CN114643149A - Non-excavation type large-diameter pipeline repairing automatic spraying system and method - Google Patents
Non-excavation type large-diameter pipeline repairing automatic spraying system and method Download PDFInfo
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- CN114643149A CN114643149A CN202210299337.1A CN202210299337A CN114643149A CN 114643149 A CN114643149 A CN 114643149A CN 202210299337 A CN202210299337 A CN 202210299337A CN 114643149 A CN114643149 A CN 114643149A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/06—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00 specially designed for treating the inside of hollow bodies
- B05B13/0627—Arrangements of nozzles or spray heads specially adapted for treating the inside of hollow bodies
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0405—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with reciprocating or oscillating spray heads
- B05B13/041—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with reciprocating or oscillating spray heads with spray heads reciprocating along a straight line
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/06—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00 specially designed for treating the inside of hollow bodies
- B05B13/0627—Arrangements of nozzles or spray heads specially adapted for treating the inside of hollow bodies
- B05B13/0636—Arrangements of nozzles or spray heads specially adapted for treating the inside of hollow bodies by means of rotatable spray heads or nozzles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D—PROCESSES FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D7/00—Processes, other than flocking, specially adapted for applying liquids or other fluent materials to particular surfaces or for applying particular liquids or other fluent materials
- B05D7/22—Processes, other than flocking, specially adapted for applying liquids or other fluent materials to particular surfaces or for applying particular liquids or other fluent materials to internal surfaces, e.g. of tubes
- B05D7/222—Processes, other than flocking, specially adapted for applying liquids or other fluent materials to particular surfaces or for applying particular liquids or other fluent materials to internal surfaces, e.g. of tubes of pipes
- B05D7/225—Coating inside the pipe
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Wood Science & Technology (AREA)
- Spray Control Apparatus (AREA)
Abstract
The invention provides a non-excavation type large-diameter pipeline repairing automatic spraying system and a method, wherein the system comprises: the travelling mechanism can travel along the length direction in the pipeline to be sprayed; the sliding table mechanism is arranged on the travelling mechanism in a sliding manner so as to enable the sliding table mechanism to slide back and forth along the length direction of the pipeline to be sprayed; and the swing mechanism is arranged on the sliding table mechanism and connected with the sprayer to drive the sprayer to rotate along the circumferential direction of the pipeline to be sprayed so as to spray slurry on the inner wall of the pipeline. The invention has the beneficial effects that: the sprayer can intermittently do linear motion and rotary motion, and segmented spraying or segmented spraying is realized to realize the spraying repair of the large-diameter pipeline; the thick slurry can be sprayed layer by layer, so that the thick slurry can be sprayed; in addition, the rotating diameter of the sprayer can be adjusted according to the cross section shape of the pipeline, the distance between the sprayer and the inner wall of the pipeline to be sprayed is constant in the spraying process, and the sprayer can be suitable for repairing pipelines with various complicated section shapes such as circular, arched and rectangular shapes.
Description
Technical Field
The invention relates to the technical field of trenchless pipeline repair, in particular to an automatic spraying system and method for trenchless large-diameter pipeline repair.
Background
Urban underground pipelines are subjected to various loads, underground water, sewage and the like for a long time, most of pipelines are damaged or lose efficacy due to various reasons before the designed service life is reached, various problems such as pipeline leakage, surface subsidence and the like are caused, and the daily life and safety of people are seriously harmed. At present, the trenchless repairing technology is widely applied to the updating and the reconstruction of old pipe networks, but is limited by factors such as the diameter of a pipeline, the shape of a section and the like, and few trenchless repairing methods and technologies are available for realizing the pipeline or the box culvert with the diameter of more than 1.8 m.
Due to the flexible characteristic, the spraying method becomes the most widely applied technology in non-excavation restoration of underground pipeline facilities such as large-diameter pipelines, box culverts, inspection wells and the like in China at present. The method mainly adopts a centrifugal spraying technology with higher automation degree at present for spraying and repairing pipelines below DN2000mm and various inspection wells, and mainly adopts a manual spraying mode at present for box culverts with pipelines above DN2000mm and non-circular cross sections; however, the manual spraying and building in the pipeline or box culvert has the problems of high labor intensity, severe construction environment, high difficulty in quality control and the like, and the development of the manual spraying and building is restricted.
Disclosure of Invention
In view of this, in order to solve the problems of high labor intensity, severe construction environment, high quality control difficulty and the like when the large-diameter pipeline is manually sprayed, the embodiment of the invention provides a non-excavation type automatic spraying system and method for repairing the large-diameter pipeline.
The embodiment of the invention provides an automatic spraying system for repairing a trenchless large-diameter pipeline, which comprises:
the travelling mechanism can travel along the length direction in the pipeline to be sprayed;
the sliding table mechanism is arranged on the travelling mechanism in a sliding manner so as to enable the sliding table mechanism to slide back and forth along the length direction of the pipeline to be sprayed;
and the swing mechanism is arranged on the sliding table mechanism and connected with the sprayer to drive the sprayer to rotate along the circumferential direction of the pipeline to be sprayed, so that slurry is sprayed on the inner wall of the pipeline to be sprayed.
Further, the swing mechanism includes:
a turntable rotary motor;
a rotary table driven by the rotary motor to rotate back and forth;
an upper arm moving mechanism mounted on the rotary table;
and the arm rod moving mechanism is driven by the rotary table to rotate so as to enable the arm rod to rotate, one end of the arm rod is connected with the sprayer, and the arm rod moving mechanism moves the arm rod so as to adjust the distance from the sprayer to the inner wall of a pipeline to be sprayed.
Further, the arm lever moving mechanism includes:
an arm lever moving motor;
and the gear rack mechanism is connected with the arm rod moving motor and the arm rod and is electrically driven by the arm rod moving motor to drive the arm rod to move.
Further, the slide table mechanism includes:
a sliding table moving motor;
and the longitudinal sliding table is driven by the sliding table moving motor to slide, and the rotary table is arranged on the longitudinal sliding table.
Further, the working stroke of the longitudinal sliding table is not more than the length of the travelling mechanism.
Further, the traveling mechanism includes:
a crawler chassis;
a left side walking motor for driving a left side crawler of the crawler chassis to walk;
and a right side walking motor for driving the right side crawler of the crawler chassis to walk.
Further, still include the controller, running gear, slip table mechanism with rotation mechanism all is controlled by the controller.
In addition, based on the trenchless large-diameter pipeline repairing automatic spraying system, the embodiment of the invention also provides a trenchless large-diameter pipeline repairing automatic spraying method, which comprises the following steps:
s1, controlling the travelling mechanism to travel to a preset position along the central line of the pipeline in the pipeline to be sprayed according to the cross section shape of the pipeline to be sprayed;
s2, controlling the swing mechanism to drive the sprayer to rotate intermittently around the circumference of the pipeline to be sprayed, controlling the sliding table mechanism to slide back and forth along the length direction of the pipeline to be sprayed after rotating a set angle each time, driving the sprayer to reciprocate along the length direction of the pipeline to be sprayed and spraying slurry on the inner wall of the pipeline to be sprayed until the rotating angle range of the sprayer covers the angle range of the area to be sprayed of the pipeline to be sprayed; or the like, or a combination thereof,
control slip table mechanism drive the sprayer advances along treating spraying pipeline length direction intermittent type, advances at every turn and controls behind the settlement distance rotation mechanism drive the sprayer is around treating spraying pipeline circumference reciprocating rotation, and makes the inner wall spraying thick liquids of spraying pipeline are treated to the sprayer, and is up to slip table mechanism reaches the maximum stroke.
Further, the method also comprises a step S3 of repeating the steps S1 and S2.
Further, in the step S2, the distance between the inner wall of the pipe to be sprayed and the sprayer is controlled to be constant during the movement process.
The technical scheme provided by the embodiment of the invention has the following beneficial effects: according to the trenchless automatic spraying system and the trenchless automatic spraying method for repairing the large-diameter pipeline, the sprayer is driven by the sliding table mechanism to slide back and forth along the length direction of the pipeline to be sprayed, meanwhile, the sprayer is driven by the swing mechanism to reciprocate along the length direction of the pipeline to be sprayed, so that the sprayer can intermittently perform linear motion and rotary motion, the pipeline to be sprayed is sprayed in a segmented or segmented manner, a plurality of coatings are sprayed in a reciprocating manner, and the spraying and repairing of the large-diameter pipeline are realized; the spraying mode can realize spraying layer by layer, and the spraying of thick slurry is realized; in addition, the rotating diameter of the sprayer can be adjusted according to the cross section shape of the pipeline, the distance between the sprayer and the inner wall of the pipeline to be sprayed is constant in the spraying process, the sprayer can be suitable for repairing pipelines with various complicated section shapes such as a circle, an arch, a rectangle and the like, manual spraying operation is replaced, and manual work is thoroughly liberated from a severe high-strength working environment.
Drawings
FIG. 1 is a schematic view of an automated spray coating system for trenchless large diameter pipe rehabilitation according to the present invention;
fig. 2 is a control schematic diagram of the trenchless large-diameter pipeline repairing automatic spraying system of the invention.
In the figure: 1-crawler chassis, 2-chassis, 3-longitudinal sliding table, 4-sliding table moving motor, 5-turntable rotating motor, 6-rotating table, 7-arm rod moving mechanism, 8-arm rod moving motor, 9-arm rod, 10-sprayer, 11-controller, 12-left position sensor, 13-right position sensor, 14-left side walking motor, 15-right side walking motor and 16-pipeline.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be further described with reference to the accompanying drawings. The following presents a simplified summary of the invention in order to provide a basic understanding of the invention and to provide a basic understanding of the invention.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted" and "connected" are to be interpreted broadly, e.g., as being either fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in a specific case to those of ordinary skill in the art.
Referring to fig. 1, an embodiment of the present invention provides an trenchless automatic spraying system for repairing large-diameter pipelines, which is mainly applied to repairing pipelines 16 with a diameter greater than 1.8m, where the pipeline 16 includes, but is not limited to, underground pipeline structures such as pipelines, box culverts, inspection wells, etc. The system mainly comprises a walking mechanism, a sliding table mechanism, a slewing mechanism and a controller 11.
The walking mechanism can walk along the length direction in the pipeline 16 to be sprayed and is used for carrying the sliding table mechanism, the swing mechanism and the controller. As shown in fig. 1, the traveling mechanism includes a crawler chassis 1, a left-side traveling motor 14, and a right-side traveling motor 15. The crawler chassis 1 has a left-side crawler and a right-side crawler. The left side walking motor 14 drives the left side crawler of the crawler chassis 1 to walk, and the right side walking motor 15 drives the right side crawler of the crawler chassis 1 to walk, so that the walking of the crawler chassis 1 can be realized.
The running gear also comprises a left position sensor 12 and a right position sensor 13. In this embodiment, the crawler chassis 1 is provided with an underframe 2, and the left position sensor 12 and the right position sensor 13 are respectively installed on two sides of the underframe 2. The distances from the left side and the right side of the crawler chassis 1 to the left side and the right side of the inner wall of the pipeline 16 to be sprayed can be respectively detected through the left side position sensor 12 and the right side position sensor 13.
The sliding table mechanism is arranged on the traveling mechanism in a sliding mode. Specifically, the sliding table mechanism comprises a sliding table moving motor 4 and a longitudinal sliding table 3, wherein the longitudinal sliding table 3 is an electric sliding table, and the sliding table moving motor 4 and the longitudinal sliding table 3 are both arranged on the base frame 2. The output end of the sliding table moving motor 4 is connected with the longitudinal sliding table 3, and the longitudinal sliding table 3 can be driven to slide along the front-back direction of the crawler chassis 1. In general, the working stroke of the longitudinal slipway 3 should be set to be no more than the length of the crawler chassis 1. Preferably, the working stroke of the longitudinal sliding table 3 is set to be equal to the length of the crawler chassis 1.
The swing mechanism is arranged on the sliding table mechanism and connected with the sprayer 10. Specifically, the swing mechanism includes a swing table 6, a swing table swing motor 5, an arm 9, and an arm moving mechanism 7. The rotary table 6 and the rotary table rotating motor 5 are arranged on the longitudinal sliding table 3, the rotary table 6 is vertically arranged, the output end of the rotary table rotating motor 5 is connected with the rotary table 6, and the rotary table 6 is driven by the rotary table rotating motor 5 to rotate in a reciprocating mode in a vertical plane, namely in the section of the pipeline 16 to be sprayed.
The arm moving mechanism 7 is installed on the rotary table 6, and the arm 9 is installed on the arm moving mechanism 7. The arm moving mechanism 7 is rotated by the turn table 6 to rotate the arm 9. One end of the arm 9 is connected with the sprayer 10, and the telescopic length of the arm 9 can be adjusted through the arm moving mechanism 7, so that the position of a rotating point of the arm 9 can be adjusted. The arm 9 can be moved by the arm moving mechanism 7 to adjust the distance from the sprayer 10 to the inner wall of the pipeline 16 to be sprayed, so that the pipeline can adapt to pipelines with different section shapes.
More specifically, the arm moving mechanism 7 includes an arm moving motor 8 and a rack and pinion mechanism. The rack of the gear rack mechanism is arranged on the arm rod 9, and the gear of the gear rack mechanism is connected with the output end of the arm rod moving motor 8. Therefore, the gear rack mechanism is connected with the arm rod moving motor 8 and the arm rod 9 for transmission, and is driven by the arm rod moving motor 8 to drive the arm rod 9 to move along the axial direction.
The controller 11 respectively controls the running mechanism, the sliding table mechanism and the swing mechanism to work. As shown in fig. 2, specifically, the controller 11 is connected to the left walking motor 14, the right walking motor 15, the left position sensor 12, and the right position sensor 13, respectively. The controller detects the distance from the left side and the right side of the crawler chassis 1 to the left side and the right side of the inner wall of the pipeline 16 to be sprayed through the left side position sensor 12 and the right side position sensor 13, and then adjusts the left side walking motor 14 and the right side walking motor 15 according to the distance from the left side and the right side of the crawler chassis 1 to the left side and the right side of the inner wall of the pipeline 16 to be sprayed, so that the crawler chassis 1 walks on a set track, such as along the central line of the pipeline 16 to be sprayed.
In addition, as shown in fig. 1 and 2, based on the above-mentioned trenchless large-diameter pipeline repairing automatic spraying system, an embodiment of the present invention further provides a trenchless large-diameter pipeline repairing automatic spraying method, including the following steps:
and S1, controlling the travelling mechanism to travel to a preset position along the pipeline center line in the pipeline 16 to be sprayed according to the cross-sectional shape of the pipeline 16 to be sprayed.
Specifically, the cross-sectional shape of the pipeline 16 to be sprayed may be various complex cross-sectional shapes such as a circle, an arch, a rectangle, etc., and the traveling track of the crawler chassis 1 may be set according to the cross-sectional shape of the pipeline 16 to be sprayed. In the embodiment, the cross-sectional shape of the pipeline 16 to be sprayed is approximately arched, and the walking track of the crawler chassis 1 is set as the pipeline center line of the pipeline 16 to be sprayed. The crawler chassis 1 is controlled by the controller 11 to travel to the area to be painted along the predetermined travel track and then to remain stationary.
S2, controlling the swing mechanism to drive the sprayer to intermittently rotate around the circumference of the pipeline 16 to be sprayed, controlling the sliding table mechanism to slide back and forth along the length direction of the pipeline 16 to be sprayed after rotating a set angle each time, driving the sprayer 10 to reciprocate along the length direction of the pipeline 16 to be sprayed and spraying slurry on the inner wall of the pipeline 16 to be sprayed until the rotating angle range of the sprayer 10 covers the angle range of the area to be sprayed of the pipeline 16 to be sprayed; or the like, or, alternatively,
control slip table mechanism drive sprayer 10 advances along waiting 16 length direction intermittent type of spray coating pipeline, advances at every turn and controls behind the set distance rotation mechanism drive sprayer 10 is around waiting 16 circumference reciprocating rotation of spray coating pipeline, and makes sprayer 10 treats the inner wall spraying thick liquids of spray coating pipeline 16, and is up to slip table mechanism reaches the maximum stroke.
Specifically, the step S2 includes two spraying methods: one is to spray the current pipe section to be sprayed of the pipe 16 to be sprayed one by one according to an angle, and the other is to spray the current pipe section to be sprayed of the pipe 16 to be sprayed one by one.
The step of spraying the current pipe section to be sprayed of the pipeline 16 to be sprayed one by one according to the angle specifically comprises the following steps: the controller 11 controls the rotary table rotary motor 5 to rotate intermittently to drive the arm rod 9 to rotate intermittently, so that the sprayer 10 rotates intermittently. Sprayer 10 rotates the back at every turn, through controller 11 control slip table moving motor 4 drives vertical slip table 3 along crawler chassis 1's fore-and-aft direction reciprocating motion, also control vertical slip table 3 is along the length direction reciprocating motion who treats spray pipe 16, and then drives sprayer 10 is along treating 16 length direction reciprocating motion of spray pipe and treating the inner wall spraying thick liquids of spray pipe 16, accomplishes like this and treats that spray pipe 16 is located a rectangular slice region of the pipe section of vertical slip table 3 current stroke. Like this sprayer 10 rotates once, accomplishes a rectangular slice region, and up to sprayer 10 pivoted angle range covers treats that spray pipe 16 treats the angle in spray region, and each rectangular slice regional connection is accomplished promptly and is treated spray pipe 16 and be located the spraying of the pipeline section of 3 current strokes of vertical slip table. In the present exemplary embodiment, the rotary table 6 is controlled to rotate 1 ° each time, i.e. the spray applicator 10 is rotated 1 ° each time, and the angle of the area to be sprayed of the pipe 16 to be sprayed is 180 °. The controller 1111 controls the longitudinal sliding table 3 to slide at a constant speed, and the working stroke of the longitudinal sliding table 3 is set to be equal to the length of the crawler chassis 1.
The step-by-step spraying of the current pipe section to be sprayed of the pipe 16 to be sprayed specifically includes: the controller 11 controls the sliding table moving motor 4 to drive the longitudinal sliding table 3 to move intermittently along the front-back direction of the crawler chassis 1, so that the sprayer 10 intermittently advances along the length direction of the pipeline 16 to be sprayed, namely the sprayer 10 advances for a set distance each time until the longitudinal sliding table 3 reaches the maximum stroke. After the sprayer 10 advances for a set distance each time, the controller 11 controls the rotary table rotary motor 5 to rotate, so as to drive the arm rod 9 to rotate, and the sprayer 10 rotates. This causes the sprayer 10 to rotate back and forth circumferentially around the pipe 16 to be sprayed and causes the sprayer 10 to spray the slurry onto the inner wall of the current pipe section to be sprayed corresponding to this advancement. In this way, when the longitudinal sliding table 3 moves forward by one section, spraying of one section of the current pipe section to be sprayed is completed, that is, the spraying areas of the sections are connected to complete spraying of the pipe section of the pipe 10 to be sprayed, which is located on the current stroke of the longitudinal sliding table 3.
In addition, in the movement process of the sprayer 10, the controller 11 controls the arm rod moving motor 8 to drive the gear rack mechanism according to the cross section shape of the pipeline 16 to be sprayed, adjusts the extension length of the arm rod 9, adjusts the distance from the sprayer 10 to the inner wall of the pipeline 16 to be sprayed, and further controls the distance between the sprayer 10 and the inner wall of the pipeline 16 to be sprayed to be constant in the movement process so as to ensure the spraying quality and efficiency of the slurry. Here, the arm moving mechanism 7 is controlled by the controller 11 to adjust the extended length of the arm 9 once per a certain angle (less than 1 °) of rotation of the turn table 6.
S3, repeating the steps S1 and S2. Specifically, after the current spraying area of the inner wall of the pipeline 16 to be sprayed is finished, the crawler chassis 1 continues to travel into a next spraying area according to a predetermined travel track, for example, the distance traveled by the crawler chassis 1 in this embodiment is the length of the crawler chassis 1, the spraying is continued along the previous spraying area, and then step S2 is performed. Repeating the steps S1 and S2 for a plurality of times, wherein the length of each spraying operation is the length of the crawler chassis 1, and thus, the spraying operation is carried out section by section until the whole spraying of the inner wall of the pipeline 16 to be sprayed is completed.
In this document, the terms front, back, upper and lower are used to define the components in the drawings and the positions of the components relative to each other, and are used for clarity and convenience of the technical solution. It is to be understood that they are relative concepts that may be modified in various manners of use and placement and that the use of directional terms should not be taken to limit the scope of what is claimed.
The features of the embodiments and embodiments described herein above may be combined with each other without conflict.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. The utility model provides a non-excavation formula major diameter pipeline restores automatic spraying system which characterized in that includes:
the travelling mechanism can travel along the length direction in the pipeline to be sprayed;
the sliding table mechanism is arranged on the travelling mechanism in a sliding manner so as to enable the sliding table mechanism to slide back and forth along the length direction of the pipeline to be sprayed;
and the swing mechanism is arranged on the sliding table mechanism and connected with the sprayer to drive the sprayer to rotate along the circumferential direction of the pipeline to be sprayed, so that slurry is sprayed on the inner wall of the pipeline to be sprayed.
2. The trenchless large-diameter pipe rehabilitation automatic spraying system of claim 1, wherein said slewing mechanism comprises:
a turntable rotary motor;
a rotary table driven by the rotary motor to rotate back and forth;
an upper arm moving mechanism mounted on the rotary table;
and the arm rod moving mechanism is driven by the rotary table to rotate so as to enable the arm rod to rotate, one end of the arm rod is connected with the sprayer, and the arm rod moving mechanism moves the arm rod so as to adjust the distance from the sprayer to the inner wall of a pipeline to be sprayed.
3. The automated trenchless large diameter pipe rehabilitation coating system of claim 2 wherein the arm moving mechanism comprises:
an arm lever moving motor;
and the gear rack mechanism is connected with the arm rod moving motor and the arm rod and is driven by the arm rod moving electric drive to drive the arm rod to move.
4. The trenchless large diameter pipeline rehabilitation automatic spraying system of claim 2, wherein the slide table mechanism comprises:
a sliding table moving motor;
and the longitudinal sliding table is driven by the sliding table moving motor to slide, and the rotary table is arranged on the longitudinal sliding table.
5. The trenchless large-diameter pipe rehabilitation automatic spraying system of claim 4, wherein: the working stroke of the longitudinal sliding table is not more than the length of the traveling mechanism.
6. The trenchless large-diameter pipeline rehabilitation automatic spraying system of claim 1, wherein the traveling mechanism comprises:
a crawler chassis;
a left side walking motor for driving a left side crawler of the crawler chassis to walk;
and a right side walking motor for driving the right side crawler of the crawler chassis to walk.
7. The trenchless large-diameter pipeline rehabilitation automatic spraying system of claim 1, wherein: the sliding table mechanism is characterized by further comprising a controller, and the traveling mechanism, the sliding table mechanism and the swing mechanism are controlled by the controller.
8. A non-excavation type large-diameter pipeline repairing automatic spraying method is characterized in that: the trenchless large diameter pipeline rehabilitation automatic spraying system using any one of claims 1 to 7, and comprising the steps of:
s1, controlling the travelling mechanism to travel to a preset position along the central line of the pipeline in the pipeline to be sprayed according to the cross section shape of the pipeline to be sprayed;
s2, controlling the swing mechanism to drive the sprayer to rotate intermittently around the circumference of the pipeline to be sprayed, controlling the sliding table mechanism to slide back and forth along the length direction of the pipeline to be sprayed after rotating a set angle each time, driving the sprayer to reciprocate along the length direction of the pipeline to be sprayed and spraying slurry on the inner wall of the pipeline to be sprayed until the rotating angle range of the sprayer covers the angle range of the area to be sprayed of the pipeline to be sprayed; or the like, or, alternatively,
control slip table mechanism drive the sprayer advances along treating spraying pipeline length direction intermittent type, advances at every turn and controls behind the settlement distance rotation mechanism drive the sprayer is around treating spraying pipeline circumference reciprocating rotation, and makes the inner wall spraying thick liquids of spraying pipeline are treated to the sprayer, and is up to slip table mechanism reaches the maximum stroke.
9. The trenchless large-diameter pipe rehabilitation automatic spraying method of claim 8, wherein: further comprising step S3, repeating said steps S1 and S2.
10. The trenchless large diameter pipe rehabilitation automatic spraying method of claim 8, characterized in that: in the step S2, the distance between the sprayer and the inner wall of the pipeline to be sprayed is controlled to be constant during the movement process of the sprayer.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210299337.1A CN114643149A (en) | 2022-03-25 | 2022-03-25 | Non-excavation type large-diameter pipeline repairing automatic spraying system and method |
| CN202223470206.XU CN219232810U (en) | 2022-03-25 | 2022-12-20 | Automatic spraying system for repairing non-excavation large-diameter pipeline |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210299337.1A CN114643149A (en) | 2022-03-25 | 2022-03-25 | Non-excavation type large-diameter pipeline repairing automatic spraying system and method |
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| Publication Number | Publication Date |
|---|---|
| CN114643149A true CN114643149A (en) | 2022-06-21 |
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|---|---|---|---|
| CN202210299337.1A Withdrawn CN114643149A (en) | 2022-03-25 | 2022-03-25 | Non-excavation type large-diameter pipeline repairing automatic spraying system and method |
| CN202223470206.XU Active CN219232810U (en) | 2022-03-25 | 2022-12-20 | Automatic spraying system for repairing non-excavation large-diameter pipeline |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202223470206.XU Active CN219232810U (en) | 2022-03-25 | 2022-12-20 | Automatic spraying system for repairing non-excavation large-diameter pipeline |
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| CN209577103U (en) * | 2018-12-28 | 2019-11-05 | 徐勤刚 | A kind of large-scale pipeline inner wall paint spraying apparatus |
| CN111300278A (en) * | 2020-02-26 | 2020-06-19 | 西安深蓝智能机器有限公司 | Full-automatic robot equipment for joint coating in welding line suitable for 16-48-inch pipeline field construction |
| CN112221784A (en) * | 2020-08-25 | 2021-01-15 | 南京科工煤炭科学技术研究有限公司 | Automatic spraying equipment and spraying method thereof |
| CN113275166A (en) * | 2021-04-28 | 2021-08-20 | 浙江易承环境科研有限公司 | Trenchless pipeline repairing device and repairing method |
| CN113304923A (en) * | 2021-06-08 | 2021-08-27 | 合肥工业大学 | Adjustable flexible cable driving spraying robot for coating inner wall of complex curved surface |
| CN214418548U (en) * | 2020-12-11 | 2021-10-19 | 渤海造船厂集团有限公司 | Reciprocating push-pull device for automatic sand blasting and spraying on inner wall of cylinder |
| CN113910108A (en) * | 2021-11-01 | 2022-01-11 | 洛阳圣瑞智能机器人有限公司 | Large-scale oil storage tank floats storehouse and uses anticorrosive robot |
-
2022
- 2022-03-25 CN CN202210299337.1A patent/CN114643149A/en not_active Withdrawn
- 2022-12-20 CN CN202223470206.XU patent/CN219232810U/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1060045A (en) * | 1991-08-10 | 1992-04-08 | 胜利石油管理局油建一公司 | Repairing machine for steel pipe inner coating welded point |
| US20140196662A1 (en) * | 2012-12-21 | 2014-07-17 | Fluor Technologies Corporation | Nanoclad Pipe Weld Repair, Systems and Methods |
| CN209577103U (en) * | 2018-12-28 | 2019-11-05 | 徐勤刚 | A kind of large-scale pipeline inner wall paint spraying apparatus |
| CN111300278A (en) * | 2020-02-26 | 2020-06-19 | 西安深蓝智能机器有限公司 | Full-automatic robot equipment for joint coating in welding line suitable for 16-48-inch pipeline field construction |
| CN112221784A (en) * | 2020-08-25 | 2021-01-15 | 南京科工煤炭科学技术研究有限公司 | Automatic spraying equipment and spraying method thereof |
| CN214418548U (en) * | 2020-12-11 | 2021-10-19 | 渤海造船厂集团有限公司 | Reciprocating push-pull device for automatic sand blasting and spraying on inner wall of cylinder |
| CN113275166A (en) * | 2021-04-28 | 2021-08-20 | 浙江易承环境科研有限公司 | Trenchless pipeline repairing device and repairing method |
| CN113304923A (en) * | 2021-06-08 | 2021-08-27 | 合肥工业大学 | Adjustable flexible cable driving spraying robot for coating inner wall of complex curved surface |
| CN113910108A (en) * | 2021-11-01 | 2022-01-11 | 洛阳圣瑞智能机器人有限公司 | Large-scale oil storage tank floats storehouse and uses anticorrosive robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN219232810U (en) | 2023-06-23 |
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