CN111750205A

CN111750205A - Municipal pipeline repairing device and repairing method thereof

Info

Publication number: CN111750205A
Application number: CN202010569281.8A
Authority: CN
Inventors: 冯静; 潘峰; 江林峰; 张宏伟; 毛亮
Original assignee: Xiangsheng Construction Engineering Co ltd
Current assignee: Xiangsheng Construction Engineering Co ltd
Priority date: 2020-06-20
Filing date: 2020-06-20
Publication date: 2020-10-09

Abstract

The invention relates to a municipal pipeline repairing device, which belongs to the technical field of municipal facilities and comprises a moving cylinder, wherein a moving driving mechanism is arranged on the moving cylinder, each moving driving mechanism comprises a plurality of rod bodies, a rotating rod is arranged at the end part of each rod body far away from the moving cylinder, the rotating rod is sleeved and rotatably connected on the rod body, a fixed plate is arranged at the end part of the rotating rod far away from the rod body and parallel to the rotating rod, a rotating shaft is penetrated and rotatably connected on the fixed plate, a roller is sleeved and fixedly connected at one end of the rotating shaft, a first motor for driving the rotating shaft to drive the roller to rotate is fixedly arranged on the fixed plate, a first driving piece for driving the rotating rod to drive the fixed plate to rotate is arranged on the rod body, a sealing plate is arranged at one end of the moving cylinder, a mounting plate is arranged on the sealing, the storage battery is arranged in the movable cylinder, and the spraying effect on any position in the circumferential direction of the pipeline is achieved.

Description

Municipal pipeline repairing device and repairing method thereof

Technical Field

The invention relates to the technical field of municipal facilities, in particular to a municipal pipeline repairing device and a repairing method thereof.

Background

After running for many years, various pipelines are inevitably damaged and leaked due to corrosion, poor running management and other reasons, so that serious economic loss is brought, but the whole pipeline is replaced by a new pipeline, so that the engineering quantity is huge, the cost is high, and the engineering period is long. The pipeline repairing refers to that various technologies are adopted for repairing damaged and leaked conveying pipelines to restore the normal use function of the pipelines, and the repairing comprises two technologies of repairing an outer anticorrosive layer and repairing an inner anticorrosive layer.

Chinese patent with publication number CN208050230U discloses a spraying construction vehicle for repairing drainage pipeline, which comprises a bottom plate, a material box, a motor, a transmission shaft, an infusion pump, a liquid spraying pipe and a roller, and is characterized in that: the bottom plate set up on the support, the workbin set up on the bottom plate, the motor setting on the workbin outer wall, the transmission shaft set up in the workbin, the transfer pump set up on the bottom plate, hydrojet pipe both ends be provided with the connecting rod, be provided with the nozzle on hydrojet pipe, pass the riser with the connecting rod, the gyro wheel setting on the support. The utility model discloses set up the spray tube into the arc structure to pass through connecting rod, fastening nut with the spray tube and set up to the structure that can rotate between riser and riser, can be on the riser swivelling joint pole through adjusting fastening nut, and then can rotate the spray tube, make spray tube and spray tube on the nozzle can carry out the feed liquid spraying on the drain pipe inner wall, improve workbin spraying homogeneity, reduced the waste of feed liquid.

The above prior art solutions have the following drawbacks: when the construction vehicle for spraying and repairing is positioned in a pipeline to repair the pipeline, the nozzle can only spray and repair the area above the horizontal direction of the bottom plate, and cannot repair the pipeline at the lower part of the bottom plate, so that the applicability of the whole spraying construction vehicle is reduced.

Disclosure of Invention

Aiming at the defects in the prior art, the invention aims to provide the municipal pipeline repairing device for comprehensively spraying and repairing the inner wall of the pipeline.

The above object of the present invention is achieved by the following technical solutions: a municipal pipeline repairing device comprises a moving cylinder, wherein walking driving mechanisms are arranged on the outer wall of the moving cylinder and at positions close to the two ends of the moving cylinder respectively, each walking driving mechanism comprises a rod body respectively located at the positions of the four corners of the outer wall of the moving cylinder, the end part, far away from the moving cylinder, of each rod body is provided with a rotating rod, the rotating rod is sleeved and rotatably connected onto the rod body, the end part, far away from the rod body, of each rotating rod is provided with a fixed plate in parallel with the rotating rod, the fixed plate is penetrated and rotatably connected with a rotating shaft, one end of the rotating shaft is sleeved and fixedly connected with a roller, a first motor for driving the rotating shaft to drive the roller to rotate is fixedly arranged on the fixed plate, a first driving part for driving the rotating rod to drive the fixed plate to rotate is arranged on the rod body, one end of the moving cylinder is provided with a, the device is characterized in that a mounting plate is arranged on the closing plate and perpendicular to the closing plate, a camera detection device and a spraying repair device are arranged on the mounting plate, and a storage battery is arranged in the movable cylinder.

By adopting the technical scheme, the first driving piece can drive the rotating rod to rotate, so that the rotating rod drives the rotating shaft to rotate to a state parallel to the pipeline, and at the moment, the first motor can drive the roller to rotate, so that the whole moving cylinder is positioned in the pipeline to rotate, the spraying repair device can perform spraying repair towards any position in the circumferential direction of the pipeline, and the applicability of the whole pipeline repair device is improved; the storage battery can supply power to the electricity utilization part of the pipeline repairing device; the stability of the whole movable cylinder in the pipeline during walking is improved by adopting the two groups of walking driving mechanisms.

The present invention in a preferred example may be further configured to: first driving piece establishes and fixed connection is including the cover first gear on the dwang, the fixed second motor that is provided with on the body of rod, the cover is established and fixedly connected with is used for the second gear with first gear engagement on the drive end of second motor.

Through adopting above-mentioned technical scheme, when needs drive dwang lie in the body of rod and rotate, drive second gear through the second motor and rotate, the second gear can drive first gear revolve this moment to make first gear drive dwang rotate, thereby the direction of adjusting the gyro wheel adopts the engaged mode of first gear and second gear, its simple structure, and the regulation mode to the position of gyro wheel is convenient simple.

The present invention in a preferred example may be further configured to: the utility model discloses a telescopic pole, including the body of rod, the body of rod sets up to extending structure, and extending structure includes the dead lever and pegs graft and the grafting pole of sliding connection in the dead lever, be provided with the spring in the body of rod, the both ends of spring fixed connection respectively is kept away from on its grafting position's diapire to dead lever and grafting pole, the tip setting that the dead lever was kept away from to the grafting pole is on a removal section of thick bamboo, the dwang cover is established and is rotated and connect on the tip that the grafting pole was.

Through adopting above-mentioned technical scheme, the setting of dead lever, peg graft pole and spring can make running gear be applicable to the pipeline of different diameters, has improved running gear's suitability to through driving the gyro wheel and resisting the elasticity butt joint of spring to the inner wall of pipeline, improved the frictional force between gyro wheel and the pipeline inner wall, thereby improved the walking effect that whole removal section of thick bamboo is located the pipeline.

The present invention in a preferred example may be further configured to: the outer wall of the moving cylinder is provided with a first electric cylinder at the position where each rod body is located, and the end part, far away from the fixed rod, of the insertion rod is fixedly connected to the driving end of the first electric cylinder.

Through adopting above-mentioned technical scheme, drive the body of rod through first electric jar and remove towards pipeline inner wall to make things convenient for the adjusting roller to resist the butt effect between the elasticity of spring and the pipeline inner wall, when needs drive the removal section of thick bamboo and lie in the pipeline and walk, can suitably reduce the butt power between gyro wheel and the pipeline inner wall, when removing a section of thick bamboo needs to be fixed to the pipeline in, can increase the butt power between gyro wheel and the pipeline inner wall.

The present invention in a preferred example may be further configured to: the hinge plate is arranged on the outer wall of the moving cylinder and located at the position where each first electric cylinder is located, hinge plates are arranged between every two hinge plates, the first electric cylinders are fixedly arranged on the connection plates, hinge shafts which are connected to the hinge plates on two sides in a penetrating and rotating mode are fixedly arranged on two sides of the connection plates respectively, and a second driving piece which is used for driving the hinge shafts to rotate on the hinge plates and to drive the rod body to rotate is arranged on the moving cylinder.

Through adopting above-mentioned technical scheme, lie in the articulated slab through the articulated shaft that drives on the articulated slab and rotate, conveniently adjust the position of every body of rod, when the barrier appears in the pipeline, the accessible adjusts the position of pole body, prevents that the barrier in the pipeline from causing to block to the removal that whole removal section of thick bamboo is located the pipeline, has further improved the walking effect that whole removal section of thick bamboo is located the pipeline to can further be applicable to the pipeline of unnecessary shape and specification.

The present invention in a preferred example may be further configured to: the second driving piece is provided with and fixed connection is in articulated shaft one end turbine including the cover, the position that just is located every turbine place on the outer wall of a removal section of thick bamboo all is provided with the third motor, the fixed worm that is used for with the worm nibbling that is provided with on the drive end of third motor.

Through adopting above-mentioned technical scheme, when the position of the body of rod needs to be adjusted, drive the worm through the third motor and rotate, the worm can drive the turbine and rotate this moment to make the turbine drive the articulated shaft and rotate, thereby adjust the position of the body of rod, the mode that adopts worm drive turbine has self-locking function, can drive the body of rod and fix the position to after the arbitrary removal, and its simple structure, the regulation mode to the body of rod is convenient simple.

The present invention in a preferred example may be further configured to: the closed plate is fixedly provided with a second electric cylinder, the mounting plate is fixedly connected to the driving end of the second electric cylinder, the camera detection device comprises a first camera and a second camera, the first camera is fixedly connected to the surface of the mounting plate, which is far away from the second electric cylinder, the second camera is fixedly connected to the edge of the mounting plate, which is far away from the closed plate, the second camera and the first camera are arranged in a mutually perpendicular mode, the spraying repair device comprises a spray head which is arranged on the mounting plate in a penetrating mode, the spray head is arranged at a position adjacent to the first camera, a storage box for storing spraying repair materials is fixedly arranged in the moving cylinder and at a position adjacent to the storage battery, a feeding pipe and a discharging pipe are respectively communicated with the storage box, a feeding pipe is arranged between the discharging pipe and the input end of the spray head, and two ends of the feeding pipe are respectively communicated with the input ends of the discharging pipe and the spray head, the discharging pipe is provided with a pipeline pump, the feeding pipe is provided with a feeding switch, and the closing plate is provided with a through hole for the feeding pipe to pass through.

By adopting the technical scheme, the second electric cylinder can drive the mounting plate to move towards the inner wall of the pipeline, so that the distance between the spray head and the inner wall of the pipeline as well as the distance between the first camera and the inner wall of the pipeline are adjusted, the repairing effect of the spray head is improved, the observation effect of the first camera is improved, and the first camera is matched with the spray head to conveniently observe the repairing condition of the pipeline; the second camera can carry out all-round observation to the pipeline at the in-process that removes a walking, conveniently seeks damaged position in the pipeline.

The present invention in a preferred example may be further configured to: the utility model discloses a shower nozzle, including mounting panel, shower nozzle, seal plate, the last position that just is located the shower nozzle place of mounting panel has seted up the bar opening, bar open-ended length direction sets up along the plane that is on a parallel with the seal plate place, the both sides that just are located the shower nozzle on the shower nozzle are fixed to be provided with and are used for wearing to establish and rotate the installation pole of connecting on the face that the bar opening is relative, be provided with on the mounting panel and be used for driving the shower nozzle along the reciprocal swing of bar open-ended length direction, with drive installation pole and be located bar open-ended.

Through adopting above-mentioned technical scheme, the third driving piece can drive the shower nozzle and rotate along the open-ended length direction of strip to make the wobbling repair material to the spraying of damaged department of shower nozzle, improved the spraying area of shower nozzle, thereby improved the repair effect to the damaged department of pipeline, when the damaged position of pipeline is great, need not to drive whole removal section of thick bamboo and drive the shower nozzle and be located the pipeline internal rotation and restore the damage of large tracts of land.

The present invention in a preferred example may be further configured to: the fourth driving part comprises a reciprocating electric cylinder fixedly arranged on the surface of the mounting plate deviating from the second electric cylinder, a circular ring is hinged to the driving end of the reciprocating electric cylinder, and the circular ring is sleeved with the circular ring and is connected to the spray head in a sliding mode.

Through adopting above-mentioned technical scheme, reciprocal electric jar can drive ring reciprocating motion, and the ring can drive the shower nozzle and be located the swing in the bar opening this moment, and the ring can be located the shower nozzle and move and drive the pin joint that the ring is located reciprocal electric jar drive end at the same time and rotate for the shower nozzle is accomplished the swing, adopts its simple structure of setting up of reciprocal electric jar and ring, and is better to the drive effect of shower nozzle.

Aiming at the defects in the prior art, the second purpose of the invention is to provide a municipal pipeline repairing method for comprehensively spraying and repairing the inner wall of the pipeline.

The above object of the present invention is achieved by the following technical solutions: the municipal pipeline repairing method comprises the municipal pipeline repairing device and comprises the following steps:

s1: the movable cylinder is placed in a pipeline to be repaired through a ground well, the rod body is driven to move towards the inner wall of the pipeline through the first electric cylinder, the inserting rod can be driven to be positioned in the fixed rod to extrude the spring, and therefore the roller on the fixed plate resists the elastic force of the spring and is abutted to the inner wall of the pipeline;

s2: the second gear is driven to rotate by the second motor, the first gear can be driven to rotate by the second gear at the moment, so that the rotating rod is driven to rotate by the first gear, the rotating rod can drive the rotating shaft on the fixing plate to rotate to a state perpendicular to the axis of the pipeline, the rollers can be driven to rotate by the first motor at the moment, the plurality of rollers can drive the whole moving cylinder to move in the pipeline by means of friction force between the rollers and the pipeline, and the damaged repair part of the pipeline is observed according to pictures transmitted by the second camera while moving;

s3: when the movable barrel drives the spray head to move to a state opposite to the damaged part to be repaired of the pipeline, the second gear is driven to rotate through the second motor again, so that the second gear drives the first gear to rotate, the first gear can drive the rotating rod to rotate again, the rotating rod can drive the rotating shaft on the fixed plate to rotate to a state parallel to the axis of the pipeline, the roller is driven to rotate through the first motor, the roller can drive the whole movable barrel to rotate in the pipeline, and at the moment, whether the spray head is opposite to the damaged part to be repaired is observed according to a picture transmitted by the first camera;

s4: treat that the shower nozzle is relative back with damaged restoration department, adjust the interval between shower nozzle and the pipeline inner wall through the second electric jar this moment, treat to adjust to suitable position after, open reciprocal electric jar and tubing pump simultaneously, the tubing pump can carry the spraying repair material in the storage tank to the shower nozzle along the feeder pipe in, reciprocal electric jar can drive the shower nozzle along the reciprocal swing of the open-ended length direction of strip this moment to make the shower nozzle reciprocal treat restoration department spraying repair material to the damage, accomplish the repair operation to the pipeline.

Through adopting above-mentioned technical scheme, the second motor can drive the second gear and rotate, and the second gear can drive first gear revolve, thereby make first gear drive dwang rotate, make the dwang drive the axis of rotation and rotate to the state parallel with the pipeline, first motor can drive the gyro wheel and rotate this moment, make whole removal section of thick bamboo be located the pipeline internal rotation, thereby make the shower nozzle carry out the spraying towards pipeline circumference optional position and restore, improved whole pipeline prosthetic devices's suitability.

In summary, the invention includes at least one of the following beneficial technical effects:

1. the second motor can drive the second gear to rotate, the second gear can drive the first gear to rotate, so that the first gear drives the rotating rod to rotate, the rotating rod drives the rotating shaft to rotate to be parallel to the pipeline, at the moment, the first motor can drive the roller to rotate, the whole moving cylinder is positioned in the pipeline to rotate, the spray head can be sprayed and repaired towards any position in the circumferential direction of the pipeline, and the applicability of the whole pipeline repairing device is improved;

2. the arrangement of the fixed rod, the inserting rod and the spring can enable the whole moving cylinder to be suitable for pipelines with different specifications, the applicability of the moving cylinder is improved, the arrangement of the first electric cylinder is convenient for adjusting the abutting force between the roller and the inner wall of the pipeline, and therefore the walking and fixing effects of the moving cylinder in the pipeline are improved;

3. the arrangement of the reciprocating electric cylinder and the circular ring can drive the spray head to swing along the length direction of the strip-shaped opening, so that the repair effect of the spray head on the large damaged position of the pipeline is improved, and the whole movable barrel does not need to be driven to rotate in the pipeline.

Drawings

FIG. 1 is a schematic overall structure;

FIG. 2 is a schematic view showing the structure of the storage battery, the storage bin and the mounting plate;

FIG. 3 is an exploded view of the first gear, the second gear, the worm gear and the worm;

fig. 4 is a schematic view of a half-section structure for showing a spring.

In the figure, 1, a cylinder is moved; 11. a rod body; 111. rotating the rod; 112. a fixing plate; 113. a rotating shaft; 114. a roller; 115. a first motor; 12. a closing plate; 121. mounting a plate; 122. a through hole; 13. a storage battery; 131. a material storage box; 132. a feed pipe; 133. a discharge pipe; 134. a feed switch; 135. a pipeline pump; 136. a feed pipe; 14. a first gear; 141. a second motor; 142. a second gear; 151. fixing the rod; 152. a plug rod; 153. a spring; 154. a first electric cylinder; 155. a hinge plate; 156. a connecting plate; 157. hinging a shaft; 158. a turbine; 159. a third motor; 1591. a worm; 16. a second electric cylinder; 161. a first camera; 162. a second camera; 163. a spray head; 17. a strip-shaped opening; 171. mounting a rod; 172. a reciprocating electric cylinder; 173. a circular ring; 18. a first protective cover; 19. a second protective cover.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

Referring to fig. 1, the municipal pipeline repairing device disclosed by the invention comprises a moving cylinder 1, and walking driving mechanisms are arranged on the outer wall of the moving cylinder 1 and at positions close to two ends of the moving cylinder 1.

Combine fig. 1 and fig. 3, every walking drive mechanism all includes the body of rod 11 that is located the position at a mobile section of thick bamboo 1 outer wall four corners place respectively, the tip of keeping away from a mobile section of thick bamboo 1 of every body of rod 11 all sets up dwang 111, the tip that the body of rod 11 was kept away from to dwang 111 has fixed plate 112 with dwang 111 parallel arrangement, wear to establish and rotate on the fixed plate 112 and be connected with axis of rotation 113 (see fig. 4), axis of rotation 113's a pot head is established and fixedly connected with gyro wheel 114, fixed being provided with is used for driving axis of rotation 113 to drive first motor 115 of gyro wheel 114.

Referring to fig. 1 and 2, a battery 13 is provided in the movable tube 1 to supply power to each of the electric components in the movable tube 1.

Arrange a section of thick bamboo 1 in the pipeline, drive a plurality of gyro wheels 114 butt of a section of thick bamboo 1 circumferential position of removing to the inner wall of pipeline on, when needs drive whole a section of thick bamboo 1 and be located the pipeline and walk, drive axis of rotation 113 through first motor 115 and rotate for axis of rotation 113 drives gyro wheel 114 and rotates, and whole a section of thick bamboo 1 of removing can be located the pipeline this moment and rely on the frictional force between gyro wheel 114 and the pipeline to remove.

With reference to fig. 1 and 2, a closing plate 12 for closing the moving cylinder 1 is disposed at one end of the moving cylinder 1, a mounting plate 121 is disposed on the closing plate 12 and perpendicular to the closing plate 12, and a camera detection device and a spraying repair device are disposed on the mounting plate 121.

With reference to fig. 1 and 2, the camera detection device includes a first camera 161 and a second camera 162, the first camera 161 is fixedly connected to a surface of the mounting plate 121 away from the second electric cylinder 16, the second camera 162 is fixedly connected to an edge of the mounting plate 121 away from the closing plate 12, and the second camera 162 and the first camera 161 are perpendicular to each other.

Referring to fig. 1 and 2, the spraying repair device includes a nozzle 163 penetrating through the mounting plate 121, the nozzle 163 is located adjacent to the first camera 161, a storage tank 131 for storing the spraying repair material is fixedly disposed in the movable cylinder 1 and adjacent to the storage battery 13, the storage tank 131 is respectively communicated with the storage tank 131 and is provided with a feeding pipe 132 and a discharging pipe 133, a feeding pipe 136 is disposed between the discharging pipe 133 and an input end of the nozzle 163, two ends of the feeding pipe 136 are respectively communicated with the discharging pipe 133 and an input end of the nozzle 163, the discharging pipe 133 is provided with a pipe pump 135, the feeding pipe 132 is provided with a feeding switch 134, and the sealing plate 12 is provided with a through hole 122 for the feeding pipe 136 to pass through; in this embodiment, the feed switch 134 is configured as a manual butterfly valve.

Referring to fig. 1 and 2, in order to adjust the distance between the nozzle 163 and the inner wall of the pipeline, thereby improving the repairing effect of the nozzle 163 on the damaged portion of the pipeline, a second electric cylinder 16 is fixedly disposed on the closing plate 12, a mounting plate 121 is fixedly connected to the driving end of the second electric cylinder 16,

with reference to fig. 1 and 2, in order to improve the repairing effect of the nozzle 163 on a large damaged portion, a strip-shaped opening 17 is opened on the mounting plate 121 at a position where the nozzle 163 is located, the length direction of the strip-shaped opening 17 is arranged along a plane parallel to the plane where the closing plate 12 is located, and mounting rods 171 for penetrating and rotatably connecting to opposite surfaces of the strip-shaped opening 17 are fixedly arranged on the nozzle 163 and located at two sides of the nozzle 163.

With reference to fig. 1 and 2, the mounting plate 121 is provided with a fourth driving member for driving the nozzle 163 to swing back and forth along the length direction of the strip-shaped opening 17 so as to drive the mounting rod 171 to rotate on the inner wall of the strip-shaped opening 17; the fourth driving member includes a reciprocating electric cylinder 172 fixedly disposed on a surface of the mounting plate 121 facing away from the second electric cylinder 16, a circular ring 173 is hinged to a driving end of the reciprocating electric cylinder 172, and the circular ring 173 is sleeved and slidably connected to the spray head 163.

Reciprocating electric cylinder 172 can drive ring 173 reciprocating motion, ring 173 can drive shower nozzle 163 and be located the swing in bar opening 17 this moment, ring 173 can be located shower nozzle 163 and move and drive ring 173 and be located the pin joint of reciprocating electric cylinder 172 drive end and rotate simultaneously, make shower nozzle 163 accomplish the swing, tubing pump 135 can pass through feed pipe 136 with the spraying repair material in the storage tank 131 and carry to in shower nozzle 163 this moment, make shower nozzle 163 reciprocal repair the damaged department, the repair effect of shower nozzle 163 to the great damaged department of pipeline has been improved.

In other embodiments, an automatic welding head may be provided on the surface of the mounting plate 121 facing away from the second electric cylinder 16, and the repair of the inner wall of the pipe may be accomplished by welding.

Referring to fig. 1 and 3, in order to drive the entire moving barrel 1 to rotate in the pipeline, the rotating rod 111 is sleeved and rotatably connected to the rod body 11, a first driving member for driving the rotating rod 111 to drive the fixing plate 112 to rotate is disposed on the rod body 11, the first driving member includes a first gear 14 sleeved and fixedly connected to the rotating rod 111, a second motor 141 is fixedly disposed on the rod body 11, and a second gear 142 engaged with the first gear 14 is sleeved and fixedly connected to a driving end of the second motor 141.

Drive second gear 142 through second motor 141 and rotate, second gear 142 can drive first gear 14 and rotate this moment, thereby make first gear 14 drive dwang 111 rotate, thereby adjust the direction of gyro wheel 114, adjust axis of rotation 113 to be the state that is parallel to each other with the axis of pipeline this moment, can drive gyro wheel 114 through first motor 115 and rotate, make gyro wheel 114 can drive whole removal section of thick bamboo 1 and be located the pipeline internal rotation, shower nozzle 163 can carry out the damage towards 360 optional positions in the pipeline and restore this moment, whole pipeline prosthetic devices's suitability has been improved.

Referring to fig. 1 and 3, in this embodiment, in order to prevent the engagement between the first gear 14 and the second gear 142 from being affected by the impurities in the pipe, a first protection cover 18 is disposed on the rod 11 and at the positions of the first gear 14 and the second gear 142, the first gear 14 and the second gear 142 are both disposed in the first protection cover 18, and the rotating rod 111 penetrates through and is rotatably connected to the first protection cover 18.

With reference to fig. 3 and 4, in order to improve the friction between the roller 114 and the inner wall of the pipeline, thereby improving the moving effect of the moving cylinder 1 in the pipeline, the rod body 11 is set to be a telescopic structure, the telescopic structure includes a fixing rod 151 and an inserting rod 152 inserted into the fixing rod 151 and slidably connected to the fixing rod 151, a spring 153 is provided in the rod body 11, two ends of the spring 153 are respectively fixedly connected to the bottom wall of the fixing rod 151 and the bottom wall of the inserting rod 152 far away from the inserting position thereof, the end of the inserting rod 152 far away from the fixing rod 151 is disposed on the moving cylinder 1, and the rotating rod 111 is sleeved and rotatably connected to the end of the fixing rod 151.

With reference to fig. 1 and fig. 3, in order to adjust the abutting force between the roller 114 and the inner wall of the pipeline and improve the moving effect and the fixing effect of the movable cylinder 1 in the pipeline, a first electric cylinder 154 is disposed on the outer wall of the movable cylinder 1 and at the position of each rod 11, and the end of the insertion rod 152 far away from the fixed rod 151 is fixedly connected to the driving end of the first electric cylinder 154.

When the moving cylinder 1 needs to be driven to be located in the pipeline for walking, the electric cylinder drives the roller 114 to move towards the direction away from the inner wall of the pipeline, so that the abutting force between the roller 114 and the inner wall of the pipeline can be properly reduced, the walking effect of the moving cylinder 1 located in the pipeline is improved, when the moving cylinder 1 needs to be fixed in the pipeline, the electric cylinder drives the roller 114 to move towards the inner wall of the pipeline, the abutting force between the roller 114 and the inner wall of the pipeline is increased, and the nozzle 163 is prevented from driving the moving cylinder 1 to be located in the pipeline for moving during spraying.

Referring to fig. 1 and 3, in order to adjust the position of each rod 11 and prevent obstacles in the pipeline from blocking the movement of the moving cylinder 1, hinge plates 155 are oppositely arranged on the outer wall of the moving cylinder 1 at the position of each first electric cylinder 154, a connecting plate 156 is arranged between every two hinge plates 155, the first electric cylinders 154 are fixedly arranged on the connecting plate 156, and hinge shafts 157 which are respectively penetrated through and rotatably connected to the hinge plates 155 on both sides are fixedly arranged on both sides of the connecting plate 156.

With reference to fig. 1 and 3, the moving cylinder 1 is provided with a second driving member for driving the hinge shaft 157 to rotate on the hinge plate 155 to drive the rod body 11 to rotate; the second driving member includes a worm wheel 158 sleeved and fixedly connected to one end of the hinge shaft 157, a third motor 159 is disposed on the outer wall of the movable cylinder 1 and at the position where each worm wheel 158 is located, and a worm 1591 used for meshing with the worm wheel 158 is fixedly disposed on the driving end of the third motor 159.

When the position of the rod body 11 needs to be adjusted, the worm 1591 is driven to rotate through the third motor 159, the worm 1591 can drive the turbine 158 to rotate at the moment, so that the turbine 158 drives the hinge shaft 157 to rotate, the position of the rod body 11 is adjusted, and when encountering obstacles, the rod body 11 can be driven to avoid the obstacles, so that the whole movable barrel 1 can be normally positioned in the pipeline to move, and the moving effect of the movable barrel 1 in the pipeline is improved.

Referring to fig. 1 and 3, in the present embodiment, in order to prevent the engagement between the worm wheel 158 and the worm 1591 from being affected by the impurities in the pipe, a second protective cover 19 is disposed on the moving cylinder 1 at a position where each set of the worm wheel 158 and the worm 1591 is located, the worm wheel 158 and the worm 1591 are located in the second protective cover 19, and the hinge shaft 157 is inserted through and rotatably connected to the second protective cover 19.

A municipal pipeline repairing method comprises a municipal pipeline repairing device and comprises the following steps:

s1: the moving cylinder 1 is placed in a pipeline to be repaired through a ground well, the rod body 11 is driven by the first electric cylinder 154 to move towards the inner wall of the pipeline, and at the moment, the inserting rod 152 can be driven to be positioned in the fixed rod 151 to extrude the spring 153, so that the roller 114 on the fixed plate 112 resists the elastic force of the spring 153 and is abutted against the inner wall of the pipeline;

s2: the second gear 142 is driven to rotate by the second motor 141, at this time, the second gear 142 can drive the first gear 14 to rotate, so that the first gear 14 drives the rotating rod 111 to rotate, the rotating rod 111 can drive the rotating shaft 113 on the fixing plate 112 to rotate to a state perpendicular to the axis of the pipeline, at this time, the roller 114 can be driven to rotate by the first motor 115, so that the plurality of rollers 114 can drive the whole moving cylinder 1 to move in the pipeline by virtue of the friction force between the roller 114 and the pipeline, and the damaged repair part of the pipeline is observed according to the picture transmitted by the second camera 162 while moving;

s3: when the to-be-moved cylinder 1 drives the nozzle 163 to move to a state opposite to the damaged to-be-repaired position of the pipeline, at this time, the second motor 141 drives the second gear 142 to rotate again, so that the second gear 142 drives the first gear 14 to rotate, the first gear 14 can drive the rotating rod 111 to rotate again, the rotating rod 111 can drive the rotating shaft 113 on the fixing plate 112 to rotate to a state parallel to the axis of the pipeline, the first motor 115 drives the roller 114 to rotate, the roller 114 can drive the whole to-be-moved cylinder 1 to rotate in the pipeline, and at this time, whether the nozzle 163 is opposite to the damaged to-be-repaired position is observed according to the picture transmitted by the first camera 161;

s4: after the spray head 163 is opposite to the damaged repair part, the distance between the spray head 163 and the inner wall of the pipeline is adjusted through the second electric cylinder 16, after the spray head is adjusted to a proper position, the reciprocating electric cylinder 172 and the pipeline pump 135 are simultaneously opened, the pipeline pump 135 can convey the spraying repair material in the storage tank 131 into the spray head 163 along the feeding pipe 136, and the reciprocating electric cylinder 172 can drive the spray head 163 to swing back and forth along the length direction of the strip-shaped opening 17, so that the spray head 163 can spray the repair material to the damaged repair part to complete the repair operation of the pipeline.

Second motor 141 can drive second gear 142 and rotate, second gear 142 can drive first gear 14 and rotate, thereby make first gear 14 drive dwang 111 rotate, make dwang 111 drive axis of rotation 113 and rotate to the state parallel with the pipeline, first motor 115 can drive gyro wheel 114 and rotate this moment, make whole removal section of thick bamboo 1 be located the pipeline internal rotation, thereby make shower nozzle 163 can carry out the spraying towards pipeline circumference optional position and restore, whole pipeline prosthetic devices's suitability has been improved.

The embodiments of the present invention are preferred embodiments of the present invention, and the scope of the present invention is not limited by these embodiments, so: all equivalent changes made according to the structure, shape and principle of the invention are covered by the protection scope of the invention.

Claims

1. The utility model provides a municipal administration pipeline prosthetic devices which characterized in that: including a mobile section of thick bamboo (1), the position that just is located the both ends that are close to a mobile section of thick bamboo (1) on the outer wall of a mobile section of thick bamboo (1) all is provided with travel drive mechanism, every travel drive mechanism all includes body of rod (11) that is located the position at a mobile section of thick bamboo (1) outer wall four corners place respectively, every the tip that body of rod (11) was kept away from a mobile section of thick bamboo (1) all sets up dwang (111), dwang (111) cover establish and rotate connect in on the body of rod (11), the tip that body of rod (11) was kept away from to dwang (111) has fixed plate (112) with dwang (111) parallel arrangement, wear to establish and rotate on fixed plate (112) and be connected with axis of rotation (113), the pot head of axis of rotation (113) is established and fixedly connected with gyro wheel (114), fixed being provided with on fixed plate (112) is used for driving axis of rotation (113, be provided with on the body of rod (11) and be used for driving dwang (111) to drive fixed plate (112) pivoted first driving piece, the one end of moving a section of thick bamboo (1) is provided with and is used for moving a section of thick bamboo (1) confined closure plate (12), perpendicular to closure plate (12) is provided with mounting panel (121) on closure plate (12), be provided with detection device and spraying prosthetic devices of making a video recording on mounting panel (121), be provided with battery (13) in the section of thick bamboo of moving (1).

2. The municipal pipeline rehabilitation device according to claim 1, wherein: first driving piece establishes and fixed connection is including the cover first gear (14) on dwang (111), the fixed second motor (141) that is provided with on the body of rod (11), the drive end of second motor (141) goes up the cover and establishes and fixedly connected with is used for second gear (142) with first gear (14) meshing.

3. The municipal pipeline rehabilitation device according to claim 1, wherein: the utility model discloses a fixing rod (151) of a telescopic structure, including the body of rod (11), but the telescopic structure includes dead lever (151) and grafting and plug rod (152) of sliding connection in dead lever (151), be provided with spring (153) in the body of rod (11), the both ends of spring (153) are fixed connection respectively on dead lever (151) and plug rod (152) keep away from its diapire of grafting position, the tip that dead lever (151) were kept away from in plug rod (152) sets up on a removal section of thick bamboo (1), dwang (111) cover is established and is rotated and connect on the tip that plug rod (152) were kept away from in dead lever (151).

4. The municipal pipeline rehabilitation device according to claim 3, wherein: the outer wall of the moving cylinder (1) is provided with a first electric cylinder (154) at the position where each rod body (11) is located, and the end part, far away from the fixed rod (151), of the insertion rod (152) is fixedly connected to the driving end of the first electric cylinder (154).

5. The municipal pipeline rehabilitation device according to claim 4, wherein: the hinge plate (155) is oppositely arranged on the outer wall of the moving barrel (1) and located at the position where each first electric cylinder (154) is located, a connecting plate (156) is arranged between every two hinge plates (155), the first electric cylinders (154) are fixedly arranged on the connecting plate (156), hinge shafts (157) which are respectively penetrated and rotatably connected to the hinge plates (155) on the two sides are fixedly arranged on the two sides of the connecting plate (156), and a second driving piece which is used for driving the hinge shafts (157) to rotate on the hinge plates (155) and drives the rod body (11) to rotate is arranged on the moving barrel (1).

6. The municipal pipeline rehabilitation device according to claim 5, wherein: the second driving part comprises turbines (158) which are sleeved and fixedly connected to one ends of the hinge shafts (157), third motors (159) are arranged on the outer walls of the moving cylinders (1) and at the positions where the turbines (158) are located, and worms (1591) meshed with the turbines (158) are fixedly arranged on the driving ends of the third motors (159).

7. The municipal pipeline rehabilitation device according to claim 1, wherein: the closed plate (12) is fixedly provided with a second electric cylinder (16), the mounting plate (121) is fixedly connected to a driving end of the second electric cylinder (16), the camera detection device comprises a first camera (161) and a second camera (162), the first camera (161) is fixedly connected to a surface of the mounting plate (121) deviating from the second electric cylinder (16), the second camera (162) is fixedly connected to the edge of the mounting plate (121) far away from the closed plate (12), the second camera (162) and the first camera (161) are arranged in a mutually perpendicular mode, the spraying repair device comprises a spray head (163) penetrating the mounting plate (121), the spray head (163) is arranged at a position adjacent to the first camera (161), a storage box (131) used for storing spraying repair materials is fixedly arranged in the moving cylinder (1) and at a position adjacent to the storage battery (13), feed pipe (132) and discharge pipe (133) are provided with storage case (131) respectively to communicate on storage case (131), be provided with between the input of discharge pipe (133) and shower nozzle (163) feed pipe (136), the both ends of feed pipe (136) set up with the input intercommunication of discharge pipe (133) and shower nozzle (163) respectively, be provided with tubing pump (135) on discharge pipe (133), be provided with feed switch (134) on feed pipe (132), offer through-hole (122) that are used for supplying feed pipe (136) to pass on closing plate (12).

8. The municipal pipeline rehabilitation device according to claim 7, wherein: the utility model discloses a shower nozzle, including mounting panel (121), shower nozzle (163) and mounting panel (121), the length direction who just is located shower nozzle (163) on the mounting panel (121) has seted up bar opening (17), the length direction at bar opening (17) sets up along the plane that is on a parallel with closing plate (12) place, the both sides that just are located shower nozzle (163) on shower nozzle (163) are fixed to be provided with and are used for wearing to establish and rotate and connect mounting bar (171) on the face that bar opening (17) are relative, be provided with on mounting panel (121) and be used for driving shower nozzle (163) along the length direction reciprocating swing of bar opening (17), in order to drive mounting bar (171) and be located the fourth drive piece of pivoted on the inner wall of.

9. The municipal pipeline rehabilitation device according to claim 8, wherein: the fourth driving part comprises a reciprocating electric cylinder (172) fixedly arranged on the surface, deviating from the second electric cylinder (16), of the mounting plate (121), a circular ring (173) is hinged to the driving end of the reciprocating electric cylinder (172), and the circular ring (173) is sleeved and connected to the spray head (163) in a sliding mode.

10. A method of rehabilitating municipal pipe comprising the municipal pipe rehabilitation apparatus of any one of claims 1 to 9, wherein: the method comprises the following steps:

s1: the moving cylinder (1) is placed in a pipeline to be repaired through a ground well, the rod body (11) is driven to move towards the inner wall of the pipeline through the first electric cylinder (154), and the inserting rod (152) can be driven to be positioned in the fixed rod (151) to extrude the spring (153), so that the roller (114) on the fixed plate (112) resists the elasticity of the spring (153) and is abutted to the inner wall of the pipeline;

s2: the second gear (142) is driven to rotate by the second motor (141), at the moment, the second gear (142) can drive the first gear (14) to rotate, so that the first gear (14) drives the rotating rod (111) to rotate, the rotating rod (111) can drive the rotating shaft (113) on the fixing plate (112) to rotate to a state perpendicular to the axis of the pipeline, at the moment, the roller (114) can be driven to rotate by the first motor (115), so that the plurality of rollers (114) can drive the whole movable cylinder (1) to move in the pipeline by means of the friction force between the roller (114) and the pipeline, and the damaged repair part of the pipeline is observed according to a picture transmitted by the second camera (162) while moving;

s3: when the to-be-moved cylinder (1) drives the spray head (163) to move to a state opposite to a damaged to-be-repaired position of the pipeline, at the moment, the second gear (142) is driven to rotate by the second motor (141) again, so that the second gear (142) drives the first gear (14) to rotate, the first gear (14) can drive the rotating rod (111) to rotate again, the rotating rod (111) can drive the rotating shaft (113) on the fixing plate (112) to rotate to a state parallel to the axis of the pipeline, the roller (114) is driven to rotate by the first motor (115), the roller (114) can drive the whole to-be-moved cylinder (1) to rotate in the pipeline, and at the moment, whether the spray head (163) is opposite to the damaged to-be-repaired position is observed according to a picture transmitted by the first camera (161);

s4: after the spray head (163) is opposite to the damaged repair part, the distance between the spray head (163) and the inner wall of the pipeline is adjusted through the second electric cylinder (16), after the spray head is adjusted to a proper position, the reciprocating electric cylinder (172) and the pipeline pump (135) are opened simultaneously, the pipeline pump (135) can convey the spraying repair material in the storage tank (131) to the spray head (163) along the feeding pipe (136), and the reciprocating electric cylinder (172) can drive the spray head (163) to reciprocate along the length direction of the strip-shaped opening (17), so that the spray head (163) can reciprocate to spray the damaged repair material to the damaged repair part, and the repair operation of the pipeline is completed.