CN116447428A - Non-excavation repair process for underground pipe network - Google Patents

Abstract

The invention discloses a non-excavation repairing process for an underground pipe network, which comprises the following steps: ① detecting and evaluating the condition of the pipeline: using high-definition camera technology to detect the pipeline, evaluating the condition of the pipeline and the parts to be repaired; ② cleaning and Unclog the pipeline: Clean the inside of the pipeline to remove dirt and sundries to ensure the smooth progress of the repair work; ③Make light-cured bushings: make corresponding light-cured bushings according to the size and shape of the pipes; the bushing components include: Epoxy resin, filler and photosensitizer; ④ Insert the bushing into the pipe: insert the light-cured bushing into the pipe, and inflate the bushing with an air tube to keep it attached to the pipe wall; The step of solidifying the bushing for underground pipe network trenchless repair can bring fast, efficient, safe, environmentally friendly and reliable repair effects, reducing the impact of pipe repair on the city and residents' life, and also improving the reliability and use of pipes life.

Description

A Trenchless Restoration Technology for Underground Pipeline Network

technical field

The invention relates to the technical field of underground pipelines, in particular to a non-excavation repair process for underground pipeline networks.

Background technique

The urban drainage pipe network is the "blood vessel" of the city. It shoulders the heavy responsibility of collecting and transporting urban sewage and rainwater. It is an important part of the urban water environment. The major responsibility for sewage discharge has become an important system for drainage and prevention of urban waterlogging;

When there is a problem with the existing underground pipeline network, because the underground pipeline is often buried deep, it is necessary to dig a deep tunnel to reach the pipeline for repair, and the underground pipeline is often underground, and the repair needs to be carried out in a narrow space, which will increase The difficulty and risk of construction. At the same time, underground construction may also have a negative impact on the surrounding environment. In addition, using traditional excavation methods to repair pipelines may require large-scale excavation and excavation of the surrounding area. Some roads and underground pipelines will cause inconvenience to the traffic and environmental management on the construction site, and will increase traffic accidents and safety risks; moreover, excavation and repair of underground pipelines will require a lot of labor and materials, resulting in manpower, materials and The cost of equipment is high, and the surrounding environment needs to be protected during the construction process, which increases the cost of management and monitoring.

These problems will increase the difficulty of underground pipe network restoration, increase the cost, and prolong the construction period. Therefore, the non-excavation restoration method has become a solution, which has the advantages of being faster, more efficient, safer and more economical.

Contents of the invention

In order to solve the above-mentioned technical problems, the present invention provides a non-excavation repair process of underground pipe network, which can bring fast, efficient, safe, environmentally friendly and reliable The repair effect reduces the impact of pipeline maintenance on the city and residents' life, and also improves the reliability and service life of the pipeline.

A trenchless restoration process for an underground pipe network, comprising the following steps,

① Detection and evaluation of pipeline conditions: use high-definition camera technology to detect pipelines, evaluate the conditions of pipelines and the parts that need to be repaired;

②Clean and dredge the pipeline: clean the inside of the pipeline to remove dirt and debris to ensure the smooth progress of the repair work;

③Preparation of light-cured bushing: According to the size and shape of the pipe, make the corresponding light-cured bushing; the composition of the bushing includes epoxy resin, filler and photosensitizer;

④Put the bushing into the pipe: insert the light-cured bushing into the pipe, and inflate the bushing with the inflation tube to keep it in contact with the pipe wall;

⑤ Light-curing: Use ultraviolet light to light-cure the bushing to form a new layer of corrosion resistance and high strength. It usually needs to be cured several times until the required thickness and hardness are achieved;

⑥Remove the inflatable tube and trim the bushing: After the light curing is completed, remove the inflatable tube, and then trim and polish the bushing to make the surface smooth and flat;

⑦ Re-inspection and acceptance: After the repair is completed, the pipeline inspection is carried out again to ensure that the repair quality meets the requirements.

Among them, the detection and evaluation of pipeline conditions in step ① includes:

Preparation work: determine the type, material and specification of the pipeline to be inspected, and prepare the required inspection equipment and tools;

Cleaning the pipeline: Clean the pipeline before testing to better observe the inside of the pipeline; cleaning methods include high-pressure water flushing and/or vacuuming;

Internal inspection of the pipeline: Use high-definition camera technology to inspect the interior of the pipeline to observe the internal conditions of the pipeline, including the degree of damage, cracks, corrosion, blockage and deformation of the pipeline;

Record the condition of the pipeline: record and evaluate the condition of the pipeline in detail, including the type, material, specification, damage degree, location and size of the pipeline, and formulate a corresponding repair plan;

Preparation of pipeline repair plan: According to the specific conditions and repair requirements of the pipeline, prepare a corresponding repair plan, including selecting appropriate repair materials, tools and methods.

Wherein, the method for making light-cured lining in step ③ comprises:

Measuring the size and shape of the pipe: by measuring the pipe, determine its size and shape, so as to make the corresponding light-cured lining;

Select appropriate materials: select appropriate materials according to the material of the pipeline, environmental conditions and repair requirements, usually including epoxy resin, filler and photosensitizer;

Prepare the bushing mold: according to the measured pipe size and shape, prepare the corresponding bushing mold;

Making the bushing: After mixing the selected materials evenly, pour it into the mold, and after it solidifies, take out the bushing and carry out subsequent processing;

Carry out photocuring: insert the prepared photocuring bushing into the pipe, and use ultraviolet lamps for photocuring to form a corrosion-resistant, high-strength new layer; multiple photocuring is required until the required thickness and hardness.

Wherein, cleaning and dredging pipelines in step ② is performed by an automatic dredging and cleaning robot for underground pipelines; the automatic dredging and cleaning robot for underground pipelines includes a storage rack, the surface of the storage rack is hinged with a sealed door, and the inner wall of the storage rack is threaded. There is a circular plate, the surface of the circular plate is provided with drainage holes, the surface of the circular plate is provided with electric wires, the end of the storage rack away from the circular plate is provided with an electric push rod, and the end of the electric push rod is far away from the storage rack A push plate is fixedly connected, and a fixed plate is fixedly connected to the inner wall of the storage rack. The end of the fixed plate far away from the storage rack is fixedly connected with a positioning rod. The storage rack stores and collects impurities inside the underground pipeline. There is a sealed door on the surface. After opening the sealed door, the impurities inside the storage rack can be cleaned. There are wires on the back of the circular plate, and the wires are electrically connected to the motor. Pull out the inside of the circular plate and the inner wall of the storage rack, so as to disassemble the circular plate and facilitate the cleaning of the filter screen. The surface of the fixed plate is provided with a filter screen, which also includes:

A scraping part, the scraping part includes a motor, the motor is fixedly connected with the positioning rod, the surface of the motor is fixedly connected with a protective frame, the output end of the motor is fixedly connected with a rotating rod, and the rotating rod is far away from the motor One end of the storage rack is fixedly connected with a driving gear, and the end of the storage rack away from the circular plate is provided with a bevel ring, and the surface of the bevel ring is fixedly connected with a scraper;

A softening component, the softening component includes a fixed cylinder, the inner wall of the fixed cylinder is fixedly connected with a rotating rod, the end of the fixed cylinder away from the rotating rod is fixedly connected with a positioning post, and the surface of the positioning post is fixedly connected with a connecting ring , the surface of the connecting ring is fixedly connected with a softening rod;

A cleaning part, the cleaning part includes a ring frame, the ring frame is rotatably connected to the inner wall of the storage rack through a bearing, the inner wall of the ring frame is fixedly connected with a bent plate, and the bent plate is far away from one end of the ring frame Fixedly connected with a ring with a concave hole;

The moving part is arranged at the end of the circular plate away from the storage rack, and the number of the moving parts is set to three.

Wherein, the number of the fixed plate is set to four, the number of the filter screen is set to four, and the four filter screens are respectively arranged on one end of the fixed plate close to each other, and the fixed plate is arranged on the storage rack near the circle. one end of the board.

Wherein, the scraping part includes a rotating ring, the rotating ring is connected to the inner wall of the storage rack through bearings, the rotating ring is fixedly connected to the bevel ring through a cylindrical rod, and a cross is fixedly connected to the inner wall of the rotating ring. There are multiple scrapers on the surface of the slope ring, and multiple scrapers are set on the slope of the slope ring. When there are many impurities inside the underground pipeline, the scrapers will loosen the impurities inside the underground pipeline so that the scrapers can clean the underground pipeline. The inner wall is scraped and cleaned, the inner wall of the cross is fixedly connected with a driving rod, the surface of the driving rod is fixedly connected with a meshing gear, and the inside of the driving rod is provided with a cylindrical hole;

A round hole frame is fixedly connected to the inner wall of the slope ring, and a scraper is fixedly connected to the slope of the slope ring.

Wherein, the cylindrical hole runs through the meshing gear, and the meshing gear is located at the end of the drive rod away from the beveled ring, the end of the drive rod passes through the cross and extends to the outer end of the cross, and the end of the beveled ring and the storage rack surface contact.

Wherein, the fixed cylinder is rotatably connected with the round hole frame through a bearing, the fixed cylinder is located at the center of the round hole frame, the end of the fixed cylinder passes through the round hole frame and extends to the outer end of the round hole frame, the The softening rod is arranged at the end of the round hole frame away from the driving rod, the softening rod is arranged at the outer end of the storage rack, and the slope ring is fixedly connected with the electric push rod.

Wherein, the softening component includes an inner ring gear, the inner ring gear is fixedly connected with the surface of the rotating rod, the inner wall of the inner ring gear is meshed with a synchronizing gear, and the synchronizing gear is fixedly connected with the end of the rotating rod, synchronously The gear and the inner ring gear are internally meshed, so that the synchronous gear can push the rotating rod and the rotating rod to rotate in the same direction. The driving gear and the meshing gear are meshed with the outer ring, and the rotating rod pushes the driving rod through the meshing of the driving gear and the meshing gear. The rotation of the scraping component and the softening component are opposite rotations, and the rotation rod is connected with the inner wall of the cylindrical hole through the bearing;

A triangular block is fixedly connected to the surface of the softening rod, a cleaning block is fixedly connected to the surface of the triangular block, and a crushing knife is fixedly connected to the surface of the triangular block.

Wherein, the number of the softening rods is set to four, the triangular block is in contact with the surface of the round hole frame, and the surface of the triangular block is provided with two pulverizing knives, and the pulverizing knives are arranged symmetrically around the triangular block.

Wherein, the cleaning part includes a limit ring, the limit ring is rotationally connected with the surface of the positioning rod through a bearing, the surface of the limit ring is fixedly connected with a support plate, and the end of the support plate away from the limit ring is fixed A bristle plate is connected, the ring frame and the support plate are fixedly connected through a linkage rod, the inner wall of the concave hole ring is engaged with a driving ring, and the driving ring is fixedly connected to the surface of the rotating rod;

The number of the support plates is set to four, and the ends of the bent plates extend to the outer ends of the ring frame.

Wherein, the bristle plate is in contact with the surface of the filter net, the end of the bristle plate is in contact with the surface of the positioning rod, and the end of the bristle plate away from the positioning rod is in contact with the inner wall of the storage rack.

Wherein, the moving part includes an extension frame, the extension frame is fixedly connected to the circular plate, the inner wall of the extension frame is fixedly connected with a side frame, the inner wall of the side frame is provided with a driver, and the end of the side frame is far away from the driver Rolling rods are rotatably connected through bearings, and tracks are provided on the surface of the rolling rods;

There are two roller bars and two drivers respectively, one end of the driver and the roller rollers away from each other is in contact with the inner wall of the track, two side frames are provided, and the two side frames use the track as a Centrosymmetrical setup.

The beneficial effect that the present invention has:

The repair process of the present invention avoids problems such as ground damage and traffic congestion caused by traditional excavation repair methods, and has a significant protection effect on the urban environment; detection and evaluation of pipeline conditions in the process can detect pipeline problems early, avoiding problems caused by Greater accidents and losses caused by pipeline problems; the cleaning of the pipeline in the process can ensure the adhesion and sealing of the light-cured bushing; the production of the light-cured bushing in the process can be customized according to the size and shape of the pipe to ensure that the bushing It fits perfectly with the pipeline, and the repair effect is better; the light-cured lining in the process can form a new layer of corrosion resistance and high strength, which increases the service life and stability of the pipeline; multiple light-curing can ensure that the lining meets the requirements The thickness and hardness of the bushing can ensure the quality of the repair; trimming and grinding can make the surface of the bushing smooth and flat, and further enhance its sealing; re-inspection and acceptance can ensure the quality of the repair meets the requirements, avoid loopholes and problems, and ensure the safety and reliability of the pipeline ; In general, the step of using light-cured bushings for underground pipe network trenchless repair can bring fast, efficient, safe, environmentally friendly, and reliable repair effects, reducing the impact of pipeline repair on the city and residents' lives, and also Improve the reliability and service life of the pipeline.

The underground pipeline automatic dredging and cleaning robot of the present invention is provided with a scraping part on the surface of the storage rack. After the motor is energized, the motor drives the scraping part to rotate, and the slope ring uses the scraper on the surface to scrape and clean the inner wall of the underground pipeline to avoid sludge Impurities such as other impurities adhere to the inner wall of the underground pipeline, and a softening part is provided on the surface of the scraping part. The shrinkage of the push rod pushes the impurities to the surface of the round hole frame, and pushes the impurities into the inside of the storage rack for storage and collection. There is a cleaning part inside the storage rack, and the filter screen is cleaned by the cleaning part to avoid contamination inside the underground pipeline. The water flow can be discharged from the inside of the storage rack through the filter net to prevent the water flow from accumulating inside the storage rack. After the airtight door is opened, the cleaning part will push out the impurities inside the storage rack to improve convenience.

The automatic dredging and cleaning robot for underground pipelines of the present invention is provided with a round hole frame at the center of the inclined plane ring to prevent larger impurities from entering the interior of the storage frame and causing blockage inside the storage frame. The driving rod pushes the cross to rotate, and the rotating ring drives the inclined ring to rotate through the cross. When the storage rack moves to the inside of the underground pipeline, the thicker impurities inside the underground pipeline will contact the scraper first, and the impurities are loosened by the scraper. The scraper uses the inclined ring The rotation of the pump cleans the impurities on the inner wall of the underground pipeline, and loosens the inside of the underground pipeline. The scraped impurities will fall between the push plate and the inclined ring, and the push plate uses the shrinkage of the electric push rod to push the impurities to the circle. On the surface of the hole frame, the impurities are pushed into the interior of the storage rack through the round hole frame for collection and treatment, so as to transport the impurities inside the underground pipeline.

The rotating rod of the automatic dredging and cleaning robot for underground pipelines of the present invention drives the positioning column to rotate through the fixed cylinder, and the softening rod rotates through the positioning column to stir the impurities to prevent the impurities from agglomerating together, and the triangular block cleans the surface of the round hole frame through the rotation of the softening rod To prevent impurities from accumulating on the surface of the round hole frame, a crushing knife is set on the surface of the triangular block, and the impurities are crushed by the crushing knife to avoid large impurities from blocking the round hole frame, further improving the protection of underground pipelines dredge effect.

The driving ring of the automatic dredging and cleaning robot for underground pipelines of the present invention drives the concave hole circular ring to rotate through the rotating rod, and the curved plate stirs the impurities inside the storage rack through the rotation of the ring frame, so that the impurities can be fully stored in the storage rack. The bracket pushes the limit ring to rotate through the linkage rod, and the limit ring drives the bristle plate to rotate and contacts the surface of the filter screen to prevent impurities from blocking the filter screen. The water flow inside the underground pipe is discharged into the drain hole through the filter screen and It flows to the outer end of the storage rack through the drainage hole to prevent the water flow inside the underground pipe from gathering inside the storage rack. After the airtight door is opened, the curved plate will push the impurities to the airtight door when it rotates, so that the water inside the storage rack Impurities are pushed out, thereby improving the dredging efficiency of underground pipelines.

The driver of the automatic dredging and cleaning robot for underground pipelines of the present invention pushes the crawlers to rotate inside the extension frame. The crawlers are supported by the side frames to improve stability. Three crawlers are arranged on the surface of the circular plate. The frame moves inside the underground pipeline, so that the scraping component can move deep inside the underground pipeline, so as to dredge the inside of the underground pipeline.

Description of drawings

Fig. 1 is the overall structure schematic diagram of automatic dredging cleaning robot of underground pipeline of the present invention;

Fig. 2 is a schematic diagram of the overall structure of the automatic dredging and cleaning robot storage rack for underground pipelines of the present invention;

Fig. 3 is a schematic sectional structure diagram of a storage rack for an automatic dredging and cleaning robot for underground pipelines according to the present invention;

Fig. 4 is a schematic diagram of the overall structure of an automatic dredging and cleaning robot filter screen for underground pipelines of the present invention;

Fig. 5 is a schematic diagram of the overall structure of the inclined plane ring of the automatic dredging and cleaning robot for underground pipelines of the present invention;

Fig. 6 is a schematic diagram of the overall structure of the robot cross for automatic dredging and cleaning of underground pipelines according to the present invention;

7 is a schematic diagram of the overall structure of the inner ring gear of the automatic dredging and cleaning robot for underground pipelines of the present invention;

Fig. 8 is a schematic diagram of the overall structure of the triangular block of the automatic dredging and cleaning robot for underground pipelines of the present invention;

Fig. 9 is a schematic diagram of the overall structure of the concave hole ring of the automatic dredging and cleaning robot for underground pipelines of the present invention;

Fig. 10 is an enlarged schematic diagram of part A in Fig. 3 of the present invention;

Fig. 11 is a schematic cross-sectional view of the parallel axis of the mobile flushing mechanism of the present invention;

Fig. 12 is a schematic cross-sectional view of the vertical axis of the mobile flushing mechanism of the present invention;

Fig. 13 is a structural schematic diagram of the piezoelectric deformation plate of the mobile flushing mechanism of the present invention;

1. Automatic dredging and cleaning robot for underground pipelines; 101. Storage rack; 102. Sealed door; 103. Electric wire; 104. Electric push rod; 105. Push plate; 106. Scraping parts; 107. Softening parts; 109, circular plate; 110, drainage hole; 111, cleaning part; 112, moving part; 113, positioning rod; 114, fixed plate; 115, filter screen; 120, motor; 121, rotating ring; 122, inclined plane ring; , scraper; 124, round hole frame; 125, scraper; 126, cylindrical rod; 127, driving gear; 128, rotating rod; 129, cylindrical hole; 130, meshing gear; 131, driving rod; 132, cross; 140, Inner ring gear; 141, synchronous gear; 142, rotating rod; 143, fixed cylinder; 144, connecting ring; 145, positioning column; 146, softening rod; 147, triangular block; , ring frame; 151, concave hole ring; 152, bent plate; 153, bristle plate; 154, drive ring; 155, support plate; 156, linkage rod; 157, limit ring; 160, extension frame; 161 , driver; 162, crawler belt; 163, roller bar; 164, side frame; 2, support shaft; 3, mobile flushing mechanism; 301, hollow disc; 302, bearing; 303, sealing baffle; 304, sealing ring; 305 , flushing guide; 306, clockwise inclined cyclone nozzle; 307, counterclockwise inclined cyclone nozzle; 308, fixed arc panel; 309, bendable arc panel; 310, water outlet; 311, piezoelectric deformation plate; 312, elastic resin plate; 313, piezoelectric ceramic plate.

Implementation

The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. The embodiments of the present invention have been presented for purposes of illustration and description, but are not intended to be exhaustive or to limit the invention to the form disclosed. Many modifications and changes will be apparent to those of ordinary skill in the art. The embodiment was chosen and described in order to better explain the principles of the invention and the practical application, and to enable others of ordinary skill in the art to understand the invention and design various embodiments with various modifications as are suited to the particular use.

Example

Please refer to Figure 1-Figure 9,

A trenchless restoration process for an underground pipe network, comprising the following steps,

① Detection and evaluation of pipeline conditions: use high-definition camera technology to detect pipelines, evaluate the conditions of pipelines and the parts that need to be repaired;

②Clean and dredge the pipeline: clean the inside of the pipeline to remove dirt and debris to ensure the smooth progress of the repair work;

③Preparation of light-cured bushing: According to the size and shape of the pipe, make the corresponding light-cured bushing; the composition of the bushing includes epoxy resin, filler and photosensitizer;

④Put the bushing into the pipe: insert the light-cured bushing into the pipe, and inflate the bushing with the inflation tube to keep it in contact with the pipe wall;

⑤ Light-curing: Use ultraviolet light to light-cure the bushing to form a new layer of corrosion resistance and high strength. It usually needs to be cured several times until the required thickness and hardness are achieved;

⑥Remove the inflatable tube and trim the bushing: After the light curing is completed, remove the inflatable tube, and then trim and polish the bushing to make the surface smooth and flat;

⑦ Re-inspection and acceptance: After the repair is completed, the pipeline inspection is carried out again to ensure that the repair quality meets the requirements.

Further, the detection and evaluation of pipeline conditions in step ① includes:

Preparation work: determine the type, material and specification of the pipeline to be inspected, and prepare the required inspection equipment and tools;

Cleaning the pipeline: Clean the pipeline before testing to better observe the inside of the pipeline; cleaning methods include high-pressure water flushing and/or vacuuming;

Internal inspection of the pipeline: Use high-definition camera technology to inspect the interior of the pipeline to observe the internal conditions of the pipeline, including the degree of damage, cracks, corrosion, blockage and deformation of the pipeline;

Record the condition of the pipeline: record and evaluate the condition of the pipeline in detail, including the type, material, specification, damage degree, location and size of the pipeline, and formulate a corresponding repair plan;

Preparation of pipeline repair plan: According to the specific conditions and repair requirements of the pipeline, prepare a corresponding repair plan, including selecting appropriate repair materials, tools and methods.

Further, the method for making a light-cured bushing in step ③ includes:

Measuring the size and shape of the pipe: by measuring the pipe, determine its size and shape, so as to make the corresponding light-cured lining;

Select appropriate materials: select appropriate materials according to the material of the pipeline, environmental conditions and repair requirements, usually including epoxy resin, filler and photosensitizer;

Prepare the bushing mold: according to the measured pipe size and shape, prepare the corresponding bushing mold;

Making the bushing: After mixing the selected materials evenly, pour it into the mold, and after it solidifies, take out the bushing and carry out subsequent processing;

Carry out photocuring: insert the prepared photocuring bushing into the pipe, and use ultraviolet lamps for photocuring to form a corrosion-resistant, high-strength new layer; multiple photocuring is required until the required thickness and hardness.

Further, cleaning and dredging pipelines in step ② are carried out by an automatic dredging and cleaning robot 1 for underground pipelines; the automatic dredging and cleaning robot 1 for underground pipelines includes a storage rack 101, the surface of the storage rack 101 is hinged with a sealing door 102, and the inner wall of the storage rack 101 is threaded. Connected with a circular plate 109, the surface of the circular plate 109 is provided with a drainage hole 110, the surface of the circular plate 109 is provided with an electric wire 103, and the end of the storage rack 101 away from the circular plate 109 is provided with an electric push rod 104, and the electric push rod 104 is far away from the storage rack One end of 101 is fixedly connected with a push plate 105, the inner wall of the storage rack 101 is fixedly connected with a fixed plate 114, the end of the fixed plate 114 away from the storage rack 101 is fixedly connected with a positioning rod 113, the surface of the fixed plate 114 is provided with a filter screen 115, Also includes:

Scraping part 106, scraping part 106 comprises motor 120, and motor 120 is fixedly connected with positioning rod 113, and the surface of motor 120 is fixedly connected with protective frame 108, and the output end of motor 120 is fixedly connected with rotating rod 128, and rotating rod 128 is away from motor One end of 120 is fixedly connected with driving gear 127. The present invention is provided with scraper 106 on the surface of storage rack 101. After the motor 120 is energized, the motor 120 drives the scraper 106 to rotate, and the inclined ring 122 utilizes the scraper 125 on the surface to The inner wall of the underground pipeline is scraped and cleaned to prevent impurities such as silt from adhering to the inner wall of the underground pipeline. A softening component 107 is provided on the surface of the scraping component 106, and the softening component 107 is used to pulverize the impurities to avoid the scraped impurities. Larger, causing the internal blockage of the storage rack 101, the push plate 105 pushes the impurities to the surface of the round hole frame 124 through the shrinkage of the electric push rod 104, and pushes the impurities into the inside of the storage rack 101 for storage and collection. A cleaning part 111 is arranged inside, and the filter screen 115 is cleaned by the cleaning part 111, so that the water flow inside the underground pipeline can be discharged from the inside of the storage rack 101 through the filter screen 115, and the water flow is prevented from gathering in the inside of the storage rack 101, and the airtight door 102 After opening, the cleaning part 111 will push out the impurities inside the storage rack 101 to improve convenience. The end of the storage rack 101 away from the circular plate 109 is provided with a bevel ring 122, and the surface of the bevel ring 122 is fixedly connected with a scraper 125;

The softening component 107, the softening component 107 includes a fixed cylinder 143, the inner wall of the fixed cylinder 143 is fixedly connected with a rotating rod 142, and the end of the fixed cylinder 143 away from the rotating rod 142 is fixedly connected with a positioning column 145, and the surface of the positioning column 145 is fixedly connected with a connecting rod. Ring 144, the surface of connecting ring 144 is fixedly connected with softening rod 146;

Cleaning part 111, cleaning part 111 comprises ring frame 150, and ring frame 150 is rotatably connected with the inner wall of storage frame 101 by bearing, and the inner wall of ring frame 150 is fixedly connected with bent plate 152, and bent plate 152 is far away from the inner wall of ring frame 150. One end is fixedly connected with a concave ring 151;

The moving part 112, the moving part 112 is arranged at the end of the circular plate 109 away from the storage rack 101, and the number of the moving part 112 is set to three.

The quantity of fixed plate 114 is provided with four, and the quantity of filter screen 115 is provided with four, and four filter screens 115 are respectively arranged on one end of fixed plate 114 close to each other, and fixed plate 114 is arranged on storage rack 101 near one end of circular plate 109 .

The scraping part 106 includes a rotating ring 121, which is rotationally connected with the inner wall of the storage rack 101 through bearings, and the rotating ring 121 is fixedly connected with the bevel ring 122 through a cylindrical rod 126, and the inner wall of the rotating ring 121 is fixedly connected with a cross 132, the cross The inner wall of 132 is fixedly connected with driving rod 131, and the surface of driving rod 131 is fixedly connected with meshing gear 130, and the present invention is provided with round hole frame 124 at the center of bevel ring 122, to avoid larger impurities from entering the inside of storage rack 101, Cause the internal blockage of the storage rack 101, the rotating rod 128 drives the meshing gear 130 to rotate through the motor 120, the meshing gear 130 pushes the cross 132 to rotate through the driving rod 131, the rotating ring 121 drives the inclined-plane ring 122 to rotate through the cross 132, and the storage rack 101 goes to the underground pipeline When the inside of the underground pipeline moves, the thicker impurities inside the underground pipeline will contact the scraper 123 first, and the impurities will be loosened by the scraper 123. The scraper 125 uses the rotation of the inclined ring 122 to clean the impurities on the inner wall of the underground pipeline, and the underground pipeline The inside is loosened, and the scraped impurities will fall between the push plate 105 and the bevel ring 122. The push plate 105 uses the shrinkage of the electric push rod 104 to push the impurities to the surface of the round hole frame 124, and through the round hole frame 124 Push the impurities into the interior of the storage rack 101 for collection and processing, so as to transport the impurities inside the underground pipeline, and the inside of the driving rod 131 is provided with a cylindrical hole 129;

A round hole frame 124 is fixedly connected to the inner wall of the slope ring 122 , and a scraper 123 is fixedly connected to the slope of the slope ring 122 .

Cylindrical hole 129 runs through meshing gear 130, and meshing gear 130 is positioned at the end of drive rod 131 away from bevel ring 122, and the end of drive rod 131 runs through cross 132 and extends to the outer end of cross 132, and the end of bevel ring 122 and storage rack 101 surface contact.

The fixed cylinder 143 is rotatably connected with the round hole frame 124 through bearings, the fixed cylinder 143 is located at the center of the round hole frame 124, the end of the fixed cylinder 143 runs through the round hole frame 124 and extends to the outer end of the round hole frame 124, and the softening rod 146 The end of the round hole frame 124 away from the driving rod 131 is arranged, the softening rod 146 is arranged at the outer end of the storage rack 101 , and the bevel ring 122 is fixedly connected with the electric push rod 104 .

The softening part 107 includes an inner ring gear 140, the inner ring gear 140 is fixedly connected with the surface of the rotating rod 128, the inner wall of the inner ring gear 140 is meshed with a synchronous gear 141, and the synchronous gear 141 is fixedly connected with the end of the rotating rod 142, the present invention rotates The rod 142 drives the positioning column 145 to rotate through the fixed cylinder 143, and the softening rod 146 rotates through the positioning column 145 to stir the impurities to prevent the impurities from coagulating together. Impurities accumulate on the surface of the round hole frame 124, and a pulverizing knife 149 is arranged on the surface of the triangular block 147, and the impurities are pulverized by the pulverizing knife 149, so as to avoid having larger impurities to block the round hole frame 124, further improving the For the dredging effect of the underground pipeline, the rotating rod 142 is rotationally connected with the inner wall of the cylindrical hole 129 through the bearing;

The surface of the softening rod 146 is fixedly connected with a triangular block 147 , the surface of the triangular block 147 is fixedly connected with a cleaning block 148 , and the surface of the triangular block 147 is fixedly connected with a crushing knife 149 .

There are four softening rods 146, the triangular block 147 is in contact with the surface of the round hole frame 124, and the surface of the triangular block 147 is provided with two pulverizing knives 149, and the pulverizing knives 149 are arranged symmetrically around the triangular block 147.

Cleaning part 111 comprises limit ring 157, and limit ring 157 is connected with the surface rotation of positioning bar 113 by bearing, and the surface of limit ring 157 is fixedly connected with support plate 155, and support plate 155 is fixedly connected with one end away from limit ring 157. The bristle plate 153, the ring frame 150 and the support plate 155 are fixedly connected through the linkage rod 156, and the inner wall of the concave hole ring 151 is engaged with a driving ring 154. The driving ring 154 of the present invention drives the concave hole ring 151 to rotate through the rotating rod 128. The bending plate 152 stirs the impurities inside the storage rack 101 through the rotation of the ring frame 150, so that the impurities can be fully stored in the inside of the storage rack 101, and the ring frame 150 pushes the limit ring 157 to rotate through the linkage rod 156, and the limit ring 157 drives the bristle plate 153 to rotate and contacts the surface of the filter screen 115 at the same time to prevent impurities from blocking the filter screen 115. to prevent the water flow inside the underground pipeline from gathering inside the storage rack 101. After the airtight door 102 is opened, the curved plate 152 will push the impurities to the airtight door 102 when rotating, so that the impurities in the storage rack 101 Push out, and then improve the dredging efficiency to underground pipeline, drive ring 154 is fixedly connected with the surface of rotating rod 128;

There are four supporting plates 155 , and the ends of the bent plates 152 extend to the outer end of the ring frame 150 .

The bristle plate 153 is in contact with the surface of the filter screen 115 , the end of the bristle plate 153 is in contact with the surface of the positioning rod 113 , and the end of the bristle plate 153 away from the positioning rod 113 is in contact with the inner wall of the storage rack 101 .

Example

With the distinguishing feature of embodiment 1;

As shown in Figure 10: the moving part 112 includes an extension frame 160, the extension frame 160 is fixedly connected with the circular plate 109, the inner wall of the extension frame 160 is fixedly connected with a side frame 164, the inner wall of the side frame 164 is provided with a driver 161, and the side frame 164 is away from One end of the driver 161 is rotatably connected with a roller bar 163 through a bearing. The driver 161 of the present invention pushes the crawler belt 162 to rotate inside the extension frame 160. The crawler belt 162 improves stability through the support of the side frame 164. Three crawler belts are arranged on the surface of the circular plate 109. 162. After the crawler belt 162 contacts the inner wall of the underground pipeline, it pushes the storage rack 101 to move inside the underground pipeline, so that the scraping member 106 can move to the deep inside of the underground pipeline, so as to dredge the inside of the underground pipeline, and the rolling rod 163 The surface of is provided with track 162;

The quantity of roller bar 163 and driver 161 is respectively provided with two, and the inner wall of driver 161 and roller bar 163 that is far away from each other is in contact with the inner wall of crawler belt 162, and the quantity of side frame 164 is provided with two, and two side frames 164 take crawler belt 162 as Centrosymmetrical setup.

A specific application of this embodiment is: a round hole frame 124 is arranged at the center of the bevel ring 122 to prevent larger impurities from entering the inside of the storage rack 101 and causing blockage inside the storage rack 101, and the rotating rod 128 is driven by the motor 120 The meshing gear 130 rotates, and the meshing gear 130 pushes the cross 132 to rotate through the driving rod 131, and the rotating ring 121 drives the inclined ring 122 to rotate through the cross 132. The scraper 123 is in contact, and the impurities are loosened by the scraper 123. The scraper 125 uses the rotation of the inclined ring 122 to clean the impurities on the inner wall of the underground pipeline, loosens the inside of the underground pipeline, and the scraped impurities will fall on the push plate 105 and the bevel ring 122, the push plate 105 utilizes the contraction of the electric push rod 104 to push the impurities to the surface of the round hole frame 124, and pushes the impurities into the interior of the storage rack 101 through the round hole frame 124 for collection and processing, so that The impurities inside the underground pipeline are transported, the rotating rod 142 drives the positioning column 145 to rotate through the fixed cylinder 143, the softening rod 146 rotates through the positioning column 145 to stir the impurities, and prevents the impurities from coagulating together. The surface of the round hole frame 124 is cleaned to prevent impurities from accumulating on the surface of the round hole frame 124. A pulverizer 149 is arranged on the surface of the triangular block 147, and the impurities are pulverized by the pulverizer 149, so as to avoid larger impurities from distorting the round hole. The frame 124 is blocked to further improve the effect of dredging the underground pipeline. The driving ring 154 drives the concave hole ring 151 to rotate through the rotating rod 128, and the curved plate 152 stirs the impurities inside the storage frame 101 through the rotation of the ring frame 150, so that the impurities It can be fully stored inside the storage rack 101. The ring frame 150 pushes the limit ring 157 to rotate through the linkage rod 156. The limit ring 157 drives the bristle plate 153 to rotate and at the same time contacts the surface of the filter screen 115 to prevent impurities from distorting the filter screen. 115 is blocked, and the water flow inside the underground pipeline is discharged into the inside of the drain hole 110 through the filter screen 115, and flows to the outer end of the storage rack 101 through the drain hole 110, so as to prevent the water flow inside the underground pipeline from gathering in the inside of the storage rack 101. After the airtight door 102 is opened, the curved plate 152 will push the impurities to the airtight door 102 when rotating, so as to push out the impurities inside the storage shelf 101, thereby improving the dredging efficiency of the underground pipeline. The internal rotation of the crawler belt 162 improves stability through the support of the side frame 164. Three crawler belts 162 are arranged on the surface of the circular plate 109. After the crawler belt 162 contacts the inner wall of the underground pipeline, the storage rack 101 is pushed to move inside the underground pipeline, so that The scraping member 106 can move deep inside the underground pipeline so as to dredge the inside of the underground pipeline.

Example

As shown in Figures 11 to 13, on the basis of Embodiment 1 or Embodiment 2, a support shaft 2 is detachably fixed backward in the middle of the rear end of the storage rack 101; a mobile flushing mechanism 3 is detachably and rotationally sleeved on the support shaft 2; the mobile flushing mechanism 3 includes a hollow disc 301; the center of the hollow disc 301 is sleeved on the support shaft 2, and the front and rear parts of the sleeve are respectively provided with bearings 302; the front and rear parts of the bearing 302 are also provided with sealing baffles 303 The sealing baffle 303 is also embedded with a sealing ring 304 sleeved on the outer circumferential surface of the support shaft 2; the outer ring of the hollow disc 301 is fixedly provided with multiple sets of flushing guides 305; the flushing guides 305 include clockwise inclined cyclone nozzles 306 and anticlockwise inclined cyclone nozzle 307; the inclination angles of clockwise inclined cyclone nozzle 306 and counterclockwise inclined cyclone nozzle 307 are different; clockwise inclined cyclone nozzle 306 and counterclockwise inclined cyclone nozzle 307 include a fixed arc panel 308 and a bendable arc panel respectively 309; the outer convex arc surface of the fixed arc panel 308 and the bendable arc panel 309 encircle the water outlet 310 whose cross-sectional area gradually shrinks outward; the outlet of the water outlet 310 forms a wind outlet slit; The outer end of the bendable arc panel 309 is long, so that the air from the water outlet 310 is blown out from the outer convex arc surface of the fixed arc panel 308 under the Coanda effect; the bendable arc panel 309 is an elastic plate made of elastic material, and its back is fixed A sealed piezoelectric deformation plate 311 is attached; the piezoelectric deformation plate 311 includes an elastic resin plate 312 and piezoelectric ceramic plates 313 attached to both sides of the elastic resin plate 312; The electric field can control one of the piezoelectric ceramic plates 313 to elongate and the other to shorten, thereby controlling the bending degree of the piezoelectric deformation plate 311, thereby controlling the bending degree of the bendable arc panel 309, thereby controlling the volume of the water outlet 310 and the cut-off at the outlet. area size.

The external pump air pipe pumps water dissolved in detergent into the hollow disc 301; after the water is further pressurized in the hollow disc 301, it is sprayed out through the water outlet 310, due to the clockwise inclined cyclone nozzle 306 and the counterclockwise inclined cyclone nozzle 307 The direction and degree of inclination are different, so it can neutralize the torsion force produced by part of the sprayed water on the hollow disc 301, thereby ensuring that the sprayed water can evenly clean the inner wall of the pipeline; and by adjusting the clockwise inclined cyclone nozzle 306 and reverse Tilting the size of the outlet channel 310 of the cyclone nozzle 307 clockwise can control the size of the air outlet and the torque and rotation speed of the hollow disc 301, thereby adjusting the cleaning speed and strength.

Advantages of this program include:

1. High degree of automation: The mobile flushing mechanism is used for the flushing operation. The mobile flushing mechanism moves along with the automatic dredging and cleaning robot. The degree of automation is high, which can greatly reduce manual operations and improve work efficiency.

2. Uniform flushing: due to the use of clockwise inclined cyclone nozzles and counterclockwise inclined cyclone nozzles, the torsion generated by part of the sprayed water on the hollow disc can be neutralized, thus ensuring uniform flushing.

3. Adjustable washing speed and strength: By adjusting the outlet size of the clockwise and counterclockwise inclined cyclone nozzles, the size of the water outlet and the torque and rotation speed of the hollow disc can be controlled, thereby adjusting the washing speed and strength.

4. Wide range of application: This solution can be applied to flushing the inner wall of pipelines of different shapes and sizes.

Wherein, since the outer end of the fixed arc panel 308 is longer than the outer end of the bendable arc panel 309, when the air from the water outlet 310 is sprayed on the convex arc surface of the fixed arc panel 308, a Coanda effect will be formed. The Coanda effect is a phenomenon in fluid mechanics. It means that when a high-speed fluid flows along a solid surface, a low-pressure area will be generated on the surface, so that the fluid can adhere tightly to the surface, thereby forming a stable boundary layer. In this scheme, the existence of the Coanda effect can make the flushing direction of water better and more concentrated, thereby improving the flushing effect and quality.

The inverse piezoelectric effect is applied to the bendable arc panel. By applying an electric field to control the elongation or shortening of the piezoelectric ceramic plate, the bending degree of the bendable arc panel can be controlled, thereby adjusting the volume of the water outlet and the cross-sectional area of the outlet. In this way, the amount and range of sprayed water can be adjusted as required, thereby improving the precision and efficiency of flushing. The application of this inverse piezoelectric effect makes the flushing process more precise and more controllable, thereby improving the efficiency and quality of flushing

Apparently, the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art and related fields without creative efforts shall fall within the protection scope of the present invention. The structures, devices and operation methods not specifically described and explained in the present invention, unless otherwise specified and limited, shall be implemented according to conventional means in the art.

Claims (10)

1. A trenchless restoration technique for underground pipe networks, characterized in that: it may further comprise the steps, ① Detection and evaluation of pipeline conditions: use high-definition camera technology to detect pipelines, evaluate the conditions of pipelines and the parts that need to be repaired; ②Clean and dredge the pipeline: clean the inside of the pipeline to remove dirt and debris to ensure the smooth progress of the repair work; ③Preparation of light-cured bushing: According to the size and shape of the pipe, make the corresponding light-cured bushing; the composition of the bushing includes epoxy resin, filler and photosensitizer; ④Put the bushing into the pipe: insert the light-cured bushing into the pipe, and inflate the bushing with the inflation tube to keep it in contact with the pipe wall; ⑤ Light-curing: Use ultraviolet light to light-cure the bushing to form a new layer of corrosion resistance and high strength. It usually needs to be cured several times until the required thickness and hardness are achieved; ⑥Remove the inflatable tube and trim the bushing: After the light curing is completed, remove the inflatable tube, and then trim and polish the bushing to make the surface smooth and flat; ⑦ Re-inspection and acceptance: After the repair is completed, the pipeline inspection is carried out again to ensure that the repair quality meets the requirements. 2. A kind of underground pipe network trenchless restoration process as claimed in claim 1, characterized in that: the detection and evaluation of pipeline conditions in step 1. include: Preparation work: determine the type, material and specification of the pipeline to be inspected, and prepare the required inspection equipment and tools; Cleaning the pipeline: Clean the pipeline before testing to better observe the inside of the pipeline; cleaning methods include high-pressure water flushing and/or vacuuming; Internal inspection of the pipeline: Use high-definition camera technology to inspect the interior of the pipeline to observe the internal conditions of the pipeline, including the degree of damage, cracks, corrosion, blockage and deformation of the pipeline; Record the condition of the pipeline: record and evaluate the condition of the pipeline in detail, including the type, material, specification, damage degree, location and size of the pipeline, and formulate a corresponding repair plan; Preparation of pipeline repair plan: According to the specific conditions and repair requirements of the pipeline, prepare a corresponding repair plan, including selecting appropriate repair materials, tools and methods. 3. A kind of underground pipe network non-excavation restoration process as claimed in claim 1, is characterized in that: the method for making light-cured lining in step ③ comprises: Measuring the size and shape of the pipe: by measuring the pipe, determine its size and shape, so as to make the corresponding light-cured lining; Select appropriate materials: select appropriate materials according to the material of the pipeline, environmental conditions and repair requirements, usually including epoxy resin, filler and photosensitizer; Prepare the bushing mold: according to the measured pipe size and shape, prepare the corresponding bushing mold; Making the bushing: After mixing the selected materials evenly, pour it into the mold, and after it solidifies, take out the bushing and carry out subsequent processing; Carry out photocuring: insert the prepared photocuring bushing into the pipe, and use ultraviolet lamps for photocuring to form a corrosion-resistant, high-strength new layer; multiple photocuring is required until the required thickness and hardness. 4. A non-excavation repair process for underground pipe network as claimed in claim 1, characterized in that: the cleaning and dredging of pipelines in step ② is carried out by an automatic dredging and cleaning robot (1) for underground pipelines; the automatic dredging and cleaning of underground pipelines The robot (1) includes a storage rack (101), the surface of the storage rack (101) is hinged with a sealed door (102), and the inner wall of the storage rack (101) is threaded with a circular plate (109), the circular plate The surface of the plate (109) is provided with drainage holes (110), the surface of the circular plate (109) is provided with electric wires (103), and the end of the storage rack (101) away from the circular plate (109) is provided with an electric push rod (104), the end of the electric push rod (104) away from the storage rack (101) is fixedly connected with a push plate (105), and the inner wall of the storage rack (101) is fixedly connected with a fixing plate (114), the The end of the fixed plate (114) away from the storage rack (101) is fixedly connected with a positioning rod (113), the surface of the fixed plate (114) is provided with a filter screen (115), and the automatic dredging and cleaning robot for underground pipes (1) also includes : The scraping part (106), the scraping part (106) includes a motor (120), the motor (120) is fixedly connected with the positioning rod (113), and the surface of the motor (120) is fixedly connected with a protective frame ( 108), the output end of the motor (120) is fixedly connected with a rotating rod (128), and the end of the rotating rod (128) away from the motor (120) is fixedly connected with a driving gear (127), and the storage rack (101 ) the end away from the circular plate (109) is provided with a sloped ring (122), and the surface of the sloped ring (122) is fixedly connected with a scraper (125); A softening component (107), the softening component (107) includes a fixed cylinder (143), the inner wall of the fixed cylinder (143) is fixedly connected with a rotating rod (142), and the fixed cylinder (143) is far away from the rotating rod ( One end of 142) is fixedly connected with a positioning column (145), the surface of the positioning column (145) is fixedly connected with a connecting ring (144), and the surface of the connecting ring (144) is fixedly connected with a softening rod (146); A cleaning part (111), the cleaning part (111) includes a ring frame (150), the ring frame (150) is rotatably connected with the inner wall of the storage frame (101) through a bearing, and the ring frame (150) The inner wall of the curved plate (152) is fixedly connected with a bent plate (152), and the end of the bent plate (152) away from the ring frame (150) is fixedly connected with a concave ring (151); The moving part (112), the moving part (112) is arranged at the end of the circular plate (109) away from the storage shelf (101), and the number of the moving part (112) is set in multiples. 5. A non-excavation repair process for underground pipe network according to claim 4, characterized in that: the number of the fixing plate (114) is set to multiple, and the number of the filter screen (115) is set to multiple A plurality of the filter screens (115) are respectively arranged at one end of the fixed plate (114) close to each other, and the fixed plate (114) is arranged at the end of the storage rack (101) close to the circular plate (109); the scraper The removal part (106) includes a rotating ring (121), the rotating ring (121) is rotationally connected with the inner wall of the storage rack (101) through a bearing, and the rotating ring (121) and the bevel ring (122) are connected through a cylindrical rod (126 ) is fixedly connected, the inner wall of the rotating ring (121) is fixedly connected with a cross (132), the inner wall of the cross (132) is fixedly connected with a driving rod (131), and the surface of the driving rod (131) is fixedly connected There is a meshing gear (130), and a cylindrical hole (129) is opened inside the drive rod (131); A round hole frame (124) is fixedly connected to the inner wall of the slope ring (122), and a scraper (123) is fixedly connected to the slope of the slope ring (122). 6. A non-excavation repair process for underground pipe networks according to claim 4, characterized in that: the cylindrical hole (129) runs through the meshing gear (130), and the meshing gear (130) is located on the drive rod (131 ) away from the end of the bevel ring (122), the end of the drive rod (131) runs through the cross (132) and extends to the outer end of the cross (132), the bevel ring (122) and the storage rack (101) The end surfaces are in contact; the fixed cylinder (143) is rotationally connected with the round hole frame (124) through bearings, the fixed cylinder (143) is located at the center of the round hole frame (124), and the fixed cylinder (143) The end part passes through the round hole frame (124) and extends to the outer end of the round hole frame (124). The softening rod (146) is arranged at the end of the round hole frame (124) away from the driving rod (131). The softening rod (146) is arranged on the outer end of the storage rack (101), and the sloped ring (122) is fixedly connected with the electric push rod (104). 7. The underground pipe network trenchless repair process according to claim 4, characterized in that: the softening component (107) includes an inner ring gear (140), and the inner ring gear (140) is connected to the rotating rod The surface of (128) is fixedly connected, and the inner wall of the inner ring gear (140) is meshed with a synchronous gear (141), and the synchronous gear (141) is fixedly connected with the end of the rotating rod (142), and the rotating rod ( 142) Rotationally connected with the inner wall of the cylindrical hole (129) through bearings; the surface of the softening rod (146) is fixedly connected with a triangular block (147), and the surface of the triangular block (147) is fixedly connected with a cleaning block (148) , the surface of the triangular block (147) is fixedly connected with a crushing knife (149); the number of the softening rods (146) is set in multiples, and the triangular block (147) is in contact with the surface of the round hole frame (124) , the surface of the triangular block (147) is provided with a plurality of pulverizing knives (149), and the pulverizing knives (149) are arranged symmetrically around the triangular block (147). 8. A non-excavation repair process for underground pipe networks according to claim 4, characterized in that: the cleaning component (111) includes a limit ring (157), and the limit ring (157) is connected to the The surface of the positioning rod (113) is rotatably connected, the surface of the limit ring (157) is fixedly connected with a support plate (155), and the end of the support plate (155) away from the limit ring (157) is fixedly connected with a bristle plate (153), the ring frame (150) is fixedly connected with the support plate (155) through the linkage rod (156), and the inner wall of the concave hole ring (151) is engaged with a drive ring (154), the drive Ring (154) is fixedly connected with the surface of rotating rod (128); The number of the support plates (155) is provided in multiples, and the ends of the bent plates (152) extend to the outer ends of the ring frame (150). 9. The non-excavation repair process of underground pipe network according to claim 8, characterized in that: the bristle plate (153) is in contact with the surface of the filter screen (115), and the end of the bristle plate (153) The part is in contact with the surface of the positioning rod (113), and the end of the bristle plate (153) away from the positioning rod (113) is in contact with the inner wall of the storage rack (101). 10. The non-excavation repair process of underground pipe network according to claim 4, characterized in that: the moving part (112) includes an extension frame (160), and the extension frame (160) is connected with the circular plate (109 ), the inner wall of the extension frame (160) is fixedly connected with a side frame (164), the inner wall of the side frame (164) is provided with a driver (161), and the side frame (164) is far away from the driver (161) One end of the roller bar (163) is rotatably connected to the roller bar (163), and the surface of the roller bar (163) is provided with a track (162); The number of the roller bars (163) and the drivers (161) are respectively provided in multiples, the ends of the driver (161) and the roller bars (163) away from each other are in contact with the inner wall of the track (162), and the side frame ( 164) are provided in multiples, and the multiple side frames (164) are arranged symmetrically around the track (162).