CN114086650A - Drainage pipe inner wall mortar spraying is mobile device independently - Google Patents
Drainage pipe inner wall mortar spraying is mobile device independently Download PDFInfo
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- CN114086650A CN114086650A CN202111411033.1A CN202111411033A CN114086650A CN 114086650 A CN114086650 A CN 114086650A CN 202111411033 A CN202111411033 A CN 202111411033A CN 114086650 A CN114086650 A CN 114086650A
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- connecting rod
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- 238000005507 spraying Methods 0.000 title claims abstract description 55
- 239000004570 mortar (masonry) Substances 0.000 title claims abstract description 22
- 239000000463 material Substances 0.000 claims abstract description 43
- 230000001681 protective effect Effects 0.000 claims abstract description 14
- 230000005540 biological transmission Effects 0.000 claims description 21
- 230000003014 reinforcing effect Effects 0.000 claims description 10
- 239000003638 chemical reducing agent Substances 0.000 claims description 9
- 230000007246 mechanism Effects 0.000 claims description 7
- 230000000712 assembly Effects 0.000 claims description 6
- 238000000429 assembly Methods 0.000 claims description 6
- 239000003973 paint Substances 0.000 claims description 4
- 239000011248 coating agent Substances 0.000 claims description 3
- 238000000576 coating method Methods 0.000 claims description 3
- 238000007599 discharging Methods 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 10
- 230000008569 process Effects 0.000 abstract description 9
- 230000006872 improvement Effects 0.000 description 13
- 238000010276 construction Methods 0.000 description 12
- 230000002787 reinforcement Effects 0.000 description 5
- 230000009471 action Effects 0.000 description 2
- 230000002567 autonomic effect Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000005286 illumination Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008439 repair process Effects 0.000 description 2
- 239000007921 spray Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000011083 cement mortar Substances 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 238000005336 cracking Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 239000003822 epoxy resin Substances 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 229920000647 polyepoxide Polymers 0.000 description 1
- 239000002994 raw material Substances 0.000 description 1
- 239000002002 slurry Substances 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- 238000012800 visualization Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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Classifications
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- E—FIXED CONSTRUCTIONS
- E03—WATER SUPPLY; SEWERAGE
- E03F—SEWERS; CESSPOOLS
- E03F3/00—Sewer pipe-line systems
- E03F3/06—Methods of, or installations for, laying sewer pipes
-
- E—FIXED CONSTRUCTIONS
- E03—WATER SUPPLY; SEWERAGE
- E03F—SEWERS; CESSPOOLS
- E03F3/00—Sewer pipe-line systems
- E03F3/06—Methods of, or installations for, laying sewer pipes
- E03F2003/065—Refurbishing of sewer pipes, e.g. by coating, lining
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Hydrology & Water Resources (AREA)
- Public Health (AREA)
- Water Supply & Treatment (AREA)
- Spray Control Apparatus (AREA)
Abstract
The invention provides an automatic mortar spraying and moving device for the inner wall of a drainage pipeline, which comprises: the conveying shaft is a pipe fitting with two open ends and a hollow inner cavity; the walking assembly comprises a supporting assembly and walking driving units arranged in pairs, wherein the supporting assembly comprises a clamping hoop and two groups of plane connecting rod structures hinged with the clamping hoop; the hoop is sleeved and fastened on the material conveying shaft, and the two groups of plane connecting rod structures are symmetrically arranged at two sides of the clamping hoop and have included angles, and the included angles are adjustable; the paired walking driving units are respectively arranged at the ends of the two groups of plane connecting rod structures, which are far away from the material conveying shaft; one end of the conveying shaft is provided with a centrifugal spraying device, and the conveying shaft is also provided with a first camera device and a second camera device; a lighting device comprising a protective case; the controller, the walking driving unit and the camera device are electrically connected with the controller; the invention can ensure the real-time visibility of the spraying and repairing process of the inner wall of the underground pipeline and ensure the stability of the pipeline in the advancing process.
Description
Technical Field
The invention relates to the technical field of spraying and repairing of inner walls of pipelines, in particular to a visual automatic moving device for mortar spraying of inner walls of drainage pipelines.
Background
With the rapid development of the urbanization construction process in China, the construction mileage of urban drainage pipelines is increased year by year, and the scale of urban underground pipe networks is continuously enlarged. With the continuous increase of service life, under the long-term action of factors such as corrosion, external load and the like, the problems of leakage, cracking and other diseases of the drainage pipeline are increasingly highlighted, and the method brings serious challenges to daily safe operation and high-quality development of cities. In order to ensure the safe operation of urban drainage, the drainage pipeline with defects is necessary to be repaired in time.
The trenchless pipeline repairing technology has the advantages of high construction speed, high efficiency, small disturbance, no influence on the surrounding environment, obvious comprehensive benefits and the like, and is widely applied to the field of urban underground pipe network repairing. The rotary centrifugal spraying method is used for constructing a new inner lining layer on the inner wall of an existing pipeline, is a typical pipeline trenchless repairing technology, and relates to raw materials comprising inorganic cement mortar, organic epoxy resin and the like. The current devices for implementing the process of repairing pipes by centrifugal spraying have the following two problems:
(1) visualization of the spray repair process is not realized, so that the process parameters are difficult to adjust in time to achieve the optimal spray repair effect;
(2) the spraying device mainly depends on the pulling action of the winch to move in the pipeline, so that the operation is inconvenient, and the phenomenon that the device topples or is unevenly sprayed due to overlarge pulling speed is easy to occur.
Therefore, an autonomous moving device for spraying mortar on the inner wall of the drainage pipeline is urgently needed, the real-time visibility of the spraying and repairing process of the inner wall of the underground pipeline is ensured, and the stability of the device in the advancing process in the pipeline is ensured.
Disclosure of Invention
In order to solve the problems, the invention provides an automatic moving device for spraying mortar on the inner wall of a drainage pipeline, which can ensure that the spraying and repairing process of the inner wall of an underground pipeline is visible in real time and the stability of the device in the advancing process in the pipeline.
In order to achieve the above object, the present invention provides an automatic moving device for mortar spraying on an inner wall of a drainage pipeline, comprising:
the conveying shaft is a pipe fitting with openings at two ends and a hollow inner cavity, and the hollow inner cavity is used for the flow of spraying paint therein;
the walking assembly comprises a supporting assembly and walking driving units arranged in pairs, wherein the supporting assembly comprises a clamping hoop and two groups of plane connecting rod structures hinged with the clamping hoop;
the hoop is sleeved and fastened on the conveying shaft, the two groups of plane connecting rod structures are symmetrically arranged on two sides of the clamping hoop and have included angles, and the included angles are adjustable; the paired walking driving units are respectively arranged at the ends of the two groups of plane connecting rod structures, which are far away from the material conveying shaft;
a centrifugal spraying device is arranged at one end of the material conveying shaft, a first camera device and a second camera device are further arranged on the material conveying shaft, and the first camera device and the second camera device are both adjacent to the centrifugal spraying device;
the lighting device comprises a protective box, and the first camera device and the second camera device are arranged below the protective box;
and the walking driving unit, the first camera device and the second camera device are electrically connected with the controller.
As a further improvement of the scheme, at least two groups of walking components are arranged on the material conveying shaft at intervals.
As a further improvement of the scheme, the first camera device is arranged on the material conveying shaft through a first adjustable structure and is used for shooting road conditions in the drainage pipeline along the advancing direction of the drainage pipeline and shooting spraying conditions on pipe walls on two sides of the drainage pipeline.
As a further improvement of the above scheme, the second camera device is arranged on the material conveying shaft through a second adjustable structure, and is arranged on the material conveying shaft at an interval and adjacent to the first camera device, and is used for shooting the spraying condition of the top inner wall area of the drainage pipeline.
As a further improvement of the above solution, the first adjustable structure includes, but is not limited to, a turbine rotator for driving the first camera to rotate 360 ° to omni-directionally rotate the inner wall of the pipe.
As a further improvement of the above aspect, the second adjustable structure includes a first rotator for 360 ° rotation in a horizontal plane, a second rotator for 360 ° rotation in a vertical plane perpendicular to the horizontal plane, and a second link provided on the second rotator, and the second camera is provided on the second rotator.
As a further improvement of the above scheme, the planar linkage structure includes two first support beams, a support plate and an adjustable reinforcement beam, one end of each of the two first support beams is hinged to one side of the clamping hoop, and two ends of the support plate are connected to the other ends of the two first support beams respectively;
the adjustable reinforcing beam is a telescopic beam, the telescopic beam is arranged between the two first support beams, one end of the telescopic beam is hinged with one of the clamping hoops, and the other end of the telescopic beam is adjustably connected with one first support beam far away from the hinged end;
or the number of the adjustable reinforcing beams is two, and the two adjustable reinforcing beams are respectively arranged between the first supporting beam and the clamping hoops corresponding to the first supporting beam.
As a further improvement of the above solution, the lighting device further includes a first searchlight disposed on the protective box and a power supply device connected to the first searchlight.
As a further improvement of the above scheme, a second searchlight is arranged above each of the first camera device and the second camera device and is used for providing a light source for shooting.
As a further improvement of the above scheme, the other end of the delivery shaft is provided with a delivery pipe interface, and the delivery pipe interface is connected with an external material mixing and discharging device and used for delivering the coating to the centrifugal spraying device.
As a further improvement of the above scheme, the centrifugal spraying device comprises a hollow rotating shaft and a rotary nozzle, the hollow rotating shaft is connected with the material conveying shaft, the rotary nozzle is arranged at the end part of the material conveying shaft, the rotary nozzle is connected with an air pump, and the air pump is used for spraying the slurry on the inner wall of the pipe through the rotary nozzle.
As a further improvement of the above scheme, the traveling unit is a crawler traveling mechanism, the crawler traveling mechanism includes a driving motor-reducer, a driving gear connected to the driving motor-reducer, a first transmission shaft, a first driven gear, a second transmission shaft, a second driven gear, and a crawler, the first driven gear is disposed on the first transmission shaft, the second driven gear is disposed on the second transmission shaft, the driving gear is engaged with the first driven gear for transmission, the first transmission shaft and the second transmission shaft are disposed at the end of the planar connecting rod structure away from the material conveying shaft at parallel intervals, and the crawler is sequentially wound between the first driven gear and the second driven gear.
It should be noted that the plane connecting rod structure with the articulated department of the staple bolt is held to the card still is equipped with manually operation's retaining member, when needs adjust the contained angle of plane connecting rod structure for defeated material axle according to drain pipe diameter or pipeline road conditions, unclamps the retaining member, the plane connecting rod structure can for defeated material axle rotates, until adjusting to the contained angle position of needs, then locks again the retaining member.
Due to the adoption of the technical scheme, the invention has the beneficial effects that:
the invention provides an automatic mortar spraying and moving device for the inner wall of a drainage pipeline, which comprises: the conveying shaft is a pipe fitting with openings at two ends and a hollow inner cavity, and the hollow inner cavity is used for the flow of spraying paint therein;
the walking assembly comprises a supporting assembly and walking driving units arranged in pairs, wherein the supporting assembly comprises a clamping hoop and two groups of plane connecting rod structures hinged with the clamping hoop;
the hoop is sleeved and fastened on the conveying shaft, the two groups of plane connecting rod structures are symmetrically arranged on two sides of the clamping hoop and have included angles, and the included angles are adjustable; the paired walking driving units are respectively arranged at the ends of the two groups of plane connecting rod structures, which are far away from the material conveying shaft; a centrifugal spraying device is arranged at one end of the material conveying shaft, a first camera device and a second camera device are further arranged on the material conveying shaft, and the first camera device and the second camera device are both adjacent to the centrifugal spraying device; the lighting device comprises a protective box, and the first camera device and the second camera device are arranged below the protective box; the controller is electrically connected with the walking driving unit, the first camera device and the second camera device; according to the arrangement, firstly, the walking driving units are symmetrically arranged on two sides of the conveying shaft, the structure is simple and practical, and secondly, the walking driving units are hinged to the conveying shaft through the supporting assemblies, so that the angles of the plane connecting rod structures of the supporting assemblies can be adjusted according to different diameters of the drainage pipes, supporting arms with different extension radius lengths are obtained, and the pipe diameter adaptability of the autonomous moving device is improved; moreover, still be equipped with first camera device and second camera device on this autonomic mobile device's the conveying axle, and all with controller electric connection, camera device's setting for outside the pipeline can be transmitted to the construction conditions and the construction quality in the drainage pipe, supply timely the making adjustment of operating personnel, thereby obtain better control to construction quality.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts;
FIG. 1 is a schematic top view of an automatic moving device for mortar spraying on the inner wall of a drainage pipeline according to the present invention;
FIG. 2 is a schematic perspective view of an autonomous moving device for mortar spraying on the inner wall of a drainage pipeline according to the present invention;
FIG. 3 is a schematic diagram of the internal structure of the walking driving unit disclosed in the present invention;
FIG. 4 is a schematic view of a first adjustable structure disclosed herein;
reference numerals:
1. a material conveying shaft; 2. a walking assembly; 21. a support assembly; 211. clamping the hoop; 212. a planar linkage structure; 2121. a first support beam; 2122. a support plate; 2123. an adjustable stiffening beam; 22. a travel drive unit; 221. drive motor-reducer; 222. a driving gear; 223. a first drive shaft; 224. a first driven gear; 225. a second drive shaft; 226. a second driven gear; 227. a crawler belt;
2. a centrifugal spraying device; 3. an air pump; 4. a first image pickup device; 5. a second image pickup device;
6. an illumination device; 61. a protective case; 62. a first searchlight;
7. a material conveying pipe interface; 8. a first adjustable configuration.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that all the directional indicators such as the first, second, upper, lower, left, right, front and rear … … in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture as shown in the drawings, and if the specific posture is changed, the directional indicator is changed accordingly.
In addition, the technical solutions in the embodiments of the present invention may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination of technical solutions should not be considered to exist, and is not within the protection scope of the present invention.
The invention will be further described with reference to the following figures:
example 1:
referring to fig. 1 to 4, the present invention provides an automatic moving device for mortar spraying on an inner wall of a drainage pipeline, comprising:
the conveying shaft 1 is a pipe fitting with openings at two ends and a hollow inner cavity, and the hollow inner cavity is used for the flow of spraying paint therein;
the walking assembly 2 comprises a supporting assembly 21 and walking driving units 22 arranged in pairs, wherein the supporting assembly 21 comprises two clamping hoops 211 and two groups of plane connecting rod structures 212 hinged with the two clamping hoops 211;
the two hoops are sleeved and fastened on the conveying shaft 1 at intervals, the two groups of the plane connecting rod structures 212 are symmetrically arranged at two sides of the two clamping hoops 211, an included angle is formed between the two groups of the plane connecting rod structures 212, and the included angle is adjustable; the paired walking driving units 22 are respectively arranged at the ends of the two groups of plane connecting rod structures 212 far away from the material conveying shaft 1;
a centrifugal spraying device 2 is arranged at one end of the material conveying shaft 1, a first camera device 4 and a second camera device 5 are further arranged on the material conveying shaft 1, and the first camera device 4 and the second camera device 5 are both adjacent to the centrifugal spraying device 2;
an illumination device 6 including a protective case 61, the first and second imaging devices 4 and 5 being disposed below the protective case 61;
the walking driving unit 22, the first camera device 4 and the second camera device 5 are electrically connected with the controller; in this embodiment, at least two groups of walking assemblies 2 are uniformly arranged on the material conveying shaft 1 at intervals; according to the arrangement, firstly, the walking driving units 22 are symmetrically arranged on two sides of the conveying shaft, the structure is simple and practical, secondly, the walking driving units 22 are hinged on the conveying shaft through the supporting assemblies 21, so that the angles of the plane connecting rod structures 212 of the supporting assemblies 21 can be adjusted according to different diameters of the drainage pipes, supporting arms with different extension radius lengths are obtained, and the pipe diameter adaptability of the autonomous moving device is improved; moreover, still be equipped with first camera device 4 and second camera device 5 on this autonomic mobile device's the conveying axle 1, and all with controller electric connection, camera device's setting for the pipeline outside can be transmitted to the construction condition and the construction quality in the drainage pipe, supplies the timely adjustment of making of operating personnel, thereby obtains better control to construction quality.
As a preferred embodiment, the first camera device 4 is arranged on the material conveying shaft 1 through a first adjustable structure 8, and is used for shooting road conditions in the drainage pipeline along the advancing direction of the drainage pipeline and shooting spraying conditions on pipe walls at two sides of the drainage pipeline; the first adjustable structure 8 includes, but is not limited to, a turbine rotator for driving the first camera device 4360 ° to rotate for omnibearing pipe inner wall conditions, in this embodiment, the first adjustable structure 8 includes a motor-reducer, a worm in driving connection with the motor-reducer, a worm wheel in driving connection with the worm, and a first connecting rod disposed on the worm wheel, the first connecting rod is arranged perpendicular to the turbine, the first camera 4 is arranged on the first connecting rod, with such an arrangement, the first camera device 4 can rotate 360 degrees along the axis of the turbine under the action of the first adjustable structure 8, thereby can the omnidirectional observation water drainage intraductal road conditions and the spraying condition of pipe wall and pass through the controller with intraductal condition and transmit outside the pipeline to the operator looks over and the storage.
As a preferred embodiment, the second camera device 5 is arranged on the material conveying shaft 1 through a second adjustable structure, and is arranged on the material conveying shaft 1 at an interval and adjacent to the first camera device 4, and is used for shooting the spraying condition of the top inner wall area of the drainage pipeline; specifically, the second adjustable structure includes a first rotator for 360 ° rotation in a horizontal plane, a second rotator for 360 ° rotation in a vertical plane perpendicular to the horizontal plane, and a second link provided on the second rotator, and the second camera 5 is provided on the second link; the first spinner includes, but is not limited to, a turbine spinner; the second selector includes, but is not limited to, a turbine spinner.
As a preferred embodiment, the planar linkage 212 includes two first support beams 2121, a support plate 2122 and an adjustable reinforcement beam 2123, wherein one end of each of the two first support beams 2121 is hinged to one side of each of the two retaining hoops 211, and two sides of the support plate 2122 are connected to the other ends of the two first support beams 2121; the two first support beams 2121 are hinged to the clamping hoop 211, so that the included angle of the first support beam 2121 relative to the feeding shaft 1 can be adjusted, the support plate 2122 arranged at the other end of the first support beam 2121 is driven to be adjusted, and the vertical distance of the walking drive unit 22 relative to the central line of the feeding shaft 1 is also driven to be adjusted, so that the walking drive unit 22 can adapt to the inner walls of the drainage pipes with different diameters, and the relative included angles of the two walking drive units 22 symmetrically arranged relative to the feeding shaft 1 can be adjusted, so that the drainage pipes can be better attached to the inner walls of the drainage pipes, and the walking is more stable;
specifically, when the two first support beams 2121 are adjusted to a proper included angle position, the current position is fixed by the adjustable reinforcement beam 2123, in this embodiment, the adjustable reinforcement beam 2123 is a telescopic beam, the telescopic beam is disposed between the two first support beams 2121, one end of the telescopic beam is hinged to one of the clamping hoops 211, and the other end of the telescopic beam is adjustably connected to one of the first support beams 2121 away from the hinged end, specifically, the first support beam 2121 is provided with a series of clamping holes for connecting the adjustable reinforcement beam 2123, and correspondingly, a buckle (not shown in the figure) is further disposed at a connection position thereof for fixing the current position;
or, two adjustable reinforcing beams 2123 are provided, the two adjustable reinforcing beams 2123 are respectively disposed between the first supporting beam 2121 and the corresponding clamping hoop 211, correspondingly, each first supporting beam 2121 is provided with a plurality of clamping holes uniformly disposed along the length direction thereof, so that the adjustable reinforcing beams 2123 are supported on the corresponding clamping holes according to actual requirements, and correspondingly, the connection position thereof is further provided with a buckle (not shown in the figure) for fixing the current position.
In a preferred embodiment, the lighting device 6 further includes a first searchlight 62 disposed on the protective box 61, and a power supply device connected to the first searchlight 62, wherein the first searchlight 62 provides a first light source for the movement of the autonomous moving device, and in this embodiment, the first searchlight 62 is rotatably disposed on the protective box 61, the first searchlight 62 rotates to illuminate in the forward construction direction during forward construction of the autonomous moving device, and the first searchlight 62 rotates to illuminate in the backward direction during exit completion of construction of the autonomous moving device.
As a preferred embodiment, in order to achieve the modified shooting effect, in the present embodiment, a second searchlight is disposed above each of the first image capturing device 4 and the second image capturing device 5, and is used for providing a light source for shooting.
As a preferred embodiment, the other end of the material conveying shaft 1 is provided with a material conveying pipe interface 7, and the material conveying pipe interface 7 is connected with an external material mixing and discharging device and used for conveying the coating to the centrifugal spraying device 2; centrifugal spraying device 2 includes cavity pivot and rotatory nozzle, the cavity pivot with defeated material axle 1 is connected, rotatory nozzle sets up the tip of defeated material axle 1, just rotatory nozzle with air pump 3 is connected.
As a preferred embodiment, the traveling unit is a crawler 227 traveling mechanism, the crawler 227 traveling mechanism includes a driving motor-reducer 221, a driving gear 222 connected to the driving motor-reducer 221, a first transmission shaft 223, a first driven gear 224, a second transmission shaft 225, a second driven gear 226, and a crawler 227, the first driven gear is disposed on the first transmission shaft 223, the second driven gear is disposed on the second transmission shaft 225, the driving gear 222 is in meshing transmission connection with the first driven gear 224, the first transmission shaft 223 and the second transmission shaft 225 are disposed in parallel at an interval at an end of the planar link structure 212 away from the feeding shaft 1, the crawler 227 is sequentially wound between the first driven gear 224 and the second driven gear 226, the crawler 227 traveling mechanism is disposed to make the mortar spraying autonomous moving device travel more stably in a drainage pipeline, and the adaptability to the pipeline conditions in the pipe is stronger.
It should be noted that the plane connecting rod structure 212 and the articulated department of the clamping hoop 211 are also provided with a locking piece operated manually, when the included angle of the plane connecting rod structure 212 relative to the material conveying shaft 1 needs to be adjusted according to the diameter of the drain pipe or the road condition of the pipeline, the locking piece is loosened, the plane connecting rod structure 212 can rotate relative to the material conveying shaft 1 until the required included angle position is adjusted, and then the locking piece is locked again.
The foregoing is a detailed description of the invention, and specific examples are used herein to explain the principles and implementations of the invention, the above description being merely intended to facilitate an understanding of the principles and core concepts of the invention. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (10)
1. The utility model provides a drainage pipe inner wall mortar spraying is from mobile device which characterized in that includes:
the conveying shaft is a pipe fitting with openings at two ends and a hollow inner cavity, and the hollow inner cavity is used for the flow of spraying paint therein;
the walking assembly comprises a supporting assembly and walking driving units arranged in pairs, wherein the supporting assembly comprises a clamping hoop and two groups of plane connecting rod structures hinged with the clamping hoop;
the hoop is sleeved and fastened on the conveying shaft, the two groups of plane connecting rod structures are symmetrically arranged on two sides of the clamping hoop and have included angles, and the included angles are adjustable; the paired walking driving units are respectively arranged at the ends of the two groups of plane connecting rod structures, which are far away from the material conveying shaft;
a centrifugal spraying device is arranged at one end of the material conveying shaft, a first camera device and a second camera device are further arranged on the material conveying shaft, and the first camera device and the second camera device are both adjacent to the centrifugal spraying device;
the lighting device comprises a protective box, and the first camera device and the second camera device are arranged below the protective box; and the walking driving unit, the first camera device and the second camera device are electrically connected with the controller.
2. The mortar spraying and self-moving device for the inner wall of the drainage pipeline according to claim 1, wherein the walking assemblies are at least two groups and are evenly arranged on the material conveying shaft at intervals.
3. The automatic mortar spraying and moving device for the inner wall of the drainage pipeline according to claim 1 or 2, wherein the first camera device is arranged on the conveying shaft through a first adjustable structure; the second camera shooting device is arranged on the material conveying shaft through a second adjustable structure, and is arranged on the material conveying shaft at intervals and adjacent to the first camera shooting device.
4. The mortar spraying and self-moving device for inner walls of drainage pipelines according to claim 3, wherein the second adjustable structure comprises a first rotator for 360 ° rotation in a horizontal plane, a second rotator for 360 ° rotation in a vertical plane perpendicular to the horizontal plane, and a second connecting rod disposed on the second rotator, and the second camera is disposed on the second rotator.
5. The mortar spraying and autonomous moving device for the inner wall of the drainage pipeline according to claim 1 or 2, wherein the planar connecting rod structure comprises two first supporting beams, a supporting plate and an adjustable reinforcing beam, one end of each of the two first supporting beams is hinged to one side of the clamping hoop, and two ends of the supporting plate are connected to the other ends of the two first supporting beams;
the adjustable reinforcing beam is a telescopic beam, the telescopic beam is arranged between the two first supporting beams, one end of the telescopic beam is hinged with the clamping hoop, and the other end of the telescopic beam is adjustably connected with one first supporting beam far away from the hinged end;
or the number of the adjustable reinforcing beams is two, and the two adjustable reinforcing beams are respectively arranged between the first supporting beam and the clamping hoops corresponding to the first supporting beam.
6. The mortar spraying and autonomous moving device for the inner wall of the drainage pipeline according to claim 1 or 2, wherein the lighting device further comprises a first searchlight arranged on the protective box and a power supply device connected with the first searchlight.
7. The automatic mortar spraying and moving device for the inner wall of the drainage pipeline as claimed in claim 1 or 2, wherein the other end of the conveying shaft is provided with a conveying pipe interface, and the conveying pipe interface is connected with an external material mixing and discharging device and is used for conveying the coating to the centrifugal spraying device.
8. The automatic mortar spraying and moving device for the inner wall of the drainage pipeline according to claim 1 or 2, wherein a second searchlight is arranged above each of the first camera and the second camera and used for providing a light source for shooting.
9. The automatic mortar spraying and moving device for the inner wall of the drainage pipeline as claimed in claim 1 or 2, wherein the centrifugal spraying device comprises a hollow rotating shaft and a rotary nozzle, the hollow rotating shaft is connected with the conveying shaft, the rotary nozzle is arranged at the end part of the conveying shaft, and the rotary nozzle is connected with an air pump.
10. The mortar spraying and automatic moving device for the inner wall of the drainage pipeline according to claim 1 or 2, wherein the traveling unit is a crawler traveling mechanism, the crawler traveling mechanism comprises a driving motor-reducer, a driving gear connected with the driving motor-reducer, a first transmission shaft, a first driven gear, a second transmission shaft, a second driven gear and a crawler, the first driven gear is arranged on the first transmission shaft, the second driven gear is arranged on the second transmission shaft, the driving gear is in meshing transmission connection with the first driven gear, the first transmission shaft and the second transmission shaft are arranged at the end of the plane connecting rod structure far away from the material conveying shaft at intervals, and the crawler is sequentially wound between the first driven gear and the second driven gear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111411033.1A CN114086650A (en) | 2021-11-25 | 2021-11-25 | Drainage pipe inner wall mortar spraying is mobile device independently |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111411033.1A CN114086650A (en) | 2021-11-25 | 2021-11-25 | Drainage pipe inner wall mortar spraying is mobile device independently |
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| CN114086650A true CN114086650A (en) | 2022-02-25 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115199861A (en) * | 2022-07-06 | 2022-10-18 | 广东粤海水务投资有限公司 | Crawler-type self-adaptation pipeline inner wall spraying prosthetic devices |
Citations (9)
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