CN106870871A - A kind of pipeline non-excavation rehabilitation crawl device - Google Patents
A kind of pipeline non-excavation rehabilitation crawl device Download PDFInfo
- Publication number
- CN106870871A CN106870871A CN201710261646.9A CN201710261646A CN106870871A CN 106870871 A CN106870871 A CN 106870871A CN 201710261646 A CN201710261646 A CN 201710261646A CN 106870871 A CN106870871 A CN 106870871A
- Authority
- CN
- China
- Prior art keywords
- air bag
- crawl device
- pipeline
- test point
- pressure value
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Sewage (AREA)
Abstract
The invention discloses a kind of pipeline non-excavation rehabilitation crawl device, its drip irrigation device is to include main body, the head end of main body is provided with mounting bracket, camera head is provided with mounting bracket, storage chamber is additionally provided with main body, pipeline rehabilitation agent is filled with storage chamber, storage chamber is connected with pipeline pump by pipeline, shower nozzle is additionally provided with mounting bracket, shower nozzle is connected on pipeline pump by conduit；Thus, the picture in pipeline is shot by camera head, when finding to there is slight crack in pipeline, control pipeline pump startup, pipeline pumping takes the pipeline rehabilitation agent in storage chamber, and pipeline rehabilitation agent is pressurizeed in the presence of pipeline pump and sprayed from shower nozzle, to be sprayed on slight crack, the purpose of repairing slight crack is reached；Compared to traditional crawl device more energy-conserving and environment-protective, low-carbon (LC), economize on resources contributes to Green Development to the present invention.
Description
Technical field
The present invention relates to crawl device field, more particularly to a kind of pipeline non-excavation rehabilitation crawl device.
Background technology
With the fast development of China's economy, the total length of existing various pipes is very long, due to many underground pipings
The laying time is long, and construction technology at that time and pipe material are poor, and these pipelines are overloaded due to burn into operation throughout the year
Lotus, yielding of foundation or human factor etc. cause local damage, road surface occurs and the accident such as collapses, and bring huge economic loss.Mesh
Preceding conventional pipe repairing method is liner repairing method, and the main technique technology of no-dig technique pipeline local route repair has stainless sheet steel
Welding liner and pipeline spraying liner.
When no-dig technique pipeline local route repair is carried out, it is necessary first to which pipe crawling device is entered into pipeline, pacify on crawl device
Equipped with camera head, enter into pipeline in crawl device and the picture in pipeline is shot by camera head and staff's hand is transferred to
In, staff takes mending option according to the picture of transmission, wherein, pipeline internal memory will be caused in pipeline situations such as yielding of foundation
In raised stone, when crawl device moves ahead in the duct, due to the presence of stone will cause crawl device in moving ahead significantly
Rise and fall, so as to easily cause the damage of camera head on crawl device, shake, position skew, cause camera head shoot picture
In the presence of the situation of skew so that the stability that existing crawl device moves ahead in the duct is relatively low, therefore exist certain improvement it
Place.
The content of the invention
In view of the shortcomings of the prior art, it is an object of the invention to provide a kind of pipeline non-excavation rehabilitation with creeping
Device, with the characteristics of riding stability is high in the duct.
Above-mentioned technical purpose of the invention technical scheme is that：
A kind of pipeline non-excavation rehabilitation crawl device, including main body, the crawl device also include：
Walking component, is installed in main body, and the walking component includes being symmetrically arranged in the drive shaft of hollow setting and two
The drive wheel group at drive shaft two ends, wherein, drive wheel group includes being arranged on the first driving wheel of inner side and is arranged on the of outside
Two driving wheels, are reserved with installation gap between first driving wheel and the second driving wheel；
Detection components, are installed in main body, and the detection components include housing and the detection spheroid in housing, the shell
There is the first test point, when main body is inclined, the detection spheroid touches the first test point to export corresponding first inspection on body
Survey signal；
Buffer Unit, the Buffer Unit include tracheae and air bag, air bag be arranged on installation gap in, tracheae by connecting elements with
The inside of drive shaft is communicated, and magnetic valve is connected with tracheae, and inflator pump is connected with magnetic valve, is additionally provided with drive shaft and air bag
The stomata for communicating；
Baroceptor, in drive shaft and extend into air bag, the atmospheric pressure value p for detecting inside air bag；
Controller, it is electrically connected in the first test point, baroceptor, magnetic valve and inflator pump, when controller is received
During first detection signal, the controller control inflator pump, magnetic valve start with to airbag aeration, the atmospheric pressure value p in air bag
Stop to airbag aeration when rising to atmospheric pressure value p1 from initial gas pressure value p0.
By above-mentioned technical proposal, the crawl device is placed in the duct, crawl device advances in the duct, met in crawl device
During to the highland compared with macrorelief, stone, the main body of crawl device experiences the process of raising and lowering, wherein, decline process in main body
Middle to produce certain inclination, when inclination is declined, detection spheroid touches the first test point, the first test point output one first
To controller, controller control inflator pump, magnetic valve startup are inflated detection signal to air bag, by the atmospheric pressure value p in air bag
It is charged to atmospheric pressure value p1 so that air bag distending and protrudes from the surface of drive wheel group in gap is installed, and thus, falls in walking component
When lower, air bag is contacted prior to walking component with ground, reaches the effect to main body damping, buffering, it is to avoid the shooting on crawl device
Device occur in impact damage, shake, position skew, cause camera head shoot picture exist skew situation, to carry
Crawl device high riding stability in the duct.
Preferably, have in the housing for detecting the spheroid standing groove placed and being connected with standing groove respectively
There is test chamber a and test chamber b, first test point test point a and test point b, the test point a to be located in test chamber a,
The test point b is located in test chamber b；
When the crawl device is in forward traveling, the controller control test point b does not carry out detection work；
When the crawl device is in fallback state, the controller control test point a does not carry out detection work.
By above-mentioned technical proposal, crawl device forward traveling and fallback state are made a distinction, to effectively improve crawl device
When travelling in the duct, the first test point is for precision that main body heeling condition is detected.
Preferably, the joining place of the test chamber a, test chamber b and standing groove offers the first inclined-plane.
By above-mentioned technical proposal, when crawl device is travelled in the duct, detection spheroid is caused to exist by gravelstone is first-class unavoidably
Beated in standing groove, by the setting on the first inclined-plane, detection spheroid is rebooted into entrance when detecting that spheroid jumps out standing groove
To in standing groove, to improve the first test point for detecting the accuracy of detection of spheroid.
Preferably, first driving wheel is provided with electric control lock, and the drive shaft is provided with the dead bolt grafting for electric control lock
To realize the lockhole that the first driving wheel is fixed；
The detection spheroid is made of buoyant material, and the housing is provided with the groove communicated with standing groove, on the housing
With the test chamber c relative with standing groove, the second test point is provided with the test chamber c, spheroid is detected in the second test point
One second detection signal is exported during triggering；
The dead bolt that the controller is additionally operable to receive the second detection signal to control electric control lock is exited from lockhole, and control is filled
Air pump, magnetic valve start so as to airbag aeration, the atmospheric pressure value p in air bag stops when rising to atmospheric pressure value p2 from initial gas pressure value p0
Only to airbag aeration.
By above-mentioned technical proposal, due to the misoperation of staff, when not planned a successor in front of pipeline, if in tomography
There is puddle, cause water to cover the damage that camera head will cause camera head if puddle is too deep, thus, enter in the crawl device
During puddle, detection spheroid will float under the buoyancy of water body, and when the depth of water is too deep, detection spheroid will touch the second detection
Point so that the second test point exports the second detection signal to controller, controller control electric control lock action, and accordingly control inflation
Pump, magnetic valve start to airbag aeration, and now, the first driving wheel is slided under the driving of the air bag of distending along drive shaft, and
Atmospheric pressure value p in air bag is risen into atmospheric pressure value p2, so that the crawl device will be swum on the water surface in the presence of air bag, it is to avoid
Cause camera head to paddle and damage.
Preferably, cavity is provided with the detection spheroid, foam beads is filled with the cavity.
By above-mentioned technical proposal, foam beads can improve degree of floating of the detection spheroid in water body.
Preferably, fixed disk is installed in the drive shaft, is connected with the fixed disk for providing the first driving wheel
The back-moving spring of axial motive force.
By above-mentioned technical proposal, after detection spheroid is fallen back in standing groove, inflator pump resets no longer to airbag aeration
The setting of spring, is resetted with facilitating to the first driving wheel.
Preferably, the test chamber c is provided with the second inclined-plane with test chamber a, the joining place of test chamber b.
By above-mentioned technical proposal, the setting on the second inclined-plane, when detecting that spheroid floats in water body, the second inclined-plane can rise
To the effect of guiding so that what detection spheroid can be stablized enters into test chamber c.
Preferably, it surround to be interspersed with the outer wall of the air bag and tightens up elastic string.
By above-mentioned technical proposal, tightening up elastic string can tighten up, it is to avoid gas when air bag is not inflated to air bag
Exposed to installing outside gap, the operation to the crawl device is interfered capsule.
Preferably, the connecting elements includes the mounting sleeve by bearing installation on the driving shaft, the mounting sleeve
Outer wall on be connected with support, the mounting sleeve is connected in main body by support, and the tracheae is connected in mounting sleeve
Communicated with inside it, the through hole communicated with inside mounting sleeve is offered in the drive shaft.
By above-mentioned technical proposal, by bearing installation mounting sleeve on the driving shaft, ensure that mounting sleeve not
With drive shaft turns.
Preferably, aspiration pump is connected with the magnetic valve, touches the first test point in detection spheroid and examined from first
After departing from measuring point, controller control aspiration pump starts after Preset Time and is evacuated with to air bag, the air pressure in air bag
Value p stops being evacuated air bag when dropping to initial gas pressure value p0 from atmospheric pressure value p1.
By above-mentioned technical proposal, air bag is evacuated by aspiration pump, to improve what atmospheric pressure value p in air bag declined
Speed.
In sum, having the beneficial effect that in contrast to prior art of the invention：
When component of walking falls, air bag is contacted prior to walking component with ground, reaches the effect to main body damping, buffering, is kept away
Exempt from the camera head on crawl device occur in impact damage, shake, position skew, cause camera head shoot picture exist
The situation of skew, to improve crawl device riding stability in the duct；The application is compared to traditional crawl device more energy-conservation
Resource, contribute to Green Development.
Brief description of the drawings
Fig. 1 is the structural representation of embodiment；
Fig. 2A is the driving schematic diagram of crawl device；
Fig. 2 B are the structural representation of detection components；
View when Fig. 3 is air bag pressure value p；
View when Fig. 4 is air bag pressure value p1；
View when Fig. 5 is air bag pressure value p2；
Fig. 6 is the view that crawl device goes up a slope；
Fig. 7 is the view of crawl device descending；
The view that Fig. 8 paddles for crawl device；
Fig. 9 is the system block diagram of controller in embodiment.
Reference：1st, main body；2nd, walking component；201st, drive shaft；202nd, the first driving wheel；203rd, the second driving wheel；
The 204th, gap is installed；205th, sprocket wheel；206th, motor；207th, driving-chain；3rd, detection components；301st, housing；302nd, ball is detected
Body；303rd, standing groove；304th, test chamber a；305th, test chamber b, 306, test point a；307th, test point b；308th, the first inclined-plane；
309th, cavity；310th, foam beads；311st, groove；312nd, test chamber c；313rd, the second test point；314th, the second inclined-plane；4th, buffer
Component；401st, tracheae；402nd, air bag；403rd, elastic string is tightened up；404th, stomata；405th, connecting elements；4051st, bearing；4052nd, pacify
Dress axle sleeve；4053rd, support；4054th, through hole；4055th, closure；406th, magnetic valve；407th, inflator pump；5th, baroceptor；6、
Electric control lock；7th, lockhole；8th, fixed disk；9th, back-moving spring；10th, aspiration pump；11st, camera head；12nd, mounting bracket；13rd, storage chamber；
14th, pipeline rehabilitation agent；15th, pipeline；16th, pipeline pump；17th, shower nozzle；18th, conduit.
Specific embodiment
The present invention is described in further detail below in conjunction with accompanying drawing.
With reference to shown in Fig. 1, Fig. 2A and Fig. 3, a kind of pipeline non-excavation rehabilitation crawl device, including main body 1, walking component 2,
Detection components 3, Buffer Unit 4, baroceptor 5 and controller.
The head end of main body 1 is provided with mounting bracket 12, camera head 11 is provided with mounting bracket 12, be additionally provided with main body 1
Storage chamber 13, is filled with pipeline rehabilitation agent 14 in storage chamber 13, storage chamber 13 is connected with pipeline pump 16 by pipeline 15, is installing
Shower nozzle 17 is additionally provided with frame 12, shower nozzle 17 is connected on pipeline pump 16 by conduit 18；Thus, shot by camera head 11
Picture in pipeline, when finding to there is slight crack in pipeline, control pipeline pump 16 starts, and pipeline pump 16 is extracted in storage chamber 13
Pipeline rehabilitation agent 14, pipeline rehabilitation agent 14 sprays under the pressurization of pipeline pump from shower nozzle 17, to be sprayed on slight crack, reaches
To the purpose of repairing slight crack.
In the present embodiment, walking component 2 is installed in main body 1, and in the present embodiment, walking component 2 is provided with two, two rows
Walk head end and tail end that component 2 is separately mounted to main body 1.
Each walking component 2 includes being symmetrically arranged on drive shaft 201 in the drive shaft 201 of hollow setting and two
The drive wheel group at two ends, is correspondingly provided with sprocket wheel 205 in drive shaft 201, and motor 206 is provided with main body 1, drives
The output shaft of motor 206 is connected on sprocket wheel 205 by driving-chain 207 and is rotated with ordering about drive shaft 201.
Drive wheel group includes being arranged on first driving wheel 202 and the second driving wheel 203 for being arranged on outside, this reality of inner side
Apply in example, the second driving wheel 203 is provided with electric control lock 6, drive shaft 201 is provided with the dead bolt grafting for electric control lock 6 to realize
The lockhole 7 that one driving wheel 202 is fixed, the second driving wheel 203 is fixed in drive shaft 201 using screw.What deserves to be explained is, the
Installation gap 204 is reserved between one driving wheel 202 and the second driving wheel 203.
As shown in Figure 2 B, detection components 3 are installed in main body 1, and the detection components 3 include housing 301 and located at housing
Detection spheroid 302 in 301, has the first test point on housing 301, when main body 1 is inclined, detection spheroid 302 touching first
To export corresponding first detection signal, in one embodiment, the first test point uses contact switch to test point.
What deserves to be explained is, the corresponding standing groove 303 and difference having for detecting the placement of spheroid 302 in housing 301
The test chamber a304 and test chamber b305 connected with standing groove 303, wherein, there is the first test point, the first detection on housing 301
There is point test point a306 and test point b307, test point a306 to be located in test chamber a304, and test point b307 is located at test chamber
In b305.
When the crawl device is in forward traveling, controller control test point b307 does not carry out detection work；When this is creeped
When device is in fallback state, controller control test point a306 does not carry out detection work.
Wherein, the joining place of test chamber a304, test chamber b305 and standing groove 303 offers the first inclined-plane 308.This implementation
In example, the angle of inclination on the first inclined-plane 308 is between 30 ° ~ 45 °.
As shown in Fig. 3, Fig. 4 and Fig. 5, Buffer Unit 4 includes tracheae 401 and air bag 402, and air bag 402 is arranged on clipping room
It surround to be interspersed with gap 204, on the outer wall of air bag 402 and tightens up elastic string 403, is additionally provided with drive shaft 201 and is communicated with air bag 402
Stomata 404, wherein, tracheae 401 is communicated by connecting elements 405 with the inside of drive shaft 201, and electricity is connected with tracheae 401
Magnet valve 406, is connected with inflator pump 407 on magnetic valve 406.In the present embodiment, connecting elements 405 includes being installed by bearing 4051
Mounting sleeve 4052 in drive shaft 201, is connected with support 4053 on the outer wall of mounting sleeve 4052, mounting sleeve 4052 is led to
Cross support 4053 to connect on the body 1, tracheae 401 is connected in mounting sleeve 4052 and is communicated with inside it, in drive shaft 201
Offer the through hole 4054 communicated with inside mounting sleeve 4052.What deserves to be explained is, it is arranged on mounting sleeve in bearing 4051
After in 4052, the two ends of mounting sleeve 4052 add closure 4055 and are sealed.
Baroceptor 5 is in drive shaft 201 and extend into air bag 402, and baroceptor 5 is used to detect air bag
Atmospheric pressure value p inside 402.
As shown in figure 9, controller is electrically connected in the first test point, baroceptor 5, magnetic valve 406, aspiration pump 10
With inflator pump 407, when controller receives first detection signal, controller control inflator pump 407 starts, and by magnetic valve
406 so that inflator pump 407 is inflated to air bag 402, and the atmospheric pressure value p in air bag 402 rises to atmospheric pressure value from initial gas pressure value p0
Stop inflating air bag 402 during p1.
In the present embodiment, the quantity of air bag 402 is provided with four, and four air bags 402 are located in installation gap 204 one by one,
Wherein, baroceptor 5 is correspondingly provided with four, and each baroceptor 5 is installed in air bag 402 one by one.It is worth explanation
It is that detection components 3 are provided with two, each detection components 3 is independently detected, and by controller in head end, tail end
Buffer Unit 4, walking component 2 are independently controlled.
Shown in reference picture 2B, detection spheroid 302 is made of buoyant material, and cavity is provided with detection spheroid 302
309, foam beads 310 are filled with cavity 309.Wherein, the groove 311 communicated with standing groove 303 is provided with housing 301,
Groove 311 is located at the bottom of standing groove 303, has the test chamber c312 relative with standing groove 303, test chamber on housing 301
The second test point 313 is provided with c312, the joining place of test chamber c312 and test chamber a304, test chamber b305 is provided with second
Inclined-plane 314.
In the present embodiment, the second test point 313 uses contact switch, and being detected spheroid 302 in the second test point 313 touches
One second detection signal is exported during hair.
As shown in figure 9, controller is additionally operable to receive the second detection signal to control the dead bolt of electric control lock 6 from lockhole 7
Exit, and control inflator pump 407, magnetic valve 406 to start and inflated with to air bag 402, the atmospheric pressure value p in air bag 402 is from initial
Stop inflating air bag 402 when atmospheric pressure value p0 rises to atmospheric pressure value p2.
What deserves to be explained is, as shown in figure 3, being provided with fixed disk 8 in drive shaft 201, reset bullet is connected with fixed disk 8
Spring 9, one end of back-moving spring 9 is connected on fixed disk 8, the other end of back-moving spring 9 be connected on the first driving wheel 202 with
In the axial motive force of the first driving wheel of offer 202.
As shown in figure 1, being connected with aspiration pump 10 on magnetic valve 406, in the present embodiment, magnetic valve 406 uses threeway electromagnetism
Valve 406, the first test point is touched and from the first test point after disengaging in detection spheroid 302, controller control magnetic valve 406
So that air bag 402 is connected with aspiration pump 10, and control aspiration pump 10 to start after Preset Time to be evacuated with to air bag 402,
Atmospheric pressure value p in air bag 402 stops being evacuated air bag 402 when dropping to initial gas pressure value p0 from atmospheric pressure value p1.The present embodiment
In, Preset Time is between 1s ~ 2s.
The course of work：
With reference to shown in Fig. 6, Fig. 7 and Fig. 8, illustrated by taking crawl device forward traveling as an example, the crawl device placed in the duct,
Crawl device advances in the duct, when crawl device runs into highland, stone compared with macrorelief, the main body 1 of crawl device experience rise and
The process of decline, wherein, certain inclination will be produced during the decline of main body 1, when inclination is declined, detection spheroid 302 is touched
Encounter the first test point（Test point a306）, the first test point exports a first detection signal to controller, and controller control is filled
Air pump 407, magnetic valve 406 start air bag 402 are inflated, and the atmospheric pressure value p in air bag 402 is charged to from initial gas pressure value p0
Atmospheric pressure value p1 so that air bag 402 distending and protrudes from the surface of drive wheel group in gap 204 is installed, thus, in walking component
2 when being fallen, and air bag 402 is contacted prior to walking component 2 with ground, is reached to the damping of main body 1, the effect for buffering, it is to avoid crawl device
On camera head 11 occur in impact damage, shake, position skew, cause camera head 11 shoot picture exist skew
Situation, to improve crawl device riding stability in the duct.
After detecting that spheroid 302 touches the first test point and departs from from the first test point, controller control magnetic valve
406 are connected with aspiration pump 10, and control aspiration pump 10 to start after Preset Time to be evacuated with to air bag 402, in air bag 402
In atmospheric pressure value p from atmospheric pressure value p1 drop to initial gas pressure value p0 when stop air bag 402 is evacuated.
Wherein, due to the misoperation of staff, when not planned a successor in front of pipeline, if there is puddle in tomography, if
Puddle is too deep to cause water to cover the damage that camera head 11 will cause camera head 11, thus, is related into puddle in the crawl device
During water, detection spheroid 302 will float under the buoyancy of water body, and when the depth of water is too deep, detection spheroid 302 will touch the second inspection
Measuring point 313 so that the second test point 313 exports the second detection signal to controller, controller control electric control lock 6 is acted, controlled
Magnetic valve 406 is transferred on the pipeline being connected with inflator pump 407, and accordingly control inflator pump 407 starts and filled with to air bag 402
Gas, now, the first driving wheel 202 is slided under the driving of the air bag 402 of distending along drive shaft 201, and by air bag 402
Atmospheric pressure value p rises to atmospheric pressure value p2 from initial gas pressure value p0, so that the crawl device will swim in the water surface in the presence of air bag 402
On, it is to avoid cause camera head 11 to paddle and damage.
The above is only exemplary embodiment of the invention, not for limiting the scope of the invention, this hair
Bright protection domain is determined by appended claim.
Claims (10)
1. a kind of pipeline non-excavation rehabilitation crawl device, including main body (1), it is characterized in that, the crawl device also includes：
Walking component (2), is installed in main body (1), the walking component (2) including the drive shaft (201) in hollow setting and
Two drive wheel groups for being symmetrically arranged on drive shaft (201) two ends, wherein, drive wheel group includes being arranged on the first driving of inner side
Take turns (202) and be arranged on second driving wheel (203) in outside, between first driving wheel (202) and the second driving wheel (203)
It is reserved with installation gap (204)；
Detection components (3), are installed in main body (1), and the detection components (3) are including housing (301) and located at housing (301)
Interior detection spheroid (302), has the first test point, when main body (1) is inclined, the detection spheroid on the housing (301)
(302) the first test point is touched to export corresponding first detection signal；
Buffer Unit (4), the Buffer Unit (4) includes tracheae (401) and air bag (402), and air bag (402) is arranged on installation gap
(204) in, tracheae (401) is communicated by connecting elements (405) with the inside of drive shaft (201), and tracheae is connected with electricity on (401)
Magnet valve (406), is connected with inflator pump (407) on magnetic valve (406), be additionally provided with what is communicated with air bag (402) in drive shaft (201)
Stomata (404)；
Baroceptor (5), in drive shaft (201) and extend into air bag (402), for detecting that air bag (402) is internal
Atmospheric pressure value p；
Controller, it is electrically connected in the first test point, baroceptor (5), magnetic valve (406) and inflator pump (407), when
When controller receives first detection signal, the controller controls inflator pump (407), magnetic valve (406) to start with to air bag
(402) inflate, the atmospheric pressure value p in air bag (402) stops to air bag (402) when rising to atmospheric pressure value p1 from initial gas pressure value p0
Inflation.
2. a kind of pipeline non-excavation rehabilitation crawl device according to claim 1, it is characterized in that, in the housing (301)
With for detecting the standing groove (303) that spheroid (302) is placed and the test chamber a for being connected with standing groove (303) respectively
(304) and test chamber b (305), first test point has test point a (306) and test point b (307), the test point a
(306) in test chamber a (304), the test point b (307) is in test chamber b (305)；
When the crawl device is in forward traveling, controller control test point b (307) does not carry out detection work；
When the crawl device is in fallback state, controller control test point a (306) does not carry out detection work.
3. a kind of pipeline non-excavation rehabilitation crawl device according to claim 2, it is characterized in that, the test chamber a
(304), test chamber b (305) offers the first inclined-plane (308) with the joining place of standing groove (303).
4. a kind of pipeline non-excavation rehabilitation crawl device according to claim 2, it is characterized in that, first driving wheel
(202) electric control lock (6) is provided with, the drive shaft (201) is provided with the dead bolt grafting for electric control lock (6) to realize the first driving
The fixed lockhole (7) of wheel (202)；
Detection spheroid (302) is made of buoyant material, and the housing (301) is provided with what is communicated with standing groove (303)
Groove (311), has the test chamber c (312) relative with standing groove (303), the test chamber c (312) on the housing (301)
In be provided with the second test point (313), in the second test point (313) be detected spheroid (302) trigger when output one second detection letter
Number；
The dead bolt that the controller is additionally operable to receive the second detection signal to control electric control lock (6) is exited from lockhole (7), and
Control inflator pump (407), magnetic valve (406) start inflates with to air bag (402), and atmospheric pressure value p in air bag (402) is from initial
Atmospheric pressure value p0 stops inflating air bag (402) when rising to atmospheric pressure value p2.
5. a kind of pipeline non-excavation rehabilitation crawl device according to claim 4, it is characterized in that, the detection spheroid
(302) cavity (309) is provided with, foam beads (310) is filled with the cavity (309).
6. a kind of pipeline non-excavation rehabilitation crawl device according to claim 4, it is characterized in that, the drive shaft (201)
On fixed disk (8) is installed, be connected with the fixed disk (8) and being answered for providing the first driving wheel (202) axial direction motive force
Position spring (9).
7. a kind of pipeline non-excavation rehabilitation crawl device according to claim 4, it is characterized in that, the test chamber c (312)
The joining place of test chamber a (304), test chamber b (305) is provided with the second inclined-plane (314).
8. a kind of pipeline non-excavation rehabilitation crawl device according to claim 4, it is characterized in that, the air bag (402)
It surround to be interspersed with outer wall and tightens up elastic string (403).
9. a kind of pipeline non-excavation rehabilitation crawl device according to claim 1, it is characterized in that, the connecting elements
(405) including the mounting sleeve (4052) by bearing (4051) in drive shaft (201), the mounting sleeve (4052)
Outer wall on be connected with support (4053), the mounting sleeve (4052) is connected in main body (1) by support (4053), described
Tracheae (401) is connected in mounting sleeve (4052) and is communicated with inside it, is offered and installation axle on the drive shaft (201)
The through hole (4054) communicated inside set (4052).
10. a kind of pipeline non-excavation rehabilitation crawl device according to claim 1, it is characterized in that, the magnetic valve (406)
On be connected with aspiration pump (10), in detection spheroid (302) touch the first test point and from the first test point depart from after, it is described
Controller controls aspiration pump (10) to start after Preset Time with to air bag (402) pumping, the atmospheric pressure value p in air bag (402)
Stop being evacuated air bag (402) when dropping to initial gas pressure value p0 from atmospheric pressure value p1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710261646.9A CN106870871B (en) | 2017-04-20 | 2017-04-20 | A kind of pipeline non-excavation rehabilitation crawl device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710261646.9A CN106870871B (en) | 2017-04-20 | 2017-04-20 | A kind of pipeline non-excavation rehabilitation crawl device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106870871A true CN106870871A (en) | 2017-06-20 |
| CN106870871B CN106870871B (en) | 2018-08-14 |
Family
ID=59163769
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710261646.9A Active CN106870871B (en) | 2017-04-20 | 2017-04-20 | A kind of pipeline non-excavation rehabilitation crawl device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106870871B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108087660A (en) * | 2017-12-05 | 2018-05-29 | 浙江景迈环境工程有限公司 | The localization method of underground piping non-excavation rehabilitation defect point |
| CN109506075A (en) * | 2018-11-15 | 2019-03-22 | 福建工程学院 | Municipal pipeline breakage induce roadbed cavity whether there is or not detection device |
| CN111255979A (en) * | 2020-02-26 | 2020-06-09 | 郑州大学 | Visual intelligent rotary spraying equipment for repairing drainage pipeline |
| CN111751897A (en) * | 2020-05-14 | 2020-10-09 | 国网浙江宁波市鄞州区供电有限公司 | Anti-falling cable pipeline detection device |
| CN114251539A (en) * | 2021-12-27 | 2022-03-29 | 中技智能科技(盐城)有限公司 | Ultraviolet curing integrated vehicle adaptive to drainage pipelines with different pipe diameters |
| CN110873257B (en) * | 2018-09-04 | 2022-06-14 | 武汉中仪物联技术股份有限公司 | Controllable photocuring point location repair system and method |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2085155A1 (en) * | 2008-01-31 | 2009-08-05 | HAPP Technology Ltd. | Method and apparatus for inspecting the integrity of pipeline walls |
| EP2093026A1 (en) * | 2008-02-21 | 2009-08-26 | Dieter Weuffen | Canal inspection robots with digital data transmission |
| RU2010124979A (en) * | 2010-06-17 | 2011-12-27 | Открытое Акционерное Общество "ГАЗПРОМ" (RU) | DEVICE FOR INTERNAL TUBE CONTROL AND METHOD OF MOVING IT IN A MAIN GAS PIPELINE WITH A PRESETED UNIFORM SPEED |
| CN204692902U (en) * | 2015-05-18 | 2015-10-07 | 卢怡青 | A kind of support guide mechanism of pipeline cleaner of reducing |
| CN105065846A (en) * | 2015-07-24 | 2015-11-18 | 天津市水利科学研究院 | Underground pipeline repairing system and method |
| CN105114758A (en) * | 2015-09-22 | 2015-12-02 | 西南石油大学 | Pipeline detector dragging device |
| CN105240644A (en) * | 2015-07-31 | 2016-01-13 | 厦门市安越非开挖工程技术有限公司 | Pipeline crack repairing device and method |
-
2017
- 2017-04-20 CN CN201710261646.9A patent/CN106870871B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2085155A1 (en) * | 2008-01-31 | 2009-08-05 | HAPP Technology Ltd. | Method and apparatus for inspecting the integrity of pipeline walls |
| EP2093026A1 (en) * | 2008-02-21 | 2009-08-26 | Dieter Weuffen | Canal inspection robots with digital data transmission |
| RU2010124979A (en) * | 2010-06-17 | 2011-12-27 | Открытое Акционерное Общество "ГАЗПРОМ" (RU) | DEVICE FOR INTERNAL TUBE CONTROL AND METHOD OF MOVING IT IN A MAIN GAS PIPELINE WITH A PRESETED UNIFORM SPEED |
| CN204692902U (en) * | 2015-05-18 | 2015-10-07 | 卢怡青 | A kind of support guide mechanism of pipeline cleaner of reducing |
| CN105065846A (en) * | 2015-07-24 | 2015-11-18 | 天津市水利科学研究院 | Underground pipeline repairing system and method |
| CN105240644A (en) * | 2015-07-31 | 2016-01-13 | 厦门市安越非开挖工程技术有限公司 | Pipeline crack repairing device and method |
| CN105114758A (en) * | 2015-09-22 | 2015-12-02 | 西南石油大学 | Pipeline detector dragging device |
Non-Patent Citations (1)
| Title |
|---|
| 陈富强: "水冷壁管爬行器设计研究", 《工程科技II辑》 * |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108087660A (en) * | 2017-12-05 | 2018-05-29 | 浙江景迈环境工程有限公司 | The localization method of underground piping non-excavation rehabilitation defect point |
| CN108087660B (en) * | 2017-12-05 | 2019-09-10 | 浙江景迈环境工程有限公司 | The localization method of underground piping non-excavation rehabilitation defect point |
| CN110873257B (en) * | 2018-09-04 | 2022-06-14 | 武汉中仪物联技术股份有限公司 | Controllable photocuring point location repair system and method |
| CN109506075A (en) * | 2018-11-15 | 2019-03-22 | 福建工程学院 | Municipal pipeline breakage induce roadbed cavity whether there is or not detection device |
| CN109506075B (en) * | 2018-11-15 | 2020-08-07 | 福建工程学院 | Detection apparatus for municipal administration pipeline damage induces roadbed cavity and has or not |
| CN111255979A (en) * | 2020-02-26 | 2020-06-09 | 郑州大学 | Visual intelligent rotary spraying equipment for repairing drainage pipeline |
| CN111751897A (en) * | 2020-05-14 | 2020-10-09 | 国网浙江宁波市鄞州区供电有限公司 | Anti-falling cable pipeline detection device |
| CN114251539A (en) * | 2021-12-27 | 2022-03-29 | 中技智能科技(盐城)有限公司 | Ultraviolet curing integrated vehicle adaptive to drainage pipelines with different pipe diameters |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106870871B (en) | 2018-08-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106870871A (en) | A kind of pipeline non-excavation rehabilitation crawl device | |
| CN106969199B (en) | The installation method of submarine pipeline airbag apparatus and submarine pipeline | |
| CN110593896B (en) | Structure for preventing uneven settlement of shield tunnel and implementation method | |
| CN104912560A (en) | Small-radius shield curve launching construction technology on gravel clay layer | |
| CN205618200U (en) | Inflatable tunnel shield seals high -pressure rubber gasbag | |
| CN204283489U (en) | Coal mine gob gasbag-type device for filling | |
| CN104532843B (en) | A kind of steel column location straightening method of stand column pile | |
| CN104290887B (en) | Underwater magnetic metal adsorption device and controlling method | |
| CN102889085A (en) | Tunneling construction method for shield tunneling machine | |
| CN108982662B (en) | Immersion type automatic acoustic detector for corrosion of large-scale storage tank bottom plate | |
| CN109695780A (en) | One kind, which subtracts, holds formula submarine pipeline active flexion control device | |
| CN106089220A (en) | In a kind of water, shield machine arrives and receives structure and method of reseptance | |
| BR112013025763B1 (en) | METHOD AND SYSTEM FOR SETTING A PIPE IN A WATER MASS | |
| CN202247897U (en) | Post-grouting device for pipe pile foundation | |
| CN105042185B (en) | A kind of hydraulic push-type administered for submarine pipeline suspended span spreads bagging apparatus automatically | |
| CN105031926B (en) | The method for hanging roller-coaster innervation rail system and its lifting Consumer's Experience | |
| CN205823286U (en) | In a kind of water, shield machine arrives and receives structure | |
| CN106275337B (en) | A kind of Biomimetic Fish for carrying out habitata | |
| CN214789769U (en) | Inflatable airbag pipeline plugging device | |
| CN205298945U (en) | Local auxiliary device that restores of pipeline | |
| KR20140134422A (en) | pipe jacking constrution method using water jet | |
| CN105569043A (en) | Underwater foundation spreading supporting structure for temporary steel trestle | |
| CN209761449U (en) | Temporary supporting device for tunnel construction site | |
| CN209482260U (en) | A kind of inflatable gas peltate dam reinforced with scuta | |
| CN206892131U (en) | A kind of erecting device for making ADCP enter water along ramp type riverbank |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |