CN117895360A - Cable plastic pipeline repairing robot and repairing method - Google Patents

Abstract

The invention discloses a cable plastic pipeline repairing robot and a repairing method, and relates to the technical field of power supply overhaul. The cable plastic pipe repair robot includes: the walking crawler belt is arranged at the bottom of the frame and is used for driving the repairing robot to walk in the old pipeline; the front end of the frame is provided with an ejection mechanism and an angle adjusting mechanism; the ejection mechanism comprises an ejection hydraulic cylinder and a support plate, wherein the support plate is fixedly connected with the telescopic end of the ejection hydraulic cylinder and is used for ejecting the plastic protection pipe in the old pipeline; the angle adjusting mechanism is arranged between the frame and the ejection mechanism and is used for driving the ejection mechanism to rotate left and right and swing up and down; the rear side of the top of the frame is provided with a traction seat for installing a traction rope. The cable plastic pipeline repairing robot and the repairing method provided by the invention are convenient for stripping the old cable from the cable protecting pipe and simultaneously are convenient for conveying the new pipeline hauling rope into the cable protecting pipe, so that the cable repairing efficiency is greatly improved, and the equipment safety is ensured.

Description

Cable plastic pipeline repairing robot and repairing method

Technical Field

The invention relates to a cable plastic pipeline repairing robot, and belongs to the technical field of power supply overhaul.

Background

In recent years, the construction of cabling has been greatly advanced. The current cable coverage is 20%. Because of the geographic position and the special environmental condition of the cable line, the cable line generally has the characteristics of multiple line points, wide range and long line length, so that the cable line is often attacked by severe natural weather, and meanwhile, the cable line is interfered by human factors, so that the cable line is damaged by external force, the line fault is caused, and the probability of forced power failure accidents of the line rises. The cable line is convenient to replace the cable later in construction, and the plastic cable protection pipe is designed and additionally arranged.

When the cable in the cable protection tube needs to be replaced, the following problems exist:

1. because the power load is increased, the cable is internally short-circuited, the cable and the cable external protection tube are fused together due to overhigh temperature, the tube is damaged and deformed after the old cable is pulled out, and the broken position in the tube is blocked, so that the new cable cannot be replaced or is damaged in a sliding way, and the rush repair time and the power grid quality are influenced.

2. When the pipe is laid by the pipe jacking, the plastic pipeline enters the ground and encounters the soil environment of the crushed stone, so that the internal space of the pipeline is possibly small, and the cable cannot be laid.

3. In the prior art, a balloon is utilized to drive a plastic rope to move, and the conveying of a new pipeline haulage rope is completed. The method can not be used under the conditions of water inlet, sundries and the like in the pipeline.

Disclosure of Invention

In order to solve the defects in the prior art, the invention provides the cable plastic pipeline repairing robot and the repairing method, which are convenient for stripping the old cable from the cable protection pipe and simultaneously are convenient for conveying the new pipeline hauling rope into the cable protection pipe, so that the cable repairing efficiency is greatly improved, and the equipment safety is ensured.

The invention adopts the following technical scheme.

In a first aspect, the present invention provides a cable plastic pipe repair robot comprising: the walking crawler belt is arranged at the bottom of the frame and used for driving the repairing robot to walk in the old pipeline; the front side of the frame is provided with an ejection mechanism, an angle adjusting mechanism and a camera; the ejection mechanism comprises an ejection hydraulic cylinder and a support plate, wherein the support plate is fixedly connected with the telescopic end of the ejection hydraulic cylinder and is used for ejecting the plastic protection pipe in the old pipeline; the angle adjusting mechanism is arranged between the frame and the ejection mechanism and is used for driving the ejection mechanism to rotate left and right and swing up and down; the rear side of the top of the frame is provided with a traction seat for installing a traction rope.

Preferably, the angle adjusting mechanism includes: an up-down swinging mechanism and a left-right rotating mechanism; the up-down swinging mechanism comprises: the first support big arm and the second support big arm are arranged at the front end of the frame in an up-and-down swinging way; the first support big arm and the second support big arm are movably sleeved with sliding blocks, a crank arm shaft is rotatably arranged between the two sliding blocks, a crank arm seat is rotatably arranged in the middle of the crank arm shaft, and the middle of the crank arm seat is vertically connected with the crank arm shaft; the front end of the frame is provided with a hydraulic oil cylinder for pushing the crank arm seat to move along with the sliding block; one end of the crank arm seat is rotationally connected with the front end of the frame through a supporting pull rod, and the other end of the crank arm seat is rotationally connected with the left-right rotating mechanism through a supporting small arm; one end of the first supporting large arm and one end of the second supporting large arm, which are far away from the frame, are rotationally connected with the left-right rotating mechanism.

Preferably, the left-right rotation mechanism includes: the left side and the right side of the bottom of the gear box are respectively and rotatably connected with the first supporting big arm and the second supporting big arm, and the upper side of the gear box is rotatably connected with the supporting small arm; a static gear and a movable gear are rotatably arranged on one side of the gear box, which is far away from the frame, and the static gear and the movable gear are meshed with each other for transmission; the gear box is provided with a rotary motor for driving the dynamic and static gears to rotate; the gear shaft of the static gear is rotationally connected with the gear shaft of the movable gear through a gear connecting shaft; one side of the gear connecting shaft far away from the static gear 6 is fixedly connected with the hydraulic cylinder.

Preferably, the front end of the frame is provided with a second main shaft, and the second main shaft is provided with a first front end travelling wheel and a second front end travelling wheel; the rear end of the frame is provided with a first main shaft, and a first rear end travelling wheel and a second rear end travelling wheel are arranged on the first main shaft; the front end of the walking track is wound on the first front-end walking wheel and the second front-end walking wheel, and the rear end of the walking track is wound on the first rear-end walking wheel and the second rear-end walking wheel.

Preferably, a driven sprocket is arranged at the end part of the second main shaft and positioned at the outer side of the travelling wheel at the first rear end, a motor fixed back plate is fixedly arranged below the frame, a driving sprocket is arranged at the outer side of the motor fixed back plate, and the driving sprocket and the driven sprocket are connected and driven through a chain; the motor fixed back plate is provided with a motor for driving the driving sprocket to rotate.

Preferably, a chain wheel adjusting structure is arranged on the motor fixed back plate; the chain wheel adjusting structure comprises an adjusting screw and an adjusting pull plate, and the adjusting screw and the adjusting pull plate respectively drive the motor to move back and forth through the adjusting pull plate to change the distance between the driving chain wheel and the driven chain wheel so as to adjust the tightness of the chain.

Preferably, the camera is arranged at the front side of the top of the frame, the camera is arranged at one end of the crank arm, the other end of the crank arm is fixedly connected with a speed reducer, and the speed reducer is used for driving the camera to rotate up and down.

Preferably, a second motor is arranged in the reduction gearbox, a second static gear is arranged at the output end of the second motor, a second movable gear meshed with the second static gear for transmission is rotatably arranged in the reduction gearbox, and one end of a gear shaft of the second movable gear, provided with a key slot, penetrates through the side wall of the reduction gearbox and is fixedly connected with one end of a crank arm.

Preferably, the top of the frame is also provided with a rotary tripod head lower seat for driving the speed reducer to rotate left and right, the top of the rotary tripod head lower seat is rotatably provided with a rotary gear, and the bottom of the rotary tripod head lower seat is provided with a first motor for driving the rotary gear to rotate; the top of the rotary cradle head lower seat is rotatably provided with a rotary cradle head upper seat, and the bottom of the rotary cradle head upper seat is provided with a hobbing which is meshed with the rotary gear for transmission; the speed reducer is arranged at the top of the upper seat of the rotary tripod head.

Preferably, the repair robot further comprises a steering system; the steering system comprises a steering support arm, the steering support arm is arranged at the rear side of the top of the frame, the middle part of the steering support arm is rotationally connected with the frame through an adjusting screw, one end of the steering support arm extends to the outside of the frame, and steering wheels are rotatably arranged.

Preferably, the steering support arm comprises a left steering support arm and a right steering support arm which are symmetrically arranged at the left side and the right side of the rear end of the top of the frame; the steering wheel is characterized in that one end of the left steering support arm, which is far away from the steering wheel, is rotationally connected with a left pull rod, one end of the right steering support arm, which is far away from the steering wheel, is rotationally connected with a right pull rod, the free ends of the left pull rod and the right pull rod are rotationally connected with a steering pull rod fixing seat, and a ball seat for controlling the rotation angles of the left pull rod and the right pull rod is arranged on the steering pull rod fixing seat.

Preferably, the top of the frame is also provided with a speed-reducing screw box, the speed-reducing screw box is provided with a third motor, the output end of the third motor is coaxially connected with a first gear, and a second gear meshed with the first gear for transmission is arranged in the speed-reducing screw box; the gear shaft of the second gear penetrates through the top of the speed-down screw box and extends to the upper portion of the speed-down screw box, the gear shaft is fixedly connected with the steering wheel, and the steering pull rod fixing seat is eccentrically arranged on the steering wheel.

In a second aspect, the invention provides a cable plastic pipeline repairing method, which is based on the cable plastic pipeline repairing robot and comprises the following steps:

step 1, tying a traction rope on a frame of a repairing robot;

step 2, starting a walking crawler belt to enable the repairing robot to enter an old pipeline;

step 3, adjusting the angle of the ejection mechanism left and right or adjusting the angle of the ejection mechanism up and down;

and 4, ejecting the plastic protection pipe blocked in the old pipeline through an ejection mechanism.

Preferably, the angle of the camera is adjusted, and the image data in the pipeline is uploaded to the cloud end through the camera.

Compared with the prior art, the invention has the beneficial effects that the walking crawler belt is arranged, so that the repairing robot can conveniently move, and the repairing robot can enter the old pipeline; through setting up ejection mechanism in the frame front side to set up the angle adjustment mechanism that is used for adjusting ejection mechanism left and right sides, upper and lower turned angle, can be with the ejecting pipeline of plastics protection tube of old pipeline everywhere jam, realize peeling off between old cable duct and the cable protection tube, simultaneously, through binding the haulage rope to the frame, along with the frame removes, can send the haulage rope into in the cable plastics protection tube, can carry out the pipeline restoration in the short time, improved pipeline restoration efficiency, greatly reduced the expense of changing the pipeline, improved the security of cable. The frame is also provided with the camera, and the image data in the pipeline is transmitted to the cloud end through the camera, so that an operator can operate conveniently, and the pipeline can be repaired conveniently.

Drawings

FIG. 1 is a schematic diagram of a cable plastic pipeline repair robot according to the present invention;

FIG. 2 is a schematic view of a robot arm according to the present invention;

FIG. 3 is a schematic view of a walking structure of the robot of the present invention;

FIG. 4 is a schematic view of a walking steering structure of the robot of the present invention;

FIG. 5 is a schematic front view of a walking track of the robot of the present invention;

FIG. 6 is a schematic view of an electric walking power transmission structure of the present invention;

FIG. 7 is a schematic side view of a walking track of the robot of the present invention;

FIG. 8 is a schematic diagram of a gear structure of a cam reduction gearbox of a camera manipulator of the present invention;

FIG. 9 is a schematic diagram of the mounting structure of the cam mechanical arm crank reduction gearbox gear box of the camera;

FIG. 10 is a schematic view of a rotating pan/tilt head of a camera arm according to the present invention;

FIG. 11 is a schematic view of the internal gear structure of the robot travel steering of the present invention;

fig. 12 is a schematic diagram of an internal structure of a camera mechanical arm rotating cradle head according to the present invention.

In the figure:

1. a frame; 2. ejecting a hydraulic cylinder; 3. ejecting the hydraulic cylinder seat; 4. rotating the gear seat; 5. a support plate; 6. a movable gear; 7. a gear box; 8. a static gear; 9. a rotary motor; 10. supporting the forearm; 11. a crank arm seat; 12. a first support boom; 13. a second support boom; 14. a support pull rod; 15. a hydraulic cylinder; 16. the first support large arm seat; 17. the second support large arm seat; 18. supporting a pull rod seat; 19. the second crawler belt expander; 20. a camera; 21. a crank arm; 22. rotating the cradle head lower seat; 23. rotating the cradle head upper seat; 24. a front axle; 25. a first front-end road wheel; 26. a first track driven wheel bearing seat; 27. a first track tensioner; 28. a walking track; 29. a walking motor; 30. a motor fixed back plate; 31. a control room; 32. an electric hydraulic pump; 33. adjusting a screw; 34. adjusting the pulling plate; 35. a walking driving sprocket; 36. a chain; 37. a steering motor; 38. a left steering limit switch; 39. a first ball head; 40. a walking driven sprocket; 41. a first adjustment hole; 42. a left steering support arm; 43. a left steering wheel; 44. a left steering shaft; 46. a rear camera; 47. a traction seat; 48. a traction shaft; 49. a right steering wheel; 50. a second adjustment hole; 51. a right steering shaft; 52. a right steering support arm; 53. a left pull rod; 54. a third adjustment hole; 55. a first right tie rod ball; 56. a fourth adjustment hole; 57. a second ball head; 58. a right pull rod; 59. the second right pull rod ball head; 60. a steering wheel; 61. a right steering limit switch; 62. a steering box; 63. a first rear-end road wheel; 64. the second crawler driven wheel bearing seat; 65. a second front end road wheel; 66. a steering shaft seat; 67. a first track driven wheel bearing; 68. a second rear-end road wheel; 69. a bearing seat; 70. a first spindle; 71. a second spindle; 72. a first backboard base; 73. a second backboard base; 74. a fifth adjustment hole; 75. a ball seat; 76. a steering tie rod fixing seat; 77. a steering shaft; 78. a sixth adjustment hole; 79. a curved arm shaft; 80. a gear connecting shaft; 81. ejecting the hydraulic cylinder rod; 82. a rotary gear; 83. a first motor; 84. a fixed shaft; 85. a second movable gear; 86. a reduction gearbox; 87. a second motor; 88. a second stationary gear; 89. a first gear; 90. and a second gear.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. The embodiments described herein are merely some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art without making any inventive effort, are within the scope of the present invention.

As shown in fig. 1, a first embodiment of the present invention provides a cable plastic pipe repair robot, including: a frame 1; the left side and the right side of the front end of the frame 1 are respectively and fixedly connected with a first large supporting arm seat 16 and a second large supporting arm seat 17, the front end of the frame 1 is also fixedly provided with a supporting pull rod seat 18, and the supporting pull rod seat 18, the first large supporting arm seat 16 and the second large supporting arm seat 17 are distributed in an isosceles triangle; the support pull rod seat 18 is hinged with a support pull rod 14; the first support big arm seat 16 and the second support big arm seat 17 are respectively hinged with the first support big arm 12 and the second support big arm 13; the first support big arm 12 and the second support big arm 13 are sleeved with sliding blocks, and a curved arm shaft 79 is rotatably arranged between the two sliding blocks; one end of the first support big arm 12 and one end of the second support big arm 13, which are far away from the frame 1, are rotatably connected with the gear box 7 through limiting pins, and the first support big arm 12 and the second support big arm 13 are positioned at two side edges of the bottom of the gear box 7; the bottom of the gearbox 7 is rotatably provided with a supporting small arm 10, and the end part of the supporting small arm 10 is positioned at the edge of the bottom of the gearbox 7 and passes through the perpendicular bisector of the connecting line of the end parts of the first supporting large arm 12 and the second supporting large arm 13.

The crank arm seat 11 is rotatably arranged at the center of the crank arm shaft 79, and the crank arm seat 11 is perpendicular to the crank arm shaft 79; one end of the supporting pull rod 14 far away from the supporting pull rod seat 18 is rotationally connected with one end of the crank arm seat 11, and one end of the supporting small arm 10 far away from the gear box 7 is rotationally connected with the other end of the crank arm seat 11. A hydraulic cylinder 15 is further arranged between the first supporting large arm 12 and the second supporting large arm 13, the bottom of the hydraulic cylinder 15 is fixedly connected with one side of the second supporting large arm seat 17 through a cylinder fixing shaft, and the telescopic end of the hydraulic cylinder 15 is rotatably connected with the crank arm seat 11.

The crank arm seat 11 and the crank arm shaft 79 can be driven to move forwards and backwards along the supporting large arm shaft through the sliding block by telescopic movement of the telescopic end of the hydraulic oil cylinder 15. When the telescopic end of the hydraulic oil cylinder stretches, one end of the Qu Beizhou 79 is pulled by the supporting pull rod 14, so that the crank shaft 79 rotates anticlockwise to drive the gear box 7 to swing downwards; when the telescopic end of the hydraulic oil cylinder is shortened, one end of the crank arm shaft 79 is pulled by the supporting pull rod 14, so that the crank arm shaft 79 rotates clockwise to drive the gear box 7 to swing upwards, and the angle of the gear box 7 is adjusted; the first support large arm 12 and the second support large arm 13 play a role of stabilizing support for the swing of the gear case 7.

Further, a rotatable static gear 8 and a movable gear 6 are arranged on one side of the gearbox 7 away from the supporting small arm 10, and the static gear 8 and the movable gear 6 are in meshed transmission; the other side of the gear box 7 is provided with a rotary motor 9 for driving the dynamic and static gears 8 to rotate.

The static gear 8 and the movable gear 6 are arranged on the rotary gear seat 4, and a gear shaft of the static gear 8 is rotationally connected with a gear shaft of the movable gear 6 through a gear connecting shaft 80; when the rotary motor 9 is started to drive the static gear 8 to be in meshed transmission with the movable gear 6, the movable gear 6 drives the gear connecting shaft 80 to rotate along the gear hobbing of the static gear 8; the side of the gear connecting shaft 80 away from the static gear 6 is fixedly provided with a hydraulic cylinder 2, and an ejection hydraulic cylinder rod 81 positioned at the top of the hydraulic cylinder 2 is fixedly connected with the supporting plate 5. The supporting plate 5 is arranged in an arc shape and is used for ejecting out the plastic protection pipe which is sunk into the old pipeline, so that the plastic protection pipe is repaired; by arranging a rotary motor 9 to drive the gear to rotate, the angle of the supporting plate 5 can be adjusted, so that the plastic protection pipe entering the old pipeline everywhere is ejected out of the pipeline.

As shown in fig. 2, 7, 9, 10 and 12, a rotary cradle head lower seat 22 is mounted on the front side of the top of the frame 1, a rotary gear 82 is rotatably arranged on the top of the rotary cradle head lower seat 22, and a first motor 83 for driving the rotary gear 82 to rotate is arranged at the bottom of the rotary cradle head lower seat 22; the top of the rotary tripod head lower seat 22 is rotatably provided with a rotary tripod head upper seat 23, and the bottom of the rotary tripod head lower seat 23 is provided with hobbing which is meshed with the rotary gear 82 for transmission; the rotatory cloud platform upper seat 23 top reduction gear 86 is provided with camera 20 with the one end fixed connection of crank arm 21, the other end of crank arm 21 for with image data send to the high in the clouds, the person of facilitating the use observes the inside condition of pipeline. The stepping motor 83 drives the rotary gear 82 to be meshed with the rotary holder upper seat 23, so as to drive the crank arm 21 and the camera 20 which are fixedly connected with the rotary holder upper seat 23 to rotate left and right.

As shown in fig. 8, a second motor 87 is disposed in the reduction gearbox 86, a second static gear 88 is mounted at the output end of the second motor 87, a second movable gear 85 engaged with the second static gear 88 is rotatably mounted in the reduction gearbox 86, and one end of a gear shaft of the second movable gear 85 provided with a key slot penetrates through the side wall of the reduction gearbox 86 and is fixedly connected with one end of the crank arm 21. The second motor 87 drives the second static gear 88 to be meshed with the second movable gear 85, so that the crank arm 21 can be driven to rotate up and down around the central shaft of the second movable gear, and the height of the camera 20 can be adjusted.

As shown in fig. 3, 5 and 6, a robot walking crawler 28 is arranged at the bottom of the frame 1, a second main shaft 71 is arranged at the front end of the frame 1, a first front walking wheel 25 and a second front walking wheel 65 are arranged on the second main shaft 71, a first main shaft 70 is arranged at the rear end of the frame 1, and a first rear walking wheel 63 and a second rear walking wheel 68 are arranged on the first main shaft 70; the front ends of the traveling tracks 28 are wound on the first front traveling wheel 25 and the second front traveling wheel 65, and the rear ends of the traveling tracks 28 are wound on the first rear traveling wheel 63 and the second rear traveling wheel 68.

The second main shaft 71 is mounted by a bearing housing 69. The end of the second main shaft 71 is positioned outside the first rear traveling wheel 65 and is provided with a driven sprocket 40, a motor fixed back plate 30 is fixedly arranged below the frame 1, and one side of the motor fixed back plate 30 is provided with a traveling motor 29 for driving the traveling crawler 2 to travel. The outside of the motor fixed back plate 30 is provided with a driving sprocket 35, the driving sprocket 35 and a driven sprocket 40 are connected and driven through a chain 36, and the motor fixed back plate 30 is provided with a motor for driving the driving sprocket 35 to rotate. In addition, a sprocket adjustment structure is provided on the motor stationary backplate 30. The chain wheel adjusting structure comprises an adjusting screw 33 and an adjusting pull plate 35, and the adjusting screw 33 and the adjusting pull plate 34 respectively drive the motor to move back and forth through the adjusting pull plate 35 to change the tightness of a distance adjusting chain 36 between the two gears. After the adjustment, the adjustment pulling plate 34 is pulled and fixed with the motor fixing back plate 30 by screws.

In the preferred but non-limiting embodiment of the present invention, the first front road wheel 25 and the second front road wheel 65 are connected to the bottom of the frame 1 by a first track follower wheel bearing housing 26 and a second track follower wheel bearing housing 64, respectively; the bottom of the frame 1 is provided with a travel motor 29. The first and second track follower bearing blocks 26 and 64 are provided with first and second track tensioners 27 and 19, respectively.

As shown in fig. 4, the top of the frame 1 is further provided with a steering system, the steering system comprises a steering support arm, the steering support arm is arranged at the top of the crawler robot frame 1, the middle of the steering support arm is rotationally connected with the frame 1 through an adjusting screw, one end of the steering support arm extends to the outside of the frame 1, and steering wheels are mounted. The steering support arm is connected with the steering wheel through a steering shaft.

Further, the steering support arms include a left steering support arm 42 and a right steering support arm 52, which are symmetrically disposed on the left and right sides of the rear end of the top of the frame 1. The end of the left steering support arm 42, which is far away from the steering wheel, is rotationally connected with a left pull rod 53, the end of the right steering support arm 52, which is far away from the steering wheel, is rotationally connected with a right pull rod 58, the free ends of the left pull rod 53 and the right pull rod 58 are both rotationally connected with a steering pull rod fixing seat 76, and a ball seat for controlling the rotation angle of the left pull rod 53 and the right pull rod 58 is arranged on the steering pull rod fixing seat 76. By adjusting the ball mount, the rotation angles of the left and right tie rods 53, 58 are adjusted, so that the left and right steering support arms 42, 52 can be rotated by the principle of leverage.

Referring to fig. 11, a speed-reducing screw box 62 is further disposed at the top of the frame 1, the speed-reducing screw box 62 is provided with a third motor 37, an output end of the third motor 37 is coaxially connected with a first gear 89, and a second gear 90 meshed with the first gear 89 is disposed in the speed-reducing screw box 62. The gear shaft of the second gear 90 penetrates through the top of the speed reducing screw box 62 and extends to the upper portion of the speed reducing screw box 62, the speed reducing screw box is fixedly connected with the steering wheel 60, the steering pull rod fixing seat 76 is eccentrically arranged on the steering wheel 60, the first gear 89 and the second gear 90 are driven to be meshed and driven through the third motor 37, the steering wheel 60 can be driven to rotate, and therefore the left steering support arm and the right steering support arm are pulled to adjust directions.

Further, a limit switch 61 is provided on the top of the frame 1 between the left steering support arm 42 and the right steering support arm 52 for limiting the rotational limit positions of the two steering support arms.

Two adjusting holes are respectively arranged on two sides of the adjusting screw on the steering supporting arm, the sizes of the two adjusting holes are different, and the two adjusting holes are used for adapting to pipelines of different types, such as a first adjusting hole 41 and a fourth adjusting hole 56 for large pipeline types, and a fifth adjusting hole 74 and a third adjusting hole 54 for small pipeline types. Specifically, the dimensions of the first, third, fourth and fifth adjusting holes 41, 54, 56 and 74 may be selected according to the types of pipelines commonly found in the market, and will not be described in detail herein. The left steering support arm 42 is also provided with a steering motor 38 at its end remote from the steering wheel 43.

The rear end of the frame 1 is provided with a traction seat 47, and the traction seat 47 is provided with a traction shaft 48 for installing a traction rope. The rear end of the frame 1 is further provided with a rear camera, the rear camera is in communication connection with the mobile phone APP and used for sending image data behind the repairing robot to the cloud end, and a user can observe the condition of a pipeline conveniently.

The top of the crawler robot frame 1 is provided with a control room 31 and an electric hydraulic pump 32 which are respectively connected with each motor and each hydraulic cylinder arranged in the repairing robot. The controller can control the running of the robot walking track, the left and right of the camera, the up and down of the camera, the left and right of the steering, and the hydraulic control. The electric hydraulic pump 32 is a hydraulic cylinder provided with a pressure station.

The second embodiment of the invention provides a cable plastic pipeline repairing method based on a cable plastic pipeline repairing robot, which comprises the following steps:

step 1, tying a traction rope on a frame of a repairing robot;

step 2, starting a walking crawler belt to enable the repairing robot to enter an old pipeline;

step 3, adjusting the angle of the ejection mechanism left and right or adjusting the angle of the ejection mechanism up and down;

and 4, ejecting the plastic protection pipe blocked in the old pipeline through an ejection mechanism.

Further, the repair method further includes: and adjusting the angle of the camera, and uploading the image data in the pipeline to the cloud end through the camera.

According to the cable plastic pipeline repairing robot, when the deformed pipeline is repaired, the repairing robot enters the pipeline, the robot is controlled to walk in the pipeline by wireless, the condition in the pipeline is observed by using a camera, the concave deformed pipeline is ejected inwards and outwards by using the robot ejecting hydraulic cylinder, the inner space of the pipeline is ensured, and the cable smoothly passes through. The new pipeline is built without a traction rope inside, and the traction rope is penetrated by a traction block belt at the rear end of the robot.

Compared with the prior art, the invention has the beneficial effects that the walking crawler belt is arranged, so that the repairing robot can conveniently move, and the repairing robot can enter the old pipeline; through setting up ejection mechanism in the frame front side to set up the angle adjustment mechanism that is used for adjusting ejection mechanism left and right sides, upper and lower turned angle, can be with the ejecting pipeline of plastics protection tube of old pipeline everywhere jam, realize peeling off between old cable duct and the cable protection tube, simultaneously, through binding the haulage rope to the frame, along with the frame removes, can send the haulage rope into in the cable plastics protection tube, can carry out the pipeline restoration in the short time, improved pipeline restoration efficiency, greatly reduced the expense of changing the pipeline, improved the security of cable. The frame is also provided with the camera, and the image data in the pipeline is transmitted to the cloud end through the camera, so that an operator can operate conveniently, and the pipeline can be repaired conveniently.

Finally, it should be noted that the above embodiments are only for illustrating the technical solution of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the above embodiments, it should be understood by those skilled in the art that: modifications and equivalents may be made to the specific embodiments of the invention without departing from the spirit and scope of the invention, which is intended to be covered by the claims.

Claims (14)

1. A cable plastic conduit repair robot comprising: frame (1) and walking track (28), its characterized in that:

the walking crawler belt (28) is arranged at the bottom of the frame (1) and is used for driving the repairing robot to walk in the old pipeline;

an ejection mechanism, an angle adjusting mechanism and a camera (20) are arranged on the front side of the frame (1); the ejection mechanism comprises an ejection hydraulic cylinder (2) and a support plate (5), wherein the support plate (5) is fixedly connected with the telescopic end of the ejection hydraulic cylinder (2) and is used for ejecting the plastic protection pipe in the old pipeline; the angle adjusting mechanism is arranged between the frame (1) and the ejection mechanism and is used for driving the ejection mechanism to rotate left and right and swing up and down;

the rear side of the top of the frame (1) is provided with a traction seat (47) for installing a traction rope.

2. The cable plastic pipe repair robot of claim 1, wherein:

the angle adjusting mechanism includes: an up-down swinging mechanism and a left-right rotating mechanism;

the up-down swinging mechanism comprises: the first support big arm (12) and the second support big arm (13) are arranged at the front end of the frame (1) in an up-and-down swinging way; the first support big arm (12) and the second support big arm (13) are movably sleeved with sliding blocks, a crank arm shaft (79) is rotatably installed between the two sliding blocks, a crank arm seat (11) is rotatably installed in the middle of the crank arm shaft (79), and the middle of the crank arm seat (11) is vertically connected with Qu Beizhou (79); the front end of the frame (1) is provided with a hydraulic oil cylinder (15) for pushing the crank arm seat (11) to move along with the sliding block;

one end of the crank arm seat (11) is rotationally connected with the front end of the frame (1) through a supporting pull rod (14), and the other end is rotationally connected with the left-right rotating mechanism through a supporting small arm (10); one end of the first supporting large arm (12) and one end of the second supporting large arm (13) which are far away from the frame (1) are rotationally connected with the left-right rotating mechanism.

3. The cable plastic pipe repair robot of claim 2, wherein:

the left-right rotation mechanism includes: the left side and the right side of the bottom of the gear box (7) are respectively and rotatably connected with the first supporting large arm (12) and the second supporting large arm (13), and the upper side of the gear box (7) is rotatably connected with the supporting small arm (10); a static gear (8) and a movable gear (6) are rotatably arranged on one side of the gear box (7) far away from the frame (1), and the static gear (8) and the movable gear (6) are in meshed transmission; the gear box (7) is provided with a rotary motor (9) for driving the dynamic and static gears (8) to rotate;

the gear shaft of the static gear (8) is rotationally connected with the gear shaft of the movable gear (6) through a gear connecting shaft (80); one side of the gear connecting shaft (80) far away from the static gear 6 is fixedly connected with the hydraulic cylinder (2).

4. The cable plastic pipe repair robot of claim 1, wherein:

the front end of the frame (1) is provided with a second main shaft (71), and the second main shaft (71) is provided with a first front end travelling wheel (25) and a second front end travelling wheel (65); the rear end of the frame (1) is provided with a first main shaft (70), and the first main shaft (70) is provided with a first rear end travelling wheel (63) and a second rear end travelling wheel (68); the front ends of the walking tracks (28) are wound on the first front-end walking wheels (25) and the second front-end walking wheels (65), and the rear ends of the walking tracks (28) are wound on the first rear-end walking wheels (63) and the second rear-end walking wheels (68).

5. The cable plastic pipe repair robot of claim 4, wherein:

a driven sprocket (40) is arranged at the end part of the second main shaft (71) and positioned outside the first rear-end travelling wheel (65), a motor fixed back plate (30) is fixedly arranged below the frame (1), a driving sprocket (35) is arranged at the outer side of the motor fixed back plate (30), and the driving sprocket (35) and the driven sprocket (40) are connected and driven through a chain (36); the motor fixed back plate (30) is provided with a motor for driving the driving sprocket (35) to rotate.

6. The cable plastic pipe repair robot of claim 5, wherein:

a chain wheel adjusting structure is arranged on the motor fixed back plate (30); the chain wheel adjusting structure comprises an adjusting screw (33) and an adjusting pull plate (35), wherein the adjusting screw (33) and the adjusting pull plate (34) drive a motor to integrally move forwards and backwards through the adjusting pull plate (35) respectively so as to change the distance between a driving chain wheel (35) and a driven chain wheel (40) to adjust the tightness of a chain (36).

7. The cable plastic pipe repair robot of any one of claims 1-6, wherein:

the camera (20) is arranged on the front side of the top of the frame (1), the camera (20) is arranged at one end of the crank arm (21), the other end of the crank arm (21) is fixedly connected with the speed reducer (86), and the speed reducer (86) is used for driving the camera (20) to rotate up and down.

8. The cable plastic pipe repair robot of claim 7, wherein:

a second motor (87) is arranged in the reduction gearbox (86), a second static gear (88) is arranged at the output end of the second motor (87), a second movable gear (85) which is meshed with the second static gear (88) and is driven is rotatably arranged in the reduction gearbox (86), and one end of a gear shaft of the second movable gear (85) provided with a key slot penetrates through the side wall of the reduction gearbox (86) and is fixedly connected with one end of the crank arm (21).

9. The cable plastic pipe repair robot of claim 7, wherein:

the top of the frame (1) is also provided with a rotary cradle head lower seat (22) for driving a speed reducer (86) to rotate left and right, the top of the rotary cradle head lower seat (22) is rotatably provided with a rotary gear (82), and the bottom of the rotary cradle head lower seat (22) is provided with a first motor (83) for driving the rotary gear (82) to rotate; the top of the rotary tripod head lower seat (22) is rotatably provided with a rotary tripod head upper seat (23), and the bottom of the rotary tripod head upper seat (23) is provided with a hobbing which is meshed and driven with the rotary gear (82); the speed reducer (86) is arranged at the top of the rotary cradle head upper seat (23).

10. The cable plastic pipe repair robot of any one of claims 1-6, wherein:

the repair robot further comprises a steering system;

the steering system comprises a steering support arm, the steering support arm is arranged at the rear side of the top of the frame (1), the middle of the steering support arm is rotationally connected with the frame (1) through an adjusting screw, one end of the steering support arm extends to the outside of the frame (1), and steering wheels are rotatably arranged.

11. The cable plastic pipe repair robot of claim 10, wherein:

the steering support arms comprise left steering support arms (42) and right steering support arms (52), and the left steering support arms and the right steering support arms are symmetrically arranged on the left side and the right side of the rear end of the top of the frame (1); one end of the left steering support arm (42) far away from the steering wheel is rotationally connected with a left pull rod (53), one end of the right steering support arm (52) far away from the steering wheel is rotationally connected with a right pull rod (58), free ends of the left pull rod (53) and the right pull rod (58) are rotationally connected with a steering pull rod fixing seat (76), and a ball seat for controlling the rotation angle of the left pull rod (53) and the right pull rod (58) is arranged on the steering pull rod fixing seat (76).

12. The cable plastic pipe repair robot of claim 11, wherein:

the top of the frame (1) is also provided with a speed-reducing screw box (62), the speed-reducing screw box (62) is provided with a third motor (37), the output end of the third motor (37) is coaxially connected with a first gear (89), and a second gear (90) which is meshed with the first gear (89) for transmission is arranged in the speed-reducing screw box (62); the gear shaft of the second gear (90) penetrates through the top of the speed-reducing screw box (62) and extends to the upper portion of the speed-reducing screw box (62) to be fixedly connected with the steering wheel (60), and the steering pull rod fixing seat (76) is eccentrically arranged on the steering wheel (60).

13. A method of repairing a cable plastic conduit based on a cable plastic conduit repair robot according to any one of claims 1-12, comprising the steps of:

step 1, tying a traction rope on a frame of a repairing robot;

step 2, starting a walking crawler belt to enable the repairing robot to enter an old pipeline;

step 3, adjusting the angle of the ejection mechanism left and right or adjusting the angle of the ejection mechanism up and down;

and 4, ejecting the plastic protection pipe blocked in the old pipeline through an ejection mechanism.

14. The method of repairing a plastic conduit for a cable of claim 13, comprising the steps of:

and adjusting the angle of the camera, and uploading the image data in the pipeline to the cloud end through the camera.