CN114688385A - Trenchless drainage pipeline pretreatment robot - Google Patents
Trenchless drainage pipeline pretreatment robot Download PDFInfo
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- CN114688385A CN114688385A CN202210182714.3A CN202210182714A CN114688385A CN 114688385 A CN114688385 A CN 114688385A CN 202210182714 A CN202210182714 A CN 202210182714A CN 114688385 A CN114688385 A CN 114688385A
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- cylinder
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- steel wire
- traction column
- hole expanding
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- 229910000831 Steel Inorganic materials 0.000 claims abstract description 42
- 239000010959 steel Substances 0.000 claims abstract description 42
- 230000007246 mechanism Effects 0.000 claims abstract description 31
- 238000004804 winding Methods 0.000 claims description 6
- 238000009412 basement excavation Methods 0.000 claims description 5
- 230000005540 biological transmission Effects 0.000 claims description 2
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 238000005491 wire drawing Methods 0.000 claims 1
- 230000008439 repair process Effects 0.000 abstract description 14
- 230000000694 effects Effects 0.000 abstract description 7
- 235000017166 Bambusa arundinacea Nutrition 0.000 abstract description 4
- 235000017491 Bambusa tulda Nutrition 0.000 abstract description 4
- 241001330002 Bambuseae Species 0.000 abstract description 4
- 235000015334 Phyllostachys viridis Nutrition 0.000 abstract description 4
- 239000011425 bamboo Substances 0.000 abstract description 4
- 238000010276 construction Methods 0.000 abstract description 2
- 230000002349 favourable effect Effects 0.000 abstract description 2
- 238000005096 rolling process Methods 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 14
- 230000008569 process Effects 0.000 description 8
- 230000009471 action Effects 0.000 description 4
- 238000007493 shaping process Methods 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 2
- 239000004033 plastic Substances 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 229910000639 Spring steel Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000001723 curing Methods 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- ZZUFCTLCJUWOSV-UHFFFAOYSA-N furosemide Chemical compound C1=C(Cl)C(S(=O)(=O)N)=CC(C(O)=O)=C1NCC1=CC=CO1 ZZUFCTLCJUWOSV-UHFFFAOYSA-N 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000007781 pre-processing Methods 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 238000010104 thermoplastic forming Methods 0.000 description 1
Images
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/18—Appliances for use in repairing pipes
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/40—Constructional aspects of the body
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/10—Treating the inside of pipes
Abstract
The application discloses a trenchless drainage pipeline pretreatment robot, which comprises a walking device, a hole expanding device and a supporting device, wherein the hole expanding device is arranged at the front end of the walking device, the supporting device is arranged at the tail end of the walking device, the hole expanding device comprises a hole expanding cylinder and a first driving assembly for driving the hole expanding cylinder to rotate, and the outer diameter of the hole expanding cylinder is matched with the inner diameter of a drainage pipe to be repaired; the supporting device comprises a traction column, a steel wire is spirally wound on the traction column along the length direction, the diameter of a spiral ring formed by the spiral of the steel wire is larger than the inner diameter of the drain pipe, and a limiting mechanism for limiting the expansion of the steel wire is arranged on the traction column. This application is swung the circle with sunken drain pipe through a reaming section of thick bamboo, releases the steel wire again, thereby the spiral ring that the steel wire formed around rolling up outwards expands and plays the supporting role to the drain pipe to follow-up restoration drain pipe is favorable to improving the repair effect of drain pipe and shortens the construction cycle of drain pipe.
Description
Technical Field
The application relates to the technical field of pipeline repair, in particular to a trenchless drainage pipeline pretreatment robot.
Background
After the underground drainage pipe made of materials such as steel and plastic is used for a long time, the deformation can occur under the action of the pressure of road surface soil pressure, so that the sinking condition of the top of a local pipe joint is caused, the drainage is influenced, and the pipeline repair is required at regular intervals. In order to shorten the repair period and not influence traffic, a trenchless pipeline repair method is mostly adopted to repair the pipeline, the existing trenchless pipeline repair method comprises a thermoplastic forming method and an ultraviolet light curing method, however, no pre-reaming treatment is carried out on the drain pipe by any method, so that the repair period is long, and the repair effect is poor. Therefore, improvements are needed.
Disclosure of Invention
In order to shorten the repair cycle of drain pipe and improve the repair effect, this application provides a non-excavation drainage pipe pretreatment robot.
The application provides a non-excavation drainage pipe pretreatment robot adopts following technical scheme:
a non-excavation drainage pipeline pretreatment robot comprises a walking device, a hole expanding device and a supporting device, wherein the hole expanding device is arranged at the front end of the walking device, the supporting device is arranged at the tail end of the walking device, the hole expanding device comprises a hole expanding cylinder and a first driving assembly driving the hole expanding cylinder to rotate, and the outer diameter of the hole expanding cylinder is matched with the inner diameter of a drainage pipe to be repaired; the supporting device comprises a traction column, a steel wire is spirally wound on the traction column along the length direction, the diameter of a spiral ring formed by the spiral of the steel wire is larger than the inner diameter of the drain pipe, and a limiting mechanism for limiting the expansion of the steel wire is arranged on the traction column.
Through adopting above-mentioned technical scheme, when carrying out restoration preliminary reaming to steel-plastic drain pipe, put into the drain pipe that treats the restoration earlier with the pretreatment robot. When the pre-processing robot moves to an area to be repaired, the first driving assembly drives the reaming barrel to rotate, the traveling device continues to advance, when the reaming barrel swings the sunken drain pipe into a circle, the traveling device drives the reaming device and the supporting device to advance, when the supporting device moves to the area which swings into the circle, the limiting mechanism is gradually unlocked to release the steel wire, the steel wire loses the limitation of the limiting mechanism and then expands outwards until the steel wire abuts against the inner wall of the drain pipe, so that the drain pipe which swings into the circle is initially supported, the drain pipe which swings into the circle is prevented from being sunken again under the action of heavy pressure, the drain pipe is repaired subsequently, the repairing effect of the drain pipe is remarkably improved, and the repairing period is shortened.
Preferably, running gear is including the three running gear of group that connect gradually, running gear includes the walking cylinder and centers on the polylith section of jurisdiction in the walking cylinder periphery, it has first connecting rod to articulate between the piston rod of section of jurisdiction and walking cylinder, it has the second connecting rod to articulate between the cylinder body of section of jurisdiction and walking cylinder, and the piston rod that is located on two adjacent walking cylinders is articulated with the cylinder body.
By adopting the technical scheme, after the pretreatment robot is placed in the drain pipe, the pipe piece on the travelling mechanism close to the supporting device is adjusted to the expansion state, the pipe piece on the travelling mechanism at the middle part is adjusted to the expansion state, and the pipe piece on the travelling mechanism close to the hole expanding device is kept in the furling state. When the walking device works automatically, the piston rod of the walking cylinder close to the hole expanding device contracts to drive the pipe piece to expand until the pipe piece abuts against the inner pipe wall of the drain pipe, the piston rod of the walking cylinder located in the middle part synchronously stretches out to enable the pipe piece to be folded, and the walking mechanism close to the supporting device serves as a back-supporting structure in the process. Afterwards, the piston rod of the walking cylinder positioned in the middle part is contracted to drive the duct piece to expand, the piston rod of the walking cylinder close to the supporting device synchronously extends out to drive the duct piece to fold, and during the process, the walking mechanism close to the hole expanding device is used as a back-up structure. Then, the piston rod of the walking cylinder close to the reaming device extends out to draw the duct piece in and the piston rod of the walking cylinder close to the supporting device contracts to expand the duct piece, and during the process, the walking mechanism in the middle serves as a back-supporting structure. And finally, the piston rod of the walking cylinder close to the reaming device is contracted to expand the duct piece, and the piston rod of the walking cylinder positioned in the middle extends out to furl the duct piece, and during the process, the walking mechanism close to the supporting device is used as a back-supporting structure. So, running gear accomplishes the action of a cycle, repeats above-mentioned step for pretreatment robot compares and adopts the dolly to drive reaming device and strutting arrangement and remove in the drain pipe at the inside stable wriggling of drainage pipe, is favorable to improving the stability of reaming section of thick bamboo in the reaming process.
Preferably, the limiting mechanism comprises a second driving assembly which uses the axis of the traction column as a center, surrounds a plurality of limiting rods on the periphery of the traction column and drives the limiting rods to move along the axis direction of the traction column synchronously, the limiting rods extend along the length direction of the traction column, and the spring steel wires are abutted to the limiting rods and tightly connected to the traction column.
Through adopting above-mentioned technical scheme, after strutting arrangement removed the drain pipe department that has been swung round by the reaming pipe, the second drive assembly drove many gag lever posts along the axis direction synchronous motion of traction column to progressively release the steel wire, thereby the outside expansion of steel wire by the release props up the drain pipe, so that follow-up restoration drain pipe.
Preferably, the periphery of the traction column is sunken with a positioning groove for winding a steel wire, and the positioning groove spirally extends along the length direction of the traction column.
Through adopting above-mentioned technical scheme, conveniently twine the steel wire in the constant head tank, and make the pitch of the bolt ring behind the steel wire spiral shaping unanimous to improve the support stability to the drain pipe.
Preferably, the two ends of the traction column are provided with a plurality of through holes for the limiting rod to pass through, the through holes are communicated with the positioning groove, the limiting rod is movably inserted into the through holes, and a gap for placing the steel wire is reserved between the limiting rod and the groove bottom of the positioning groove.
Through adopting above-mentioned technical scheme for the gag lever post is more stable at the removal in-process.
Preferably, every all articulated between section of jurisdiction and running gear's the cylinder body have two the second connecting rod, two second connecting rods parallel arrangement each other.
Through adopting above-mentioned technical scheme for the section of jurisdiction can not take place to deflect in expansion or the in-process that draws in, thereby improves the stability of support and running gear at the walking in-process when running gear is as the back-up structure.
Preferably, the first driving assembly comprises a mounting seat and a motor arranged on the mounting seat, an output shaft of the motor is in transmission connection with the reaming barrel, and the mounting seat is fixedly connected with a piston rod of a walking cylinder far away from the supporting device.
Through adopting above-mentioned technical scheme, the motor operation orders about the reaming section of thick bamboo and rotates to carry out reaming work.
Preferably, one end of the reaming cylinder, which is far away from the mounting seat, is tapered and furled.
By adopting the technical scheme, the drilling efficiency of the reaming barrel is facilitated, and the possibility that the reaming barrel damages the drain pipe is reduced.
Preferably, the second driving assembly comprises a driving cylinder arranged at one end, far away from the traveling mechanism, of the traction column, a piston rod of the driving cylinder is fixedly connected with a fixing frame, and a plurality of limiting rods are arranged on the fixing frame.
Through adopting above-mentioned technical scheme, drive actuating cylinder operation and order about many gag lever posts synchronous movement to progressively release the steel wire. And the second driving assembly is arranged on one side of the traction column far away from the travelling mechanism, so that the running of the travelling mechanism is not hindered.
In summary, the present application includes at least one of the following beneficial technical effects:
the reaming device and the supporting device are driven to move in the drainage pipeline through the traveling device, the reaming device rounds the sunken drainage pipe, then the steel wire is released, and a spiral ring formed by winding the steel wire is expanded outwards to support the drainage pipe, so that the drainage pipe is repaired subsequently, the repairing effect of the drainage pipe is obviously improved, and the construction period of the drainage pipe is shortened;
the running device is formed by the three groups of running mechanisms, so that the pretreatment robot can creep in the pipeline, the pretreatment robot is more stable in the moving process, and the reaming device and the supporting device are more stable in working;
through be provided with the constant head tank on pulling the post, conveniently around rolling up the steel wire to make the pitch of the spiral ring after the steel wire shaping unanimous, thereby make the steel wire can provide stable support to the drain pipe.
Drawings
FIG. 1 is a schematic overall structure of the present application;
FIG. 2 is a schematic view of the structure of the present application after releasing the steel wire;
fig. 3 is an enlarged schematic view of a in fig. 2 in the present application.
Description of reference numerals:
1. a traveling mechanism; 11. a traveling cylinder; 12. a duct piece; 13. a first link; 14. a second link; 2. a reaming device; 21. a reaming cylinder; 22. a first drive assembly; 221. a mounting seat; 2211. a base plate; 2212. a connecting rod; 222. a motor; 223. a cross; 3. a support device; 31. a traction column; 32. a steel wire; 33. positioning a groove; 34. a limiting mechanism; 341. a limiting rod; 342. a second drive assembly; 3421. a driving cylinder; 3422. a fixed mount; 35. and a through hole.
Detailed Description
The present application is described in further detail below with reference to figures 1-3.
The embodiment of the application discloses non-excavation drainage pipe pretreatment robot. Referring to fig. 1, the reaming device comprises a walking device, a reaming device 2 arranged at the front end of the walking device, and a supporting device 3 arranged at the tail end of the walking device.
Referring to fig. 1, running gear includes three running gear 1 that connect gradually of group, and running gear 1 includes walking cylinder 11 and polylith section of jurisdiction 12, and section of jurisdiction 12 is provided with three in the embodiment of this application, and three section of jurisdiction 12 use the axis of walking cylinder 11 to distribute at walking cylinder 11 periphery as the center circumference. All articulated between the piston rod of every section of jurisdiction 12 and walking cylinder 11 have first connecting rod 13, all articulated between the cylinder body of every section of jurisdiction 12 and walking cylinder 11 have two second connecting rods 14, and two second connecting rods 14 are parallel to each other, and the axis that is located same group's first connecting rod 13 and second connecting rod 14 is located the coplanar. The piston rods on the two adjacent walking cylinders 11 are hinged with the cylinder body.
After the pretreatment robot is placed in the drain pipe, the segment 12 on the travelling mechanism close to the supporting device 3 is adjusted to be in an expanded state, the segment 12 on the travelling mechanism 1 in the middle is adjusted to be in an expanded state, and the segment 12 on the travelling mechanism 1 close to the hole expanding device 2 is kept in a furled state. When the walking device works automatically, the piston rod of the walking cylinder 11 close to the hole expanding device 2 contracts to drive the pipe piece 12 to expand until the pipe piece 12 abuts against the inner pipe wall of the drain pipe, the piston rod of the walking cylinder 11 positioned in the middle part synchronously extends out to fold the pipe piece 12, and the walking mechanism 1 close to the supporting device 3 is used as a back-supporting structure in the process. Then, the piston rod of the walking cylinder 11 located in the middle is contracted to drive the duct piece 12 to expand, and the piston rod of the walking cylinder 11 close to the supporting device 3 is synchronously extended to drive the duct piece 12 to close, during which, the walking mechanism 1 close to the reaming device 2 is used as a back-supporting structure. Then, the piston rod of the traveling cylinder 11 near the reaming device 2 is extended to gather the segment 12 and the piston rod of the traveling cylinder 11 near the support device 3 is contracted to expand the segment 12, during which the traveling mechanism 1 at the middle part serves as a back-up structure. Finally, the piston rod of the walking cylinder 11 close to the reaming device 2 is contracted to expand the segment 12 and the piston rod of the walking cylinder 11 located in the middle is extended to furl the segment 12, during which the walking mechanism 1 close to the support device 3 acts as a back-up structure. Therefore, the walking device finishes the action of one period, and the steps are repeated, so that the pretreatment robot can stably creep in the drainage pipeline, and the stability of the hole expanding device 2 in the hole expanding process is improved.
Referring to fig. 1, the reaming device 2 comprises a reaming cartridge 21 and a first drive assembly 22 for driving the reaming cartridge 21 in rotation. First drive assembly 22 includes mount 221 and the motor 222 of setting on mount 221, and mount 221 includes bottom plate 2211 and fixes two connecting rods 2212 in bottom plate 2211 one side, and bottom plate 2211 is discoid and sets up, and two connecting rods 2212 use the axis of bottom plate 2211 to distribute as the center circumference, and connecting rod 2212 is the L type setting, and the one end that bottom plate 2211 was kept away from to connecting rod 2212 is with the piston rod fixed connection of keeping away from the walking cylinder 11 of strutting arrangement 3. The motor 222 is installed on the side of the bottom plate 2211 where the connecting rod 2212 is installed, and the output shaft of the motor 222 is coaxially installed through the bottom plate 2211 and with the bottom plate 2211. The reaming cylinder 21 is arranged on one side of the bottom plate 2211 far away from the connecting rod 2212, the output shaft of the motor 222 is fixedly connected with a cross 223, and the cross 223 is arranged in the reaming cylinder 21 and is fixedly connected with the reaming cylinder 21. When the preconditioner is advanced to the drain pipe recess, motor 222 is operated to drive the reaming cartridge 21 in rotation to perform the reaming operation.
The outer diameter of one end of the reaming cylinder 21 close to the bottom plate 2211 is matched with the inner diameter of the drain pipe, and one end of the reaming cylinder 21 far from the bottom plate 2211 is tapered to be gathered, so that a pretreatment robot can move in the drain pipe, and the possibility that the drain pipe is damaged by the reaming cylinder 21 is reduced.
Referring to fig. 2, the supporting device 3 includes a traction column 31 and a steel wire 32 wound around the traction column 31 and wound around the traction column 31. The diameter of the traction column 31 is smaller than the inner diameter of the drain pipe, and the diameter of the traction column 31 is 2-3 cm smaller than the inner diameter of the drain pipe in the embodiment of the application. The periphery of the traction column 31 is sunken with a positioning groove 33 for winding the steel wire 32, the positioning groove 33 spirally extends along the length direction of the traction column 31, the distance between two adjacent groove marks of the positioning groove 33 is 1-2 cm, the steel wire 32 is wound on the traction column 31 along the extending direction of the positioning groove 33, the diameter of a spiral ring formed by spirally winding the steel wire 32 is larger than the inner diameter of the drainage pipe, and the traction column 31 is provided with a limiting mechanism 34 for limiting the expansion of the steel wire 32. Through setting up the constant head tank 33, on the one hand make things convenient for on the traction column 31 winding steel wire 32, on the other hand make the wire 32 around the pitch of the spiral ring after the coil shaping unanimous to improve the support stability to the drain pipe that has been swung round by reaming section of thick bamboo 21.
Referring to fig. 2 and 3, the limiting mechanism 34 includes a plurality of stopper rods 341 and a second driving assembly 342 for driving the plurality of stopper rods 341 to move synchronously along the axial direction of the traction column 31. The two ends of the traction column 31 are provided with a plurality of through holes 35 in a penetrating manner, the through holes 35 are uniformly distributed around the axis of the traction column 31 as the center, the through holes 35 are communicated with the positioning groove 33, one through hole 35 corresponds to one limiting rod 341, the limiting rod 341 is inserted into the through hole 35 in a sliding manner, and a gap for the steel wire 32 to be clamped is reserved between the limiting rod 341 and the groove bottom of the positioning groove 33.
Referring to fig. 2, the second driving assembly 342 includes a driving cylinder 3421 disposed at one end of the traction column 31 far away from the traveling mechanism 1, a cylinder body of the driving cylinder 3421 is installed at an end of the traction column 31, a piston rod of the driving cylinder 3421 is fixedly connected to a fixing frame 3422, and one end of each of the plurality of position-limiting rods 341 is fixedly connected to the fixing frame 3422.
After the reaming barrel 21 rounds the sunken drain pipe, the walking device drives the reaming device 2 and the supporting device 3 to continue to advance. After the supporting device 3 moves to the segment of the drain pipe which is swung round by the reaming cylinder 21, the driving cylinder 3421 drives the fixing frame 3422 to move in the direction away from the traction column 31, so that the limiting rod 341 is driven to move, the steel wire 32 is gradually released, and the released steel wire 32 expands outwards to support the drain pipe, so that the possibility that the drain pipe is sunken again is reduced, meanwhile, the subsequent repair of the drain pipe is facilitated, the repair effect of the drain pipe is effectively improved, and the repair period is shortened.
The above embodiments are preferred embodiments of the present application, and the protection scope of the present application is not limited by the above embodiments, so: all equivalent changes made according to the structure, shape and principle of the present application shall be covered by the protection scope of the present application.
Claims (9)
1. The utility model provides a non-excavation drainage pipe pretreatment robot which characterized in that: the hole expanding device comprises a walking device, a hole expanding device (2) arranged at the front end of the walking device and a supporting device (3) arranged at the tail end of the walking device, wherein the hole expanding device (2) comprises a hole expanding cylinder (21) and a first driving assembly (22) driving the hole expanding cylinder (21) to rotate, and the outer diameter of the hole expanding cylinder (21) is matched with the inner diameter of a drain pipe to be repaired;
the supporting device (3) comprises a traction column (31), a steel wire (32) is spirally wound on the traction column (31) along the length direction, the diameter of a spiral ring formed by the spiral of the steel wire (32) is larger than the inner diameter of the drain pipe, and a limiting mechanism (34) for limiting the expansion of the steel wire (32) is arranged on the traction column (31).
2. The trenchless drain line pretreatment robot of claim 1, wherein: running gear is including three running gear (1) of group that connect gradually, running gear (1) is including walking cylinder (11) and around polylith section of jurisdiction (12) in walking cylinder (11) periphery, it has first connecting rod (13) to articulate between the piston rod of section of jurisdiction (12) and walking cylinder (11), it has second connecting rod (14) to articulate between the cylinder body of section of jurisdiction (12) and walking cylinder (11), and the piston rod that is located on two adjacent walking cylinders (11) is articulated with the cylinder body.
3. The trenchless drain line pretreatment robot of claim 1, wherein: the limiting mechanism (34) comprises a plurality of limiting rods (341) surrounding the periphery of the traction column (31) by taking the axis of the traction column (31) as the center and a second driving assembly (342) driving the limiting rods (341) to synchronously move along the axis direction of the traction column (31), the limiting rods (341) extend along the length direction of the traction column (31), and the limiting rods (341) tightly press the steel wire (32) against the traction column (31).
4. The trenchless drain line pretreatment robot of claim 3, wherein: the periphery of the traction column (31) is sunken to form a positioning groove (33) for winding the steel wire (32), and the positioning groove (33) spirally extends along the length direction of the traction column (31).
5. The trenchless drain line pretreatment robot of claim 4, wherein: the steel wire drawing device is characterized in that a plurality of through holes (35) for the limiting rods (341) to pass through are formed in the two ends of the drawing column (31) in a penetrating mode, the through holes (35) are communicated with the positioning grooves (33), the limiting rods (341) are movably inserted into the through holes (35), and gaps for placing steel wires (32) are reserved between the limiting rods (341) and the bottoms of the positioning grooves (33).
6. The trenchless drain line pretreatment robot of claim 2, wherein: every all articulated between section of jurisdiction (12) and the cylinder body of running gear (1) have two second connecting rod (14), two second connecting rod (14) parallel arrangement each other.
7. The trenchless drain line pretreatment robot of claim 1, wherein: the first driving assembly (22) comprises a mounting seat (221) and a motor (222) arranged on the mounting seat (221), an output shaft of the motor (222) is in transmission connection with the reaming barrel (21), and the mounting seat (221) is fixedly connected with a piston rod of a walking cylinder (11) far away from the supporting device (3).
8. The trenchless drain line pretreatment robot of claim 1, wherein: one end of the reaming barrel (21) far away from the mounting seat (221) is arranged in a tapered manner in a converging manner.
9. The trenchless drain line pretreatment robot of claim 3, wherein: the second driving assembly (342) comprises a fixing seat which is arranged at one end, far away from the walking mechanism (1), of the traction column (31), a driving cylinder (3421) is installed on the fixing seat, a piston rod of the driving cylinder (3421) is fixedly connected with a fixing frame (3422), and a plurality of limiting rods (341) are arranged on the fixing frame (3422).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210182714.3A CN114688385A (en) | 2022-02-26 | 2022-02-26 | Trenchless drainage pipeline pretreatment robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210182714.3A CN114688385A (en) | 2022-02-26 | 2022-02-26 | Trenchless drainage pipeline pretreatment robot |
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| Publication Number | Publication Date |
|---|---|
| CN114688385A true CN114688385A (en) | 2022-07-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210182714.3A Pending CN114688385A (en) | 2022-02-26 | 2022-02-26 | Trenchless drainage pipeline pretreatment robot |
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