CN106870871B - A kind of pipeline non-excavation rehabilitation crawl device - Google Patents
A kind of pipeline non-excavation rehabilitation crawl device Download PDFInfo
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- CN106870871B CN106870871B CN201710261646.9A CN201710261646A CN106870871B CN 106870871 B CN106870871 B CN 106870871B CN 201710261646 A CN201710261646 A CN 201710261646A CN 106870871 B CN106870871 B CN 106870871B
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- 238000001514 detection method Methods 0.000 claims description 56
- 238000009434 installation Methods 0.000 claims description 25
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- 238000010586 diagram Methods 0.000 description 10
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- 230000009193 crawling Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
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Classifications
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- 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
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- 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
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- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Sewage (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of pipeline non-excavation rehabilitation crawl devices, its key points of the technical solution are that including main body, the head end of main body is provided with mounting bracket, photographic device is equipped on mounting bracket, it is additionally provided with storage chamber in main body, is filled with pipeline rehabilitation agent in storage chamber, storage chamber is connected with pipeline pump by pipeline, nozzle is additionally provided on mounting bracket, nozzle is connected to by conduit in pipeline pump；The picture in pipeline is shot by photographic device as a result, iting is found that there are when slight crack in pipeline, control pipeline pump startup, pipeline pump extract the pipeline rehabilitation agent in storage chamber, and pipeline rehabilitation agent is pressurizeed under the action of pipeline pump to be sprayed from nozzle, to be sprayed on slight crack, achieve the purpose that repair slight crack；The present invention is more energy-saving and environmentally friendly compared to traditional crawl device, low-carbon, and economizing on resources contributes to Green Development.
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
It is long to be laid with the time, and construction technology at that time and pipe material are poor, these pipelines are overloaded due to burn into long-term operation
Lotus, yielding of foundation or human factor etc. cause local damage, and road surface occurs and the accidents such as collapses, brings huge economic loss.Mesh
Preceding common pipe repairing method is liner repairing method, and the main technique technology of no-dig technique pipeline local route repair has stainless sheet steel
It welds liner and pipeline sprays liner.
When carrying out no-dig technique pipeline local route repair, it is necessary first to which pipe crawling device enters in pipeline, pacifies on crawl device
Equipped with photographic device, pipeline is entered by the picture in photographic device shooting pipeline in crawl device and is transferred to staff's hand
In, staff takes mending option according to the picture of transmission, wherein will lead to pipeline memory in pipeline situations such as yielding of foundation
Protrusion stone, crawl device in the duct move ahead when, due to the presence of stone will cause crawl device move ahead in significantly
Rise and fall, to be easy to cause the damage of photographic device on crawl device, shake fall, position offset, cause photographic device shoot picture
The case where in the presence of offset, the stability to be moved ahead in the duct to existing crawl device is relatively low, thus there are certain improvement it
Place.
Invention content
In view of the deficiencies of the prior art, the present invention intends to provide a kind of pipeline non-excavation rehabilitation with creeping
Device has the characteristics that riding stability is high in the duct.
The present invention above-mentioned technical purpose technical scheme is that：
A kind of pipeline non-excavation rehabilitation crawl device, including main body, the crawl device further include：
Walking component, is installed in main body, which includes in the drive shaft of hollow setting and two symmetrical peaces
Drive wheel group loaded on drive shaft both ends, wherein drive wheel group include be arranged inside the first driving wheel and setting on the outside
The second driving wheel, be reserved between first driving wheel and the second driving wheel installation gap；
Detection components are installed in main body, which includes shell and the detection sphere in shell, institute
Stating has the first test point on shell, when main body tilts, the detection sphere the first test point of touching is to export corresponding the
One detection signal；
Buffer Unit, the Buffer Unit include tracheae and air bag, and air bag is arranged in installing gap, and tracheae is by connecting structure
Part is communicated with the inside of drive shaft, and solenoid valve is connected on tracheae, and inflator pump is connected on solenoid valve, be additionally provided in drive shaft with
The stomata that air bag communicates；
Baroceptor in drive shaft and is extend into air bag, the atmospheric pressure value p for detecting inside air bag；
Controller is electrically connected in the first test point, baroceptor, solenoid valve and inflator pump, when controller connects
When receiving first detection signal, controller control inflator pump, solenoid valve start with to airbag aeration, the air pressure in air bag
Stop to airbag aeration when value p rises to atmospheric pressure value p1 from initial gas pressure value p0.
Through the above technical solutions, the crawl device is placed in the duct, crawl device advances in the duct, is met in crawl device
To compared with macrorelief highland, stone when, crawl device main body experience raising and lowering process, wherein main body decline process
Middle to generate certain inclination, when declining inclination, detection sphere touches the first test point, the first test point output one first
Signal is detected to controller, controller control inflator pump, solenoid valve startup are inflated 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 installing gap, is fallen as a result, in walking component
When lower, air bag is contacted prior to walking component with ground, achievees the effect that avoid main body damping, buffering the camera shooting on crawl device
Device occur in impact damage, shake fall, position offset, cause photographic device shoot picture exist offset the case where, to carry
The riding stability of high crawl device in the duct.
Preferably, there is in the shell placing groove for detecting sphere placement and be connected to respectively with placing groove
There is test point a and test point b, the test point a to be located in test chamber a for test chamber a and test chamber b, first test point,
The test point b is located in test chamber b；
When the crawl device is in forward traveling, the controller control test point b is without detecting work；
When the crawl device is in fallback state, the controller control test point a is without detecting work.
Through the above technical solutions, crawl device forward traveling and fallback state are distinguished, to effectively improve crawl device
In the duct when driving, the precision that the first test point detects main body heeling condition.
Preferably, the joining place of the test chamber a, test chamber b and placing groove offers the first inclined-plane.
Through the above technical solutions, crawl device is in the duct when driving, passes through small stone etc. unavoidably and detection sphere is caused to exist
It beats in placing groove, by the setting on the first inclined-plane, detection sphere is rebooted into entrance when detecting sphere and jumping out placing groove
Into placing groove, to improve accuracy of detection of first test point for detection sphere.
Preferably, first driving wheel is equipped with electric control lock, and the drive shaft is equipped with the lock tongue grafting for electric control lock
To realize the fixed lockhole of the first driving wheel；
The detection sphere is made of buoyant material, and the shell is equipped with the straight slot communicated with placing groove, the shell
Have on body and be equipped with the second test point in the test chamber c, the test chamber c opposite with placing groove, is detected in the second test point
One second detection signal of output when sphere triggers；
The controller, which is additionally operable to receive the second detection signal, to be exited with the lock tongue for controlling electric control lock from lockhole, and is controlled
Inflator pump processed, solenoid valve start so as to airbag aeration, the atmospheric pressure value p in air bag rises to atmospheric pressure value p2 from initial gas pressure value p0
When stop to airbag aeration.
Through the above technical solutions, due to the misoperation of staff, when not planning a successor in front of pipeline, if in tomography
There are puddles, cause water to cover the damage that photographic device will cause photographic device if puddle is too deep, enter as a result, in the crawl device
When puddle, detection sphere will float under the buoyancy of water body, and when the depth of water is too deep, and detection sphere will touch the second detection
Point so that for the second detection signal of the second test point output to controller, controller controls electric control lock action, and accordingly control inflation
Pump, solenoid valve start to airbag aeration, at this point, the first driving wheel slides 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, to which the crawl device will be swum under the action of air bag on the water surface, is avoided
Cause that photographic device is paddled and is damaged.
Preferably, it is provided with cavity in the detection sphere, foam beads are filled in the cavity.
Through the above technical solutions, foam beads can improve degree of floating of the detection sphere in water body.
Preferably, fixed disk is installed in the drive shaft, is connected on the fixed disk for providing the first driving wheel
The resetting spring of axial motive force.
Through the above technical solutions, after detection sphere falls back in placing groove, inflator pump no longer to airbag aeration, resets
The setting of spring resets the first driving wheel with facilitating.
Preferably, the test chamber c and test chamber a, test chamber b joining place be provided with the second inclined-plane.
Through the above technical solutions, the setting on the second inclined-plane, when detection sphere floats in water body, the second inclined-plane can rise
To the effect of guiding so that detection sphere can be stablized enters in test chamber c.
Preferably, it is surround on the outer wall of the air bag and is interspersed with tightening elastic string.
Through the above technical solutions, tightening elastic string can tighten air bag, avoid gas when air bag is not inflated
Capsule is exposed to outside installation gap, is interfered to the operation of the crawl device.
Preferably, the connecting elements includes the installation axle sleeve by bearing installation on the driving shaft, the installation axle sleeve
Outer wall on be connected with holder, the installation axle sleeve is connected to by holder in main body, and the tracheae is connected to installation axle and puts on
To be communicated with inside it, the through-hole communicated with inside installation axle sleeve is offered in the drive shaft.
Through the above technical solutions, the installation axle sleeve by bearing installation on the driving shaft, can ensure to install axle sleeve not
With drive shaft turns.
Preferably, it is connected with aspiration pump on the solenoid valve, the first test point is touched in detection sphere and is examined from first
After being detached from measuring point, the controller control aspiration pump starts after preset time to be evacuated to air bag, the air pressure in air bag
Stop being evacuated air bag when value p drops to initial gas pressure value p0 from atmospheric pressure value p1.
Through the above technical solutions, being evacuated to air bag by aspiration pump, to improve atmospheric pressure value p declines in air bag
Speed.
In conclusion the present invention having the beneficial effect that in contrast to the prior art：
When component of walking is fallen, air bag is contacted prior to walking component with ground, reaches the effect to main body damping, buffering
Fruit, avoid the photographic device on crawl device occur in impact damage, shake fall, position offset, cause photographic device shoot picture
There is the case where offset in face, to improve the riding stability of crawl device in the duct；The application is more compared to traditional crawl device
Add energy saving resources, contribute to Green Development.
Description of the drawings
Fig. 1 is the structural schematic diagram of embodiment；
Fig. 2A is the driving schematic diagram of crawl device；
Fig. 2 B are the structural schematic diagram of detection components；
Status diagram when Fig. 3 is air bag pressure value p；
Status diagram when Fig. 4 is air bag pressure value p1；
Status diagram when Fig. 5 is air bag pressure value p2；
Fig. 6 is the status diagram that crawl device goes up a slope；
Fig. 7 is the status diagram of crawl device descending；
Fig. 8 is the status diagram that crawl device is paddled；
Fig. 9 is the system block diagram of controller in embodiment.
Reference numeral：1, main body；2, walking component；201, drive shaft；202, the first driving wheel；203, the second driving wheel；
204, gap is installed；205, sprocket wheel；206, driving motor；207, transmission chain；3, detection components；301, shell；302, ball is detected
Body；303, placing groove；304, test chamber a；305, test chamber b, 306, test point a；307, test point b；308, the first inclined-plane；
309, cavity；310, foam beads；311, straight slot；312, test chamber c；313, the second test point；314, the second inclined-plane；4, it buffers
Component；401, tracheae；402, air bag；403, elastic string is tightened；404, stomata；405, connecting elements；4051, bearing；4052, pacify
Fill axle sleeve；4053, holder；4054, through-hole；4055, sealing cover；406, solenoid valve；407, inflator pump；5, baroceptor；6、
Electric control lock；7, lockhole；8, fixed disk；9, resetting spring；10, aspiration pump；11, photographic device；12, mounting bracket；13, storage chamber；
14, pipeline rehabilitation agent；15, pipeline；16, pipeline pump；17, nozzle；18, conduit.
Specific implementation mode
Below in conjunction with attached drawing, invention is further described in detail.
In conjunction with 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, photographic device 11 is equipped on mounting bracket 12, is additionally provided in main body 1
Storage chamber 13, pipeline rehabilitation agent 14 is filled in storage chamber 13, and storage chamber 13 is connected with pipeline pump 16 by pipeline 15, is installing
Nozzle 17 is additionally provided on frame 12, nozzle 17 is connected to by conduit 18 in pipeline pump 16；It is shot as a result, by photographic device 11
Picture in pipeline is finding that control pipeline pump 16 starts, and pipeline pump 16 extracts in storage chamber 13 there are when slight crack in pipeline
Pipeline rehabilitation agent 14, pipeline rehabilitation agent 14 spray under the pressurization of pipeline pump from nozzle 17, to be sprayed on slight crack, reach
To the purpose of repairing slight crack.
In the present embodiment, walking component 2 be installed in main body 1, in the present embodiment, walking component 2 set there are 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 both ends is correspondingly provided with sprocket wheel 205 in drive shaft 201, and driving motor 206 is provided in main body 1, driving
The output shaft of motor 206 is connected on sprocket wheel 205 by transmission chain 207 to drive drive shaft 201 to rotate.
Drive wheel group includes the second driving wheel 203 being arranged in the first driving wheel 202 of inside and setting on the outside, this reality
It applies in example, the first driving wheel 202 is equipped with electric control lock 6, and drive shaft 201 is equipped with lock tongue grafting for electric control lock 6 to realize the
One driving wheel, 202 fixed lockhole 7, the second driving wheel 203 are fixed on using screw in drive shaft 201.It is worth noting that 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 are including shell 301 and are set to shell
Detection sphere 302 in 301 has the first test point on shell 301, and when main body 1 tilts, detection sphere 302 touches first
Test point is to export corresponding first detection signal, and in one embodiment, the first test point uses contact switch.
It is worth noting that accordingly having the placing groove 303 and difference for detecting the placement of sphere 302 in shell 301
The test chamber a304 and test chamber b305 being connected to placing groove 303, wherein there is the first test point, the first detection on shell 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 controls test point b307 without detecting work；When this is creeped
When device is in fallback state, controller controls test point a306 without detecting work.
Wherein, test chamber a304, test chamber b305 and the joining place of placing groove 303 offer 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 in clipping room
In gap 204, around tightening elastic string 403 is interspersed on the outer wall of air bag 402, it is additionally provided in 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 on tracheae 401
Magnet valve 406 is connected with inflator pump 407 on solenoid valve 406.In the present embodiment, connecting elements 405 includes being installed by bearing 4051
Installation axle sleeve 4052 in drive shaft 201 is installed and is connected with holder 4053 on the outer wall of axle sleeve 4052, and installation axle sleeve 4052 is logical
Cross the connection of holder 4053 on the body 1, tracheae 401 is connected on installation axle sleeve 4052 to be communicated with inside it, in drive shaft 201
Offer the through-hole 4054 communicated with inside installation axle sleeve 4052.It is worth noting that being mounted on installation axle sleeve in bearing 4051
After in 4052, the both ends of installation axle sleeve 4052 add sealing cover 4055 and are sealed.
Baroceptor 5 is set in drive shaft 201 and extend into air bag 402, and baroceptor 5 is for detecting air bag
Atmospheric pressure value p inside 402.
As shown in figure 9, controller is electrically connected in the first test point, baroceptor 5, solenoid valve 406, aspiration pump 10
With inflator pump 407, when controller receives first detection signal, controller controls inflator pump 407 and starts, and passes through solenoid valve
406 so that inflator pump 407 inflates 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 when p1.
In the present embodiment, there are four the quantity settings of air bag 402, and four air bags 402 are located at one by one in installation gap 204,
Wherein, baroceptor 5 is correspondingly provided with four, and each baroceptor 5 is installed on one by one in air bag 402.It is worth explanation
It is that there are two the settings of detection components 3, and each detection components 3 are independently detected, and by controller in head end, tail end
Buffer Unit 4, walking component 2 are independently controlled.
With reference to shown in Fig. 2 B, detection sphere 302 is made of buoyant material, and cavity is provided in detection sphere 302
309, foam beads 310 are filled in cavity 309.Wherein, the straight slot 311 communicated with placing groove 303 is equipped on shell 301,
Straight slot 311 is located at the bottom of placing groove 303, has the test chamber c312 opposite with placing groove 303, test chamber on shell 301
It is equipped with the second test point 313 in c312, the joining place of test chamber c312 and test chamber a304, test chamber b305 are provided with second
Inclined-plane 314.
In the present embodiment, the second test point 313 uses contact switch, and being detected sphere 302 in the second test point 313 touches
One second detection signal of output when hair.
As shown in figure 9, controller is additionally operable to receive the second detection signal to control the lock tongue of electric control lock 6 from lockhole 7
Exit, and control inflator pump 407, solenoid valve 406 starts to be inflated to air bag 402, 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.
It is worth noting that as shown in figure 3, be equipped with fixed disk 8 in drive shaft 201, reset bullet is connected on fixed disk 8
One end of spring 9, resetting spring 9 is connected on fixed disk 8, the other end of resetting spring 9 be connected on the first driving wheel 202 with
In 202 axial motive force of the first driving wheel of offer.
As shown in Figure 1, being connected with aspiration pump 10 on solenoid valve 406, in the present embodiment, solenoid valve 406 uses threeway electromagnetism
Valve 406, after detection sphere 302 touches the first test point and is detached from from the first test point, controller controls solenoid valve 406
So that air bag 402 is connected with aspiration pump 10, and controls aspiration pump 10 and starts after preset time to be evacuated to air bag 402,
Stop being evacuated air bag 402 when atmospheric pressure value p in air bag 402 drops 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：
It in conjunction with shown in Fig. 6, Fig. 7 and Fig. 8, is illustrated by taking crawl device forward traveling as an example, which is placed on pipe
In road, crawl device advances in the duct, when crawl device encounters the highland compared with macrorelief, stone, in the experience of main body 1 of crawl device
The process for rising and declining, wherein will generate certain inclination during main body 1 declines, when declining inclination, detect sphere
302 touch the first test point (test point a306), and the first test point exports a first detection signal to controller, controller control
Inflator pump 407 processed, the startup of solenoid valve 406 are inflated air bag 402, by the atmospheric pressure value p in air bag 402 from initial gas pressure value p0
It is charged to atmospheric pressure value p1 so that air bag 402 distending and protrudes from the surface of drive wheel group in installing gap 204, is walking as a result,
When component 2 is fallen, air bag 402 is contacted prior to walking component 2 with ground, achievees the effect that, to 1 damping of main body, buffering, to avoid climbing
Photographic device 11 on row device occur in impact damage, shake fall, position offset, cause photographic device 11 shoot picture exist
The case where offset, to improve the riding stability of crawl device in the duct.
After detection sphere 302 touches the first test point and is detached from from the first test point, controller controls solenoid valve
406 with aspiration pump 10 to be connected, and controls aspiration pump 10 and start after preset time to be evacuated to air bag 402, in air bag 402
In atmospheric pressure value p stop when dropping to initial gas pressure value p0 from atmospheric pressure value p1 being evacuated air bag 402.
Wherein, due to the misoperation of staff, when not planning a successor in front of pipeline, if there are puddles in tomography, if
Puddle is too deep to cause water to cover the damage that photographic device 11 will cause photographic device 11, and entering puddle in the crawl device as a result, relates to
When water, detection sphere 302 will float under the buoyancy of water body, and when the depth of water is too deep, and detection sphere 302 will touch the second inspection
Measuring point 313 so that the second detection signal of the second test point 313 output is to controller, and controller controls electric control lock 6 and acts, control
Solenoid valve 406 is transferred on the pipeline being connected with inflator pump 407, and accordingly control inflator pump 407 starts to be filled to air bag 402
Gas, at this point, the first driving wheel 202 slides under the driving of the air bag 402 of distending along drive shaft 201, and will be in air bag 402
Atmospheric pressure value p rises to atmospheric pressure value p2 from initial gas pressure value p0, to which the crawl device will swim in the water surface under the action of air bag 402
On, it avoids that photographic device 11 is caused to paddle and damage.
The above is only the exemplary embodiment of the present invention, protection domain and is not intended to limit the present invention, this hair
Bright protection domain is determined by the attached claims.
Claims (10)
1. a kind of pipeline non-excavation rehabilitation crawl device, including main body (1), characterized in that the crawl device further includes：
Walk component (2), be installed in main body (1), the walking component (2) include in hollow setting drive shaft (201) and
Two drive wheel groups for being symmetrically arranged on drive shaft (201) both ends, wherein drive wheel group includes the first driving being arranged in inside
The second driving wheel (203) of (202) and setting on the outside is taken turns, 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), the detection components (3) include shell (301) and be set to shell (301)
Interior detection sphere (302) has the first test point, when main body (1) tilts, the detection sphere on the shell (301)
(302) the first test point of touching is to export corresponding first detection signal；
Buffer Unit (4), the Buffer Unit (4) include tracheae (401) and air bag (402), and air bag (402) setting is in 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 solenoid valve (406), is additionally provided in drive shaft (201) and is communicated with air bag (402)
Stomata (404)；
Baroceptor (5) is set in drive shaft (201) and extend into air bag (402), internal for detecting air bag (402)
Atmospheric pressure value p；
Controller, is electrically connected in the first test point, baroceptor (5), solenoid valve (406) and inflator pump (407), when
When controller receives first detection signal, the controller control inflator pump (407), solenoid valve (406) start with to air bag
(402) it inflates, stops to air bag (402) when the atmospheric pressure value p in air bag (402) rises 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, characterized in that in the shell (301)
With for detecting the placing groove (303) that sphere (302) is placed and the test chamber a being connected to respectively with placing groove (303)
(304) and test chamber b (305), first test point have test point a (306) and test point b (307), the test point a
(306) it is located in test chamber a (304), the test point b (307) is located in test chamber b (305)；
When the crawl device is in forward traveling, the controller control test point b (307) is without detecting work；
When the crawl device is in fallback state, the controller control test point a (306) is without detecting work.
3. a kind of pipeline non-excavation rehabilitation crawl device according to claim 2, characterized in that the test chamber a
(304), test chamber b (305) and the joining place of placing groove (303) offer the first inclined-plane (308).
4. a kind of pipeline non-excavation rehabilitation crawl device according to claim 2, characterized in that first driving wheel
(202) it is equipped with electric control lock (6), the drive shaft (201) is equipped with the lock tongue grafting for electric control lock (6) to realize the first driving
Take turns (202) fixed lockhole (7)；
The detection sphere (302) is made of buoyant material, and the shell (301) is equipped with and communicates with placing groove (303)
Straight slot (311) has the test chamber c (312) opposite with placing groove (303), the test chamber c (312) on the shell (301)
In be equipped with the second test point (313), in the second test point (313) be detected sphere (302) triggering when output one second detection letter
Number；
The controller, which is additionally operable to receive the second detection signal, to be exited with the lock tongue for controlling electric control lock (6) from lockhole (7), and
Control inflator pump (407), solenoid valve (406) starts to be inflated to air bag (402), 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, characterized in that the detection sphere
(302) it is provided with cavity (309) in, foam beads (310) are filled in the cavity (309).
6. a kind of pipeline non-excavation rehabilitation crawl device according to claim 4, characterized in that the drive shaft (201)
On fixed disk (8) is installed, be connected on the fixed disk (8) and 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, characterized in that the test chamber c (312)
The joining place of test chamber a (304), test chamber b (305) are provided with the second inclined-plane (314).
8. a kind of pipeline non-excavation rehabilitation crawl device according to claim 4, characterized in that the air bag (402)
It is surround on outer wall and is interspersed with tightening elastic string (403).
9. a kind of pipeline non-excavation rehabilitation crawl device according to claim 1, characterized in that the connecting elements
(405) include the installation axle sleeve (4052) being mounted on by bearing (4051) in drive shaft (201), the installation axle sleeve (4052)
Outer wall on be connected with holder (4053), the installation axle sleeve (4052) is connected to by holder (4053) in main body (1), described
Tracheae (401) is connected in installation axle sleeve (4052) to be communicated with inside it, is offered on the drive shaft (201) and installation axle
The through-hole (4054) communicated inside set (4052).
10. a kind of pipeline non-excavation rehabilitation crawl device according to claim 1, characterized in that the solenoid valve (406)
On be connected with aspiration pump (10), in detection sphere (302) touch the first test point and from the first test point be detached from after, it is described
Controller controls aspiration pump (10) and starts after preset time to be evacuated to air bag (402), 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.
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| CN201710261646.9A CN106870871B (en) | 2017-04-20 | 2017-04-20 | A kind of pipeline non-excavation rehabilitation crawl device |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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 |
| CN114251539B (en) * | 2021-12-27 | 2022-09-02 | 中技智能科技(盐城)有限公司 | Ultraviolet curing integrated vehicle adaptive to drainage pipelines with different pipe diameters |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| EP2085155A1 (en) * | 2008-01-31 | 2009-08-05 | HAPP Technology Ltd. | Method and apparatus for inspecting the integrity of pipeline walls |
| DE102008010438A1 (en) * | 2008-02-21 | 2009-08-27 | Weuffen, Dieter | Channel inspection robot with digital data transmission |
| RU2451867C2 (en) * | 2010-06-17 | 2012-05-27 | Открытое акционерное общество "Газпром" | In-tube control apparatus and method for moving it in gas main with preset uniform velocity |
| CN204692902U (en) * | 2015-05-18 | 2015-10-07 | 卢怡青 | A kind of support guide mechanism of pipeline cleaner of reducing |
| CN105065846B (en) * | 2015-07-24 | 2020-01-10 | 天津市水利科学研究院 | Underground pipeline repairing system and underground pipeline repairing method |
| CN105240644B (en) * | 2015-07-31 | 2018-01-02 | 厦门安越非开挖工程技术股份有限公司 | A kind of pipe crack prosthetic device and restorative procedure |
| CN105114758B (en) * | 2015-09-22 | 2017-06-23 | 西南石油大学 | A kind of pipe detector actuator |
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Effective date of registration: 20240614 Address after: Room 1618, East Bank First Building, Qinghua East Bank Business Center, No. 866 Chuangxin 1st Road, Nanchang High tech Industrial Development Zone, Nanchang City, Jiangxi Province, 330224 Patentee after: Nanchang Jiantong Installation Group Co.,Ltd. Country or region after: China Address before: No. 6 Wenhua Road, Zhuangyuan Town, Longwan District, Wenzhou City, Zhejiang Province, 325011 Patentee before: WENZHOU LONGWAN DISTRICT MUNICIPAL ENGINEERING CO. Country or region before: China |
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