An intelligent trolley for pipe lining reinforcement

Abstract

This utility model discloses an intelligent trolley for pipeline lining reinforcement, including a grooving system, a steel plate installation system, and a steel plate transport vehicle. The steel plate installation system includes a support frame, a tracked drive chassis, and a robotic arm. The steel plate transport vehicle includes a skeleton support plate with two tracked wheels mounted on its bottom. The grooving system includes a circular rail, a grooving device, a crossbeam, and multiple support beams. This utility model trolley can realize the functions of transporting materials inside the pipeline, circumferential grooving of the pipeline inner wall, and installation and fixing of the lining reinforcement steel plate. The grooving device is installed on the circular rail and can perform circumferential grooving. After grooving, the robotic arm can lift the steel plate from the steel plate transport vehicle for installation, effectively reducing the labor intensity of workers. The grooving device can adjust the distance from the pipeline inner wall, thus adapting to grooving work on pipelines of different diameters. The high degree of automation of this trolley can effectively control the quality of pipeline lining reinforcement construction and improve construction efficiency.

Description

Technical Field

[0001] This utility model relates to the field of trolley technology, specifically an intelligent trolley for pipe lining reinforcement. Background Technology

[0002] In municipal engineering, water conservancy, energy and other fields, large pipelines (such as drainage pipes, water conveyance tunnels, oil and gas pipelines, etc.) often suffer structural damage such as corrosion, wear, and cracks on their inner walls after long-term operation. To restore the structural strength and service life of pipelines, internal lining reinforcement technology is widely used. One common process is to cut circumferential grooves in the inner wall of the pipeline and install and fix reinforcing steel plates (or other profiles).

[0003] Currently, the above construction process mainly relies on a combination of manual labor and simple equipment, which presents the following significant problems: Low automation, high labor intensity, and high safety risks: The grooving, handling, and installation work inside pipelines relies heavily on manual labor. Workers must perform intensive manual tasks in narrow, dimly lit pipeline environments, resulting in low efficiency and numerous safety hazards such as working at heights, mechanical injuries, and air pollution. Furthermore, the precision of manual operations is difficult to guarantee, directly impacting the quality of the reinforcement.

[0004] The existing construction methods often separate processes such as material transportation, internal wall grooving, and steel plate installation. For example, materials and equipment are transported to the work site using ordinary transport trolleys, and then workers operate handheld grooving machines to cut grooves, followed by manual installation. This model requires multiple entries and exits from the pipeline, cumbersome equipment relocation and positioning, and poor coordination between processes, resulting in long construction cycles and low overall efficiency.

[0005] Lack of adaptability and difficulty in ensuring quality uniformity: For pipes of different diameters or with some deformation, existing equipment (especially grooving devices) lacks effective self-adjustment capabilities. Workers need to make repeated adjustments based on experience, making it difficult to guarantee the depth of the grooving, circumferential continuity, and positional accuracy throughout the pipe. This inconsistency directly affects the fit and fixing strength of the inner lining steel plate, posing a potential threat to the long-term safe operation of the pipeline.

[0006] Existing trolleys have functional limitations: Although some trolleys exist for transportation or inspection within pipelines, their functions are often limited to a single task (such as transportation or inspection). They lack intelligent solutions that integrate multiple functions such as transportation, precise grooving, and installation, and thus cannot meet the needs of modern, efficient, and high-quality construction.

[0007] In summary, existing pipeline lining reinforcement technologies suffer from common drawbacks, including low automation levels, low construction efficiency, high labor intensity and safety risks, and significant susceptibility to human factors in construction quality. Therefore, there is an urgent need in this field for an intelligent construction equipment that integrates multiple functions such as material transportation, precise grooving, and installation. This equipment should be adaptable to different working conditions, significantly reduce reliance on manual labor, and enable effective control over the quality of pipeline lining reinforcement construction. Utility Model Content

[0008] This utility model provides an intelligent trolley for pipe lining reinforcement, which aims to solve the problems mentioned in the background art.

[0009] To achieve the above objectives, this utility model provides the following technical solution: An intelligent trolley for pipe lining reinforcement includes a grooving system, a steel plate installation system, and a steel plate transport vehicle. The steel plate installation system includes a support frame, a tracked drive chassis, and a robotic arm. The tracked drive chassis is fixedly installed at the lower end of the support frame and is used to drive the support frame to move. The drive end of the robotic arm is fixedly installed on one side of the support frame. The steel plate transport vehicle includes a frame pallet for placing steel plates, and two tracked wheels are installed at the bottom of the frame pallet. The grooving system includes a ring rail, a grooving device, a crossbeam, and multiple support beams. One end of the support beam is fixedly connected to a support frame. An outer ring plate is fixedly installed on one side of the ring rail. Multiple crossbeams are evenly fixedly installed on the side of the outer ring body near the support frame. The grooving device is slidably installed on the ring rail and can move along the circumference of the ring rail. A jacking device is slidably provided on the crossbeam and is used to control the lifting and lowering of the ring rail.

[0010] As a preferred technical solution of this application, the grooving device includes a U-shaped slide, a motor, and a grooving machine. The U-shaped slide is slidably mounted on an annular rail. The motor is fixedly mounted on one side of the U-shaped slide and is used to drive the U-shaped slide to move along the circumference of the annular rail. An integrally formed bending plate is fixedly provided on the other side of the U-shaped slide. The grooving machine is connected to the bending plate through a transverse pushing mechanism. The transverse pushing mechanism is used to adjust the distance between the grooving machine and the inner wall of the pipe.

[0011] As a preferred technical solution of this application, the inner ring of the annular rail is provided with a toothed groove, and a gear that meshes with the toothed groove is rotatably installed inside the U-shaped slide. The output shaft of the motor is fixedly connected to the gear, and the motor is used to drive the gear to rotate. The outer ring of the annular rail is provided with an annular groove, and an arc-shaped limiting plate is detachably installed at one end of the U-shaped slide. The arc-shaped limiting plate is movably inserted into the annular groove.

[0012] As a preferred technical solution of this application, the transverse pushing mechanism includes a slide rail and an electric push rod. The slide rail is fixedly installed on the outside of the bending plate, and a slider is slidably installed in the slide groove of the slide rail. The grooving machine is fixedly installed on the outside of the slider, and the electric push rod is fixedly installed at one end of the slide rail. The output shaft of the electric push rod is inserted into the slide groove and fixedly connected to the slider.

[0013] As a preferred technical solution of this application, an infrared distance sensor is fixedly installed at one end of the slider near the inner wall of the pipe, and a through hole is opened at one end of the slide rail flush with the position of the infrared distance sensor.

[0014] As a preferred technical solution of this application, the jacking device includes a slide and two lifting hydraulic cylinders. An electric wheel is installed at the bottom of the slide and rolls in contact with the support beam. The two lifting hydraulic cylinders are respectively fixedly installed at both ends of the upper part of the slide, and the piston shaft of the lifting hydraulic cylinder is detachably connected to the crossbeam at the corresponding position.

[0015] As a preferred technical solution of this application, a push screw is installed on the crossbeam, and the push screw is used to fix the crossbeam to the inner wall of the pipe.

[0016] As a preferred technical solution of this application, an extension frame is installed at both the upper and lower ends of one side of the support frame, and an auxiliary support screw is fixedly installed at the outer end of the extension frame. The auxiliary support screw is used to fix the support frame in the pipeline. A frame fixing hydraulic cylinder is fixedly installed at the top of the support frame, and a hydraulic station and control box are fixedly installed in the middle of the support frame.

[0017] As a preferred technical solution of this application, an energy storage unit for providing power to the track wheels is installed at the bottom of the frame support plate.

[0018] This utility model trolley can realize the functions of transporting materials inside pipelines, circumferential grooving of the inner wall of pipelines, and installation and fixing of reinforcing steel plates for pipeline lining. By setting up a ring rail, a grooving device is installed on the ring rail. The grooving device can perform circumferential grooving. After grooving, the steel plate can be lifted from the steel plate transport vehicle by a robotic arm for installation. This effectively reduces the labor intensity of workers. The grooving device can adjust the distance from the inner wall of the pipeline, so as to adapt to the grooving work of pipelines with different diameters. The high degree of automation of this trolley can effectively control the quality of pipeline lining reinforcement construction and improve construction efficiency. Attached Figure Description

[0019] Figure 1 A schematic diagram of a smart trolley for reinforcing pipe linings; Figure 2 A side view of an intelligent trolley for reinforcing pipe linings; Figure 3 This is a structural diagram of a circular track; Figure 4 This is a structural diagram of the U-shaped slide. Figure 5 This is a structural diagram of the lateral jacking mechanism; Figure 6 This is a schematic diagram showing the installation status of the circular rail; Figure 7 This is a structural diagram of a steel plate transport vehicle.

[0020] In the picture: Steel plate transport vehicle; 11. Skeleton pallet; 12. Track wheel; 13. Battery pack; 2. Support frame; 21. Frame fixing hydraulic cylinder; 22. Hydraulic station; 23. Control box; 24. Tracked drive chassis; 25. Extension frame; 26. Auxiliary support screw; 3. Robotic arm; 4. Ring rail; 41. Crossbeam; 42. Support beam; 43. Slide seat; 44. Electric wheel; 45. Lifting hydraulic cylinder; 46. Push screw; 47. Tooth groove; 48. Ring groove; 49. Outer ring plate; 5. Grooving device; 51. U-shaped slide seat; 52. Motor; 53. Slide rail; 531. Slider; 532. Infrared distance sensor; 533. Through hole; 534. Electric push rod; 54. Grooving machine; 55. Bending plate; 56. Arc-shaped limit plate; 57. Gear. Detailed Implementation

[0021] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0022] See Figures 1-7 As shown, this utility model provides an intelligent trolley for pipe lining reinforcement, including a grooving system, a steel plate installation system, and a steel plate transport vehicle. The steel plate installation system includes a support frame 2, a tracked drive chassis 24, and a robotic arm 3. The robotic arm 3 is a magnetic chuck robotic arm device in the prior art, which can lift steel plates by magnetic chuck. The tracked drive chassis 2 is fixedly installed at the lower end of the support frame 2 and is used to drive the support frame 2 to move. The drive end of the robotic arm 3 is fixedly installed on one side of the support frame 2. The steel plate transport vehicle includes a frame pallet 11 for placing steel plates, and two tracked wheels 12 are installed at the bottom of the frame pallet 11 for moving inside the pipeline. The grooving system includes an annular rail 4, a grooving device 5, a crossbeam 41, and multiple support beams 42. One end of the support beam 42 is fixedly connected to the support frame 2. An outer ring plate 49 is fixedly installed on one side of the annular rail 4. Multiple crossbeams 41 are evenly fixedly installed on the side of the outer ring plate 49 near the support frame 2. The grooving device 5 is slidably installed on the annular rail 4 and can move along the circumference of the annular rail 4. A jacking device is slidably provided on the crossbeam 42, and the jacking device is used to control the lifting and lowering of the annular rail 4.

[0023] In this embodiment, the grooving device 5 includes a U-shaped slide 5, a motor 52, and a grooving machine 54. The grooving machine 54 is a device with a cutting wheel in the prior art. The U-shaped slide 5 is slidably mounted on the annular rail 4. The motor 52 is fixedly mounted on one side of the U-shaped slide 5. The motor 52 is used to drive the U-shaped slide 5 to move along the circumference of the annular rail 4. An integrally formed bending plate 55 is fixedly provided on the other side of the U-shaped slide 5. The grooving machine 54 is connected to the bending plate 55 through a transverse pushing mechanism. The transverse pushing mechanism is used to adjust the distance between the grooving machine 54 and the inner wall of the pipe, which can be used for grooving pipes of different diameters and can also cut grooves of different depths.

[0024] Furthermore, to ensure that the U-shaped slide 5 can move smoothly on the annular rail 4, in this embodiment, the annular rail 4 has a toothed groove on its inner ring, and a gear 57 that meshes with the toothed groove is rotatably installed inside the U-shaped slide 5. The output shaft of the motor 52 is fixedly connected to the gear 57, and the motor 52 is used to drive the gear 57 to rotate. The annular rail 4 has an annular groove 48 on its outer ring, and an arc-shaped limiting plate 56 is detachably installed at one end of the U-shaped slide 5. During installation, the U-shaped slide 5 is first clamped onto the annular rail 4, and then the arc-shaped limiting plate 56 is clamped into the annular groove 48 and fixedly connected to the U-shaped slide 5 with bolts. This effectively prevents the U-shaped slide 5 from detaching from the annular rail 4.

[0025] Furthermore, in this embodiment, the transverse pushing mechanism includes a slide rail 53 and an electric push rod 534. The slide rail 53 is fixedly installed on the outside of the bent plate 55. A slider 531 is slidably installed in the groove of the slide rail 53. The grooving machine 54 is fixedly installed on the outside of the slider 531. The electric push rod 534 is fixedly installed at one end of the slide rail 53. The output shaft of the electric push rod 534 is inserted into the groove and fixedly connected to the slider 531. The slider 531 can be moved by the electric push rod 534, thereby adjusting the position of the grooving machine 54.

[0026] In this embodiment, an infrared distance sensor 532 is fixedly installed at one end of the slider 531 near the inner wall of the pipe, and a through hole 533 is provided at one end of the slide rail 53, which is flush with the position of the infrared distance sensor 532.

[0027] In this embodiment, the jacking device includes a slide block 43 and two lifting hydraulic cylinders 45. An electric wheel 44 is installed at the bottom of the slide block 43. The electric wheel 44 rolls in contact with the support beam 42. The two lifting hydraulic cylinders 45 are respectively fixedly installed at both ends of the upper part of the slide block 43. The piston shaft of the lifting hydraulic cylinder 45 is detachably connected to the crossbeam 41 at the corresponding position.

[0028] In this embodiment, a push screw 46 is installed on the crossbeam 41, which is used to fix the crossbeam 41 to the inner wall of the pipe.

[0029] To further increase the stability of the support frame 2 within the pipeline, in this embodiment, extension frames 25 are installed at both the upper and lower ends of one side of the support frame 2. An auxiliary support screw 26 is fixedly installed at the outer end of the extension frame 25. The auxiliary support screw 26 is used to fix the support frame 2 within the pipeline. A frame fixing hydraulic cylinder 21 is fixedly installed at the top of the support frame 2. A hydraulic station 22 and a control box 23 are fixedly installed in the middle of the support frame 2. The hydraulic station 22 is used to provide pressure to the hydraulic cylinder. The control box 23 is equipped with various control devices, such as microprocessors, circuit breakers, and remote data transmission modules, which can realize functions such as information monitoring and remote control. This part is prior art and will not be described in detail here.

[0030] In this embodiment, an energy storage unit 13 for providing power to the track wheel 12 is installed at the bottom of the frame support plate 11.

[0031] The construction method of the intelligent trolley for pipeline lining reinforcement includes the following steps: a. The grooving machine 54 moves to the circumferential grooving construction position via the track-driven chassis 24.

[0032] b. Circumferential cutting of the inner wall of the pipe: First, adjust the distance between the grooving machine 54 and the inner wall of the pipe by means of the horizontal jacking mechanism. After the adjustment is completed, position it by means of the jacking screw 46. After positioning, start cutting the first circumferential groove, and then cut the remaining grooves in the same way.

[0033] c. After all the slots are cut, the tracked chassis 24 moves the support frame 2 to the installation position of the reinforced steel plate.

[0034] d. Adjust the auxiliary support screw 26 and start the frame fixing hydraulic cylinder 21 to fix the support frame 2.

[0035] e. The steel plate transport vehicle transports the reinforced steel plates; at the same time, the robotic arm 3 grabs the first steel plate in sequence, positions the steel plate, and fixes it with a screw rod; then, in the same order, the remaining steel plates are installed and fixed one by one with screw rods to complete the installation of all steel plates.

[0036] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. An intelligent trolley for pipeline lining reinforcement, comprising a grooving system, a steel plate installation system, and a steel plate transport vehicle, characterized in that: The steel plate installation system includes a support frame, a tracked drive chassis, and a robotic arm. The tracked drive chassis is fixedly installed at the lower end of the support frame and is used to drive the support frame to move. The drive end of the robotic arm is fixedly installed on one side of the support frame. The steel plate transport vehicle includes a frame pallet for placing steel plates, and two tracked wheels are installed at the bottom of the frame pallet. The grooving system includes a ring rail, a grooving device, a crossbeam, and multiple support beams. One end of the support beam is fixedly connected to a support frame. An outer ring plate is fixedly installed on one side of the ring rail. Multiple crossbeams are evenly fixedly installed on the side of the outer ring body near the support frame. The grooving device is slidably installed on the ring rail and can move along the circumference of the ring rail. A jacking device is slidably provided on the crossbeam and is used to control the lifting and lowering of the ring rail.

2. The intelligent trolley for pipeline lining reinforcement according to claim 1, characterized in that: The grooving device includes a U-shaped slide, a motor, and a grooving machine. The U-shaped slide is slidably mounted on a ring rail. The motor is fixedly mounted on one side of the U-shaped slide and is used to drive the U-shaped slide to move along the circumference of the ring rail. An integrally formed bending plate is fixedly provided on the other side of the U-shaped slide. The grooving machine is connected to the bending plate through a transverse pushing mechanism, which is used to adjust the distance between the grooving machine and the inner wall of the pipe.

3. The intelligent trolley for pipeline lining reinforcement according to claim 2, characterized in that: The inner ring of the annular rail has a toothed groove, and a gear that meshes with the toothed groove is rotatably installed inside the U-shaped slide. The output shaft of the motor is fixedly connected to the gear, and the motor is used to drive the gear to rotate. The outer ring of the annular rail has an annular groove, and an arc-shaped limiting plate is detachably installed at one end of the U-shaped slide. The arc-shaped limiting plate is movably inserted into the annular groove.

4. The intelligent trolley for pipeline lining reinforcement according to claim 2, characterized in that: The transverse pushing mechanism includes a slide rail and an electric push rod. The slide rail is fixedly installed on the outside of the bent plate, and a slider is slidably installed in the slide groove of the slide rail. The grooving machine is fixedly installed on the outside of the slider. The electric push rod is fixedly installed at one end of the slide rail, and the output shaft of the electric push rod is inserted into the slide groove and fixedly connected to the slider.

5. The intelligent trolley for pipeline lining reinforcement according to claim 4, characterized in that: An infrared distance sensor is fixedly installed at one end of the slider near the inner wall of the pipe, and a through hole is opened at one end of the slide rail flush with the position of the infrared distance sensor.

6. The intelligent trolley for pipeline lining reinforcement according to claim 1, characterized in that: The jacking device includes a slide block and two lifting hydraulic cylinders. An electric wheel is installed at the bottom of the slide block, and the electric wheel makes rolling contact with the support beam. The two lifting hydraulic cylinders are respectively fixedly installed at both ends of the upper part of the slide block, and the piston shaft of the lifting hydraulic cylinder is detachably connected to the crossbeam at the corresponding position.

7. The intelligent trolley for pipeline lining reinforcement according to claim 1, characterized in that: A push screw is installed on the crossbeam, which is used to fix the crossbeam to the inner wall of the pipe.

8. The intelligent trolley for pipeline lining reinforcement according to claim 1, characterized in that: Extension frames are installed at both the top and bottom of one side of the support frame. An auxiliary support screw is fixedly installed at the outer end of the extension frame. The auxiliary support screw is used to fix the support frame inside the pipe. A frame fixing hydraulic cylinder is fixedly installed at the top of the support frame. A hydraulic station and control box are fixedly installed in the middle of the support frame.

9. The intelligent trolley for pipeline lining reinforcement according to claim 1, characterized in that: The bottom of the frame support plate is equipped with an energy storage unit for providing power to the track wheels.

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