connecting plate (102) fixedly connected to the center of both ends of the support plate (101), and a secondary connecting plate (103) fixedly connected to both sides of the two main connecting plates (102). A traction hook (104) is fixedly connected to the center of the side of the two main connecting plates (102) that are far apart from each other. A storage battery (105) is fixedly connected to the center of the upper end of the support plate (101) on one side.

3. The trenchless pipeline repair traction device according to claim 2, characterized in that: The air blowing assembly (2) includes two clamps (201) and multiple connecting rods (202). The two clamps (201) are fixedly connected to the center of the upper end of the support plate (101). The multiple connecting rods (202) are arranged at equal intervals and fixedly connected to the center of the side of the support plate (101) that is far apart from each other. The air pump body (203) is fixedly connected inside the two clamps (201). The air pump body (203) is connected to the battery (105) for communication. The ends of the multiple connecting rods (202) on one side and the multiple connecting rods (202) on the other side that are far apart from each other are fixedly connected to the sleeves (204). The multiple sleeves (204) are fixedly fitted with high-pressure air outlets (205). The air inlet of the multiple high-pressure air outlets (205) is connected to the air outlet of the air pump body (203) through a hose.

4. The trenchless pipeline repair traction device according to claim 2, characterized in that: The monitoring component (3) includes a connector (301), which is fixedly connected to the upper center of the support plate (101) on one side. A rotating connecting block (302) is rotatably connected to the upper center of the connector (301). A monitoring body (303) is fixedly connected to the upper end of the rotating connecting block (302). The monitoring body (303) is connected to the battery (105) via communication.

5. The trenchless pipeline repair traction device according to claim 2, characterized in that: The driving mechanism (4) includes a first docking plate (401), which is fixedly connected to the side away from the auxiliary connecting plate (103). A first rotating joint (402) is fixedly connected to both sides of the upper center of the first docking plate (401). A first main rotating seat (403) is fixedly connected to both upper ends of the side of the first docking plate (401) away from the auxiliary connecting plate (103). A second main rotating seat (404) is fixedly connected to both lower ends of the side of the first docking plate (401) close to the two first main rotating seats (403).

6. The trenchless pipeline repair traction device according to claim 5, characterized in that: The two first main rotating seats (403) are rotatably connected to a first connecting rod (405), and the two second main rotating seats (404) are rotatably connected to a second connecting rod (406). The drive mechanism (4) also includes two first auxiliary rotating seats (407) and two second auxiliary rotating seats (408). The two first auxiliary rotating seats (407) are rotatably connected to the outside of the two first connecting rods (405) at one end away from the first main rotating seat (403). The two second auxiliary rotating seats (408) are rotatably connected to the outside of the two second connecting rods (406) at one end away from the second main rotating seat (404). A second docking plate (409) is fixedly connected between the first auxiliary rotating seat (407) and the second auxiliary rotating seat (408) on one side and the first auxiliary rotating seat (407) and the second auxiliary rotating seat (408) on the other side.

7. The trenchless pipeline repair traction device according to claim 6, characterized in that: The second docking plate (409) is fixedly connected to the upper center of both sides with a second rotating joint (4010). The second docking plate (409) is fixedly connected to the lower center of the side away from the first docking plate (401) with a right angle connecting plate (4011). The second docking plate (409) is fixedly connected to the center of the side away from the right angle connecting plate (4011) with a motor (4012). The motor (4012) is connected to the battery (105) for communication. The rotating end of the motor (4012) on one side is rotated and sleeved inside the right angle connecting plate (4011) through a bearing. The rotating end of the motor (4012) on one side is fixedly connected to a Mecanum wheel (4013).

8. The trenchless pipeline repair traction device according to claim 6, characterized in that: Two first rotating joints (402) are rotatably connected to a first rotating block (4014) on their upper outer side. A damper (4015) is fixedly connected to the center of the side of the two first rotating joints (402) away from the two first rotating joints (402). A second rotating block (4016) is fixedly connected to the telescopic end of the two dampers (4015) away from the two first rotating blocks (4014). A spring (4017) is sleeved on the outside of the two dampers (4015). One end of the two springs (4017) abuts against the side of the two second rotating blocks (4016) that is close to each other. The other end of the two springs (4017) abuts against the side of the two first rotating blocks (4014) that is close to each other. The two second rotating blocks (4016) are rotatably connected to the outside of the two second rotating joints (4010).

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