CN213452381U - Whole ultraviolet curing of rain sewage pipeline restores robot - Google Patents
Whole ultraviolet curing of rain sewage pipeline restores robot Download PDFInfo
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- CN213452381U CN213452381U CN202022143999.9U CN202022143999U CN213452381U CN 213452381 U CN213452381 U CN 213452381U CN 202022143999 U CN202022143999 U CN 202022143999U CN 213452381 U CN213452381 U CN 213452381U
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Abstract
The utility model relates to a pipeline restoration technical field specifically is a whole ultraviolet curing of rain sewage pipeline restores robot for restore the sewage pipe, the robot includes: the outer circumference of the cylindrical body is provided with a camera for monitoring the condition in the sewage pipe in real time. The triplex self-adaptive butt walking foot is arranged at two ends of the cylindrical machine body in the same axial direction. The water pipe coaxially penetrates through the cylindrical machine body. The input end of the radial flushing head is rotatably connected with one end of the water pipe through a rotary joint. The first working end of the duplex reverse driver is coaxially and fixedly connected with the radial flushing head, the driving part of the duplex reverse driver is axially arranged inside the cylindrical machine body along the cylindrical machine body, and the first working end and the second working end of the duplex reverse driver coaxially and reversely rotate in a working state. And the brush arms are in the same radial direction with the cylindrical machine body and are uniformly distributed on the outer circumferential surface of the second working end of the duplex reverse driver along the axis of the cylindrical machine body.
Description
Technical Field
The utility model relates to a pipeline restoration technical field specifically is a whole ultraviolet curing repair robot of rain sewage pipeline.
Background
The pipeline repair at the present stage generally adopts a non-excavation type repair technology, and the non-excavation type repair technology is widely popularized due to the fact that the damage to a sewage pipeline is small, the construction repair efficiency is high, and the material consumption is low. Among them, the ultraviolet curing repair technology has been applied in recent years.
Chinese patent CN201811069307.1 discloses an integral ultraviolet curing repair robot for a sewage pipe, which solves the problem of inconvenient repair of multiple damages in the sewage pipe at the present stage. Its technical scheme main points are whole ultraviolet curing repair robot of sewage pipes, put into sewage pipes through the ultraviolet ray repair pipe with whole root, use sealed subassembly of aerifing to seal two of ultraviolet ray repair pipe and aerify, make the ultraviolet ray repair pipe expand the back and laminate mutually with sewage pipes's inner wall, and go the other end of ultraviolet pipe with ultraviolet lamp pipeline dolly from the one end in the ultraviolet ray repair pipe, thereby make the UV curing glue tube layer solidification of ultraviolet ray repair pipe, thereby support and accomplish the damaged point restoration of many places on the sewage pipes to sewage pipes inner wall.
The sewage pipe is inside to have a large amount of silt and other impurity before restoreing, directly carries out the photocuring and restores and to make UV curing hose inner berth attached sewage pipe wall inadequately to just also can't effectively restore: and a large amount of gas needs to be filled into the UV curing rubber tube before photocuring, so that the time is consumed, and an ultraviolet lamp pipeline trolley is inconvenient to place.
Disclosure of Invention
In order to solve the technical problem, the whole ultraviolet curing repair robot for the rainwater and sewage pipeline is provided, and the technical scheme solves the problems that before the sewage pipeline is repaired, internal sludge is accumulated, the inflation time of a photocuring rubber tube is long, and an ultraviolet lamp pipeline trolley is inconvenient to place
In order to achieve the above purpose, the utility model adopts the technical scheme that: an integrated ultraviolet curing repair robot for a storm sewer pipe for repairing a sewer pipe, the robot comprising: the outer circumferential surface of the cylindrical body is provided with a camera for monitoring the condition in the sewage pipe in real time; the three-way self-adaptive abutting walking foot is coaxially arranged at two ends of the cylindrical machine body; the water pipe coaxially penetrates through the cylindrical machine body; the input end of the radial flushing head is rotationally connected with one end of the water pipe through a rotary joint; the first working end of the duplex reverse driver is coaxially and fixedly connected with the radial flushing head, the driving part of the duplex reverse driver is axially arranged in the cylindrical machine body along the cylindrical machine body, and the first working end and the second working end of the duplex reverse driver coaxially and reversely rotate in a working state; and the brush arms are in the same radial direction with the cylindrical machine body and are uniformly distributed on the outer circumferential surface of the second working end of the duplex reverse driver along the axis of the cylindrical machine body.
Preferably, the triplex self-adaptive abutting walking foot comprises: the three rotating seats are arranged at two ends of the outer circumferential surface of the cylindrical machine body along the axis of the cylindrical machine body; the rotating arm is provided with a rotating column which is rotatably connected with the rotating seat along the radial direction of the cylindrical machine body; the axis of the hub motor is vertically and rotatably arranged at the other end of the rotating arm; and the torsion spring is coaxially sleeved on the rotating column, and two ends of the torsion spring are respectively fixedly connected with the rotating seat and the rotating arm.
Preferably, the radial flushing head comprises: the communicating pipe is coaxially and rotatably connected with one end of the water pipe through a rotary joint, and the rotary part of the rotary joint is reversely and coaxially rotatably connected with the brush arm through a duplex reverse driver; the cake-shaped box is coaxially and fixedly connected with the communicating pipe, and the inside of the cake-shaped box is communicated with the water pipe; the working end of the first nozzle faces outwards and is uniformly distributed on the outer circumferential surface of the pie box along the axis of the communicating pipe, and the first nozzle is communicated with the inside of the pie box.
Preferably, the radial flushing head further comprises second nozzles, the second nozzles are uniformly distributed on the end face, facing the duplex reverse driver, of the cake-shaped box along the axis of the communication pipe, and the second nozzles are communicated with the inside of the cake-shaped box.
Preferably, the duplex reverse driver comprises: the first gear is coaxially and fixedly arranged on a rotary joint which is rotationally connected with the radial flushing head; the servo motor is coaxially arranged in the cylindrical machine body, and an output shaft of the servo motor penetrates through one end of the cylindrical machine body and is in meshed transmission connection with the first gear through the second gear; the fixed track ring is coaxially and fixedly arranged at one end of the cylindrical machine body; the brush arm is uniformly distributed on the outer circumferential surface of the inner gear ring along the axis of the first gear.
Preferably, the brush arm includes: the fixed arms are uniformly distributed on the outer circumferential surface of the internal gear ring along the axis of the first gear; the brush head is arranged at the top end of the fixing arm.
Compared with the prior art, the utility model beneficial effect who has is:
the utility model automatically cleans the sewage pipeline by the repairing robot, provides a working environment, blocks the adjacent upper sewage pipeline of the sewage pipeline to be repaired, so that no sewage flows in the sewage pipeline to be repaired, thereby facilitating the operation; pipeline desilting and detection, place the restoration robot at the inside upper reaches of sewer line for the rotor arm is crooked relatively cylindrical organism, thereby makes triplex self-adaptation butt walking foot butt on the sewer line inner wall, with water injection pipe and water pipe intercommunication, start-up wheel hub motor makes cylindrical organism walk in the sewer line, starts the reverse driver of duplex, thereby makes radial flushing head and brush arm reverse coaxial rotation carry out desilting and monitoring to the sewer line, and sewage flows down the downstream simultaneously, will restore the robot and take out after the desilting is accomplished.
Drawings
Fig. 1 is a perspective view of the robot of the present invention;
fig. 2 is a top view of the robot of the present invention;
FIG. 3 is a cross-sectional view at section A-A of FIG. 2;
FIG. 4 is a partial enlarged view of FIG. 3 at B;
fig. 5 is a top view of the present invention;
FIG. 6 is a cross-sectional view at section C-C of FIG. 5;
FIG. 7 is a cross-sectional view at section D-D of FIG. 5;
fig. 8 is a perspective view of the annular auxiliary transparent air tube of the present invention;
FIG. 9 is a side view of the inflatable binding head of the present invention;
fig. 10 is a sectional view at section E-E of fig. 9.
The reference numbers in the figures are:
1-a cylindrical body; 1 a-a camera;
2-triplex self-adaptive abutting walking feet; 2 a-a rotating seat; 2 b-a rotor arm; 2b 1-rotating column; 2 c-a hub motor; 2 d-torsion spring;
3-a water pipe;
4-a radial flushing head; 4 a-communicating tube; 4 b-pie boxes; 4 c-a first nozzle; 4 d-a second nozzle;
5-duplex reverse drivers; 5 a-a first gear; 5 b-a servo motor; 5 c-a second gear; 5 d-fixing the track ring; 5 e-an inner gear ring; 5 f-rotating the orbital ring;
6-brush arm; 6 a-a fixed arm; 6 b-a brush head;
7 a-a light-shielding layer; 7 b-an external isolation inner mirror surface layer; 7 c-a photo-curing glue tube layer; 7 d-inner separation transparent layer;
8 a-a reinforcing rib; 8 b-curing the gas-filled tube; 9 a-annular sealing tube; 9a 1-intake communicating tube; 9 b-external thread fixed joint; 9b 1-cinch; 9 c-nut.
Detailed Description
The following description is presented to disclose the invention so as to enable any person skilled in the art to practice the invention. The preferred embodiments in the following description are given by way of example only, and other obvious variations will occur to those skilled in the art.
Referring to fig. 6, the overall ultraviolet curing repairing method for the rain sewage pipeline comprises the following steps:
the method comprises the following steps that firstly, an upstream plug blocks an upstream sewage pipeline adjacent to a sewage pipe to be repaired, so that no sewage flows in the sewage pipe to be repaired, and operation is facilitated;
secondly, dredging and detecting the pipeline, namely placing the robot at the upper stream inside the sewage pipeline, automatically dredging and monitoring the sewage pipeline by the robot, and taking out the robot after dredging;
thirdly, laying a cushion layer, namely pulling the bottom film into the sewage pipeline by using a traction rope to lay the cushion layer, so that the light-cured pipeline can conveniently slide on the bottom film to be laid in the sewage pipeline, and the outer layer of the light-cured pipeline is prevented from being scratched;
fourthly, laying a light-cured pipeline, and utilizing a traction rope to slide the light-cured pipeline with the annular auxiliary transparent air pipe arranged inside on the basement membrane so as to lay the light-cured pipeline in the sewage pipe;
step five, inflating the annular auxiliary transparent air pipe, sealing and fixing an inflation prick head and the input end of the annular auxiliary transparent air pipe, communicating the air delivery end of the curing vehicle with the inflation prick head through an air pipe, and inflating the annular auxiliary transparent air pipe by the curing vehicle;
step six, photocuring, namely supporting the photocuring pipeline after the annular auxiliary transparent pipe is completely expanded, penetrating an ultraviolet pipeline trolley through an inflation binding head, starting the ultraviolet pipeline trolley to enable the ultraviolet pipeline trolley to walk in the annular auxiliary transparent pipe in an inflated state, and taking out the trolley from the pipe after the photocuring pipeline is completely cured;
and seventhly, disassembling and receiving work, disassembling the inflating tie heads from two ends of the annular auxiliary transparent air pipe, drawing the annular auxiliary transparent air pipe out of the cured photocuring pipeline, cutting redundant parts at two ends of the photocuring pipeline, taking out the upstream plug, and finishing repair.
As shown in fig. 1, the robot includes:
the device comprises a cylindrical machine body 1, wherein a camera 1a for monitoring the condition in a sewage pipe in real time is arranged on the outer circumferential surface of the cylindrical machine body 1;
the three-way self-adaptive abutting walking feet 2 are coaxially arranged at two ends of the cylindrical machine body 1;
the water pipe 3 coaxially penetrates through the cylindrical machine body 1;
the input end of the radial flushing head 4 is rotationally connected with one end of the water pipe 3 through a rotary joint;
the first working end of the duplex reverse driver 5 is coaxially and fixedly connected with the radial flushing head 4, the driving part of the duplex reverse driver 5 is axially arranged in the cylindrical machine body 1 along the cylindrical machine body 1, and the first working end and the second working end of the duplex reverse driver 5 coaxially and reversely rotate in a working state;
and the brush arms 6 are in the same radial direction with the cylindrical machine body 1 and are uniformly distributed on the outer circumferential surface of the second working end of the duplex reverse driver 5 along the axis of the cylindrical machine body 1.
When the sewage pipeline needs to be desilted, the working end of the triplex self-adaptive abutting walking leg 2 is bent relative to the axis of the cylindrical machine body 1, so that the leg part of the triplex self-adaptive abutting walking leg 2 abuts against the wall of the sewage pipeline, and the cylindrical machine body 1 can stably walk in the sewage pipeline under the fixing action of the triplex; the arc surface of the outer surface of the cylindrical machine body 1 ensures that silt is not easy to accumulate on the outer surface of the cylindrical machine body, so that the camera 1a can monitor the condition in a sewage pipeline in real time when the cylindrical machine body 1 travels; one end of the water pipe 3 is communicated with the water injection hose, so that a duplex reverse driver 5 is started, a duplex working end of the duplex reverse driver drives the radial flushing head 4 and the brush arm 6 to coaxially and reversely rotate, the working end of the radial flushing head 4 rotates due to rotation, the wall of the sewage pipe can be flushed in a surrounding mode conveniently, and the brush arm 6 can scrape sludge on the wall of the sewage pipe down, so that the sludge can flow downstream conveniently; so that the inner wall of the sewage pipe is relatively flat and clean, and the light-cured pipeline is convenient to lay.
As shown in fig. 2, the triplex adaptive abutting walking foot 2 includes:
the three rotating seats 2a are arranged at two ends of the outer circumferential surface of the cylindrical machine body 1 along the axis of the cylindrical machine body 1;
the rotating arm 2b is provided with a rotating column 2b1 which is rotatably connected with the rotating seat 2a along the radial direction of the cylindrical machine body 1;
the axis of the hub motor 2c is vertically and rotatably arranged at the other end of the rotating arm 2b with the axis of the cylindrical machine body 1;
and the torsion spring 2d is coaxially sleeved on the rotating column 2b1, and two ends of the torsion spring are respectively and fixedly connected with the rotating seat 2a and the rotating arm 2 b.
The rotating arm 2b is bent relative to the rotating base 2a, so that the distance between the hub motor 2c and the axis of the cylindrical machine body 1 is reduced, the hub motor 2c is abutted against the wall of the sewage pipe under the elastic action of the torsion spring 2d by the rotating arm 2b, the rotating column 2b1 is used for rotatably connecting the rotating base 2a and the rotating arm 2b, and when the hub motor 2c is started, the hub motor 2c drives the cylindrical machine body 1 to automatically move along the axis of the pipeline, so that the dredging is facilitated; the three rotating seats 2a enable the cylindrical body 1 to walk stably in the pipeline.
As shown in fig. 3, the radial flushing head 4 comprises:
the communicating pipe 4a is coaxially and rotatably connected with one end of the water pipe 3 through a rotary joint, and a rotary part of the rotary joint is reversely and coaxially and rotatably connected with the brush arm 6 through a duplex reverse driver 5;
the cake-shaped box 4b is coaxially and fixedly connected with the communicating pipe 4a, and the inside of the cake-shaped box is communicated with the water pipe 3;
the working end of the first nozzle 4c faces outwards and is uniformly distributed on the outer circumferential surface of the cake-shaped box 4b along the axis of the communicating pipe 4a, and the first nozzle 4c is communicated with the inside of the cake-shaped box 4 b.
When the water pipe 3 is filled with water into the communicating pipe 4a through the rotary joint, the water is discharged in the radial direction through the first nozzle 4c installed on the cake-shaped box 4b under the action of water pressure, and the rotary joint is in reverse transmission connection with the brush arm 6 through the duplex reverse driver 5, so that the first nozzle 4c rotates in a ring shape to wash the inner wall of the pipe, and the brush arm 6 rotates in a reverse direction to scrape sludge on the pipe wall.
As shown in fig. 3, the radial flushing head 4 further includes second nozzles 4d, the second nozzles 4d are uniformly distributed on the end surface of the cake-shaped box 4b facing the duplex reversing actuator 5 along the axis of the communicating pipe 4a, and the second nozzles 4d are communicated with the inside of the cake-shaped box 4 b.
When injecting water into the communicating pipe 4a, the servo motor 5b washes the duplex reversing driver 5 axially through the cake-shaped box 4b under the action of water pressure, so that the duplex reversing driver 5 is prevented from normally working due to the blockage of the duplex reversing driver 5 by the sludge falling from the top end of the pipe wall, and the dredging operation can be normally carried out.
As shown in fig. 4, the duplex backward driver 5 includes:
the first gear 5a is coaxially and fixedly arranged on a rotary joint which is rotationally connected with the radial flushing head 4;
the servo motor 5b is coaxially arranged in the cylindrical machine body 1, and an output shaft of the servo motor penetrates through one end of the cylindrical machine body 1 and is in meshed transmission connection with the first gear 5a through a second gear 5 c;
the fixed track ring 5d is coaxially and fixedly arranged at one end of the cylindrical machine body 1;
one end of the inner gear ring 5e is coaxially provided with a rotating track ring 5f which is coaxially and rotatably connected with the fixed track ring 5d, the inner teeth of the inner gear ring 5e are in meshing transmission connection with the second gear 5c, and the brush arms 6 are uniformly distributed on the outer circumferential surface of the inner gear ring 5e along the axis of the first gear 5 a.
When the servo motor 5b is started, the output shaft of the servo motor 5b drives the second gear 5c to synchronously rotate, and the second gear 5c is respectively meshed with the first gear 5a and the fixed track ring 5d, so that the first gear 5a and the fixed track ring 5d reversely and coaxially rotate, the radial flushing head 4 and the brush arm 6 reversely and coaxially rotate, and the brush arm 6 reversely scrapes sludge on the pipe wall when the radial flushing head 4 positively flushes the pipe wall, so that the dredging work is more sufficient.
As shown in fig. 3, the brush arm 6 includes:
the fixed arms 6a are uniformly distributed on the outer circumferential surface of the internal gear ring 5e along the axis of the first gear 5 a;
and the brush head 6b is arranged at the top end of the fixing arm 6 a.
The fixed arm 6a is used for fixedly connecting the brush head 6b and the inner gear ring 5e, and when the first gear 5a drives the inner gear ring 5e to rotate, the brush head 6b coaxially rotates to scrape sludge on the pipe wall, so that the dredging operation is performed.
As shown in fig. 6, the light-curing tube includes a light-shielding layer 7a, an outer isolation inner mirror surface layer 7b, a light-curing glue tube layer 7c, and an inner isolation transparent layer 7d, which are sequentially disposed from outside to inside.
The light shielding layer 7a is used for preventing the light curing pipeline from being cured by external ultraviolet light in the storage process; the outer isolation inner mirror surface layer 7b is used for accelerating the curing of the light-curing rubber tube layer 7c under the mirror reflection action of ultraviolet rays when the inside is irradiated by the ultraviolet rays, and preventing the light-curing rubber tube layer 7c from being bonded with the light-shielding layer 7 a; the light-cured hose layer 7c is used for internally supporting, curing and repairing the pipeline; the internal isolation transparent layer 7d is used for avoiding the adhesion between the annular auxiliary transparent tube and the light-curing glue tube layer 7c, and is convenient for the annular auxiliary transparent tube to support the light-curing glue tube layer 7 c.
As shown in fig. 6 and 8, the annular auxiliary transparent tube has reinforcing ribs 8a inclined to the radial line thereof uniformly spaced in the axial direction between the two layers.
The reinforcing ribs 8a are used for connecting the two layers of the annular auxiliary transparent pipes, so that the annular auxiliary transparent pipes can completely support the light curing pipeline after being inflated; and the radial line slope of strengthening rib 8a and cyclic annular supplementary transparent pipe makes when not aerifing, skin and inlayer laminating, and when aerifing, cyclic annular supplementary transparent pipe receives the atmospheric pressure influence, and the inlayer makes photocuring pipeline and sewage pipe wall laminate more through strengthening rib 8a butt skin to be convenient for solidify.
As shown in fig. 6 and 10, one end of the annular auxiliary transparent tube is also uniformly distributed with curing gas-filled tubes 8b communicated with the interior thereof along the axial direction; the inflatable binding head comprises:
one end of the annular sealing pipe 9a is provided with an air inlet communicating pipe 9a1 communicated with the soft inflation pipe along the axial direction;
the internal diameter of the external thread fixed joint 9b is smaller than the external diameter of the curing inflation tube 8b, and the external thread fixed joint is uniformly distributed at the other end of the annular sealing tube 9a along the axial direction, and a tightening opening 9b1 along the axial direction is formed in the circumferential surface of the external thread fixed joint 9 b;
and the nut 9c is coaxially screwed on the external thread fixed joint 9b, and in a working state, the curing gas-filled tube 8b is coaxially inserted in the external thread fixed joint 9b and is fixedly connected with the nut 9c in a coaxial rotating mode.
The curing inflation tube 8b is coaxially inserted into the external thread fixing connector 9b, then the nut 9c is selected, the nut 9c is used for tightening the tightening port 9b1, the external thread fixing connector 9b is fixedly communicated with the curing inflation tube 8b, the annular sealing tube 9a is inflated through the air inlet communicating tube 9a1, and therefore air is injected into the annular auxiliary transparent tube connected through the curing inflation tube 8b, the annular auxiliary transparent tube is connected to support the light curing pipeline, and therefore the sewage pipeline can be repaired conveniently.
The utility model discloses a theory of operation:
this device realizes through following step the utility model discloses a function, and then solved the utility model provides a technical problem:
the method comprises the following steps that firstly, an upstream plug blocks an upstream sewage pipeline adjacent to a sewage pipe to be repaired, so that no sewage flows in the sewage pipe to be repaired, and operation is facilitated;
secondly, dredging and detecting the pipeline, namely placing the robot at the upper stream inside the sewage pipeline, enabling a rotating arm 2b to bend relative to a cylindrical machine body 1, enabling a triplex self-adaptive abutting walking foot 2 to abut against the inner wall of the sewage pipeline, communicating a water injection pipe with a water pipe 3, starting a hub motor 2c to enable the cylindrical machine body 1 to walk in the sewage pipeline, starting a duplex reverse driver 5, enabling a radial washing head 4 and a brush arm 6 to coaxially rotate in a reverse direction, dredging and monitoring the sewage pipeline, enabling sewage to flow downstream, and taking out the robot after dredging is finished;
thirdly, laying a cushion layer, namely pulling the bottom film into the sewage pipeline by using a traction rope to lay the cushion layer, so that the light-cured pipeline can conveniently slide on the bottom film to be laid in the sewage pipeline, and the outer layer of the light-cured pipeline is prevented from being scratched;
fourthly, laying a light-cured pipeline, and utilizing a traction rope to slide the light-cured pipeline with the annular auxiliary transparent air pipe arranged inside on the basement membrane so as to lay the light-cured pipeline in the sewage pipe;
step five, inflating the annular auxiliary transparent air pipe, namely coaxially inserting a curing inflation pipe 8b into an external thread fixed joint 9b and closing up by a rotating nut 9c, namely sealing and fixing an inflation binding head and the input end of the annular auxiliary transparent air pipe, communicating the gas delivery end of a curing vehicle with the inflation binding head through an air pipe, and inflating the annular auxiliary transparent air pipe by the curing vehicle;
step six, photocuring, namely supporting the photocuring pipeline after the annular auxiliary transparent pipe is completely expanded, penetrating an ultraviolet pipeline trolley through an inflation binding head, starting the ultraviolet pipeline trolley to enable the ultraviolet pipeline trolley to walk in the annular auxiliary transparent pipe in an inflated state, and taking out the trolley from the pipe after the photocuring pipeline is completely cured;
and seventhly, disassembling and receiving work, disassembling the inflating tie heads from two ends of the annular auxiliary transparent air pipe, drawing the annular auxiliary transparent air pipe out of the cured photocuring pipeline, cutting redundant parts at two ends of the photocuring pipeline, taking out the upstream plug, and finishing repair.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the above embodiments, and that the principles of the present invention may be applied to any other embodiment without departing from the spirit and scope of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (6)
1. An integrated ultraviolet curing robot for repairing a sewer pipe of a rainwater and sewage pipeline, the robot comprising:
the device comprises a cylindrical machine body (1), wherein a camera (1a) for monitoring the condition in a sewage pipe in real time is arranged on the outer circumferential surface of the cylindrical machine body;
the triplex self-adaptive abutting walking feet (2) are coaxially arranged at two ends of the cylindrical machine body (1);
the water pipe (3) coaxially penetrates through the cylindrical machine body (1);
the input end of the radial flushing head (4) is rotationally connected with one end of the water pipe (3) through a rotary joint;
the first working end of the duplex reverse driver (5) is coaxially and fixedly connected with the radial flushing head (4), the driving part of the duplex reverse driver (5) is axially arranged in the cylindrical machine body (1) along the cylindrical machine body (1), and the first working end and the second working end of the duplex reverse driver (5) coaxially and reversely rotate in a working state;
and the brush arms (6) are in the same radial direction with the cylindrical machine body (1) and are uniformly distributed on the outer circumferential surface of the second working end of the duplex reverse driver (5) along the axis of the cylindrical machine body (1).
2. The integrated ultraviolet curing repair robot according to claim 1, wherein the triplex self-adaptive abutting walking foot (2) comprises:
the three rotating seats (2a) are arranged at two ends of the outer circumferential surface of the cylindrical machine body (1) along the axis of the cylindrical machine body (1);
the rotating arm (2b), a rotating column (2b1) rotationally connected with the rotating seat (2a) is arranged on the rotating arm (2b) along the radial direction of the cylindrical machine body (1);
the axis of the hub motor (2c) is perpendicular to the axis of the cylindrical machine body (1) and is arranged at the other end of the rotating arm (2b) in a rotating way;
and the torsion spring (2d) is coaxially sleeved on the rotating column (2b1), and two ends of the torsion spring are respectively and fixedly connected with the rotating seat (2a) and the rotating arm (2 b).
3. The integrated ultraviolet curing repair robot according to claim 1, wherein the radial flushing head (4) comprises:
the communicating pipe (4a) is coaxially and rotatably connected with one end of the water pipe (3) through a rotary joint, and the rotary part of the rotary joint is reversely and coaxially and rotatably connected with the brush arm (6) through a duplex reverse driver (5);
the cake-shaped box (4b) is coaxially and fixedly connected with the communicating pipe (4a) and the inside of the cake-shaped box is communicated with the water pipe (3);
the working end of the first nozzle (4c) faces outwards and is uniformly distributed on the outer circumferential surface of the cake-shaped box (4b) along the axis of the communicating pipe (4a), and the first nozzle (4c) is communicated with the inside of the cake-shaped box (4 b).
4. The integrated ultraviolet curing repair robot according to claim 1, wherein the radial flushing head (4) further comprises second nozzles (4d), the second nozzles (4d) are uniformly distributed on the end face of the cake-shaped box (4b) facing the duplex reversing driver (5) along the axis of the communicating pipe (4a), and the second nozzles (4d) are communicated with the inside of the cake-shaped box (4 b).
5. The integrated uv curing repair robot according to claim 1, wherein the duplex reversing driver (5) comprises:
the first gear (5a) is coaxially and fixedly arranged on a rotary joint which is rotationally connected with the radial flushing head (4);
the servo motor (5b) is coaxially arranged in the cylindrical machine body (1) in the axial direction, and an output shaft of the servo motor penetrates through one end of the cylindrical machine body (1) and is in meshed transmission connection with the first gear (5a) through a second gear (5 c);
the fixed track ring (5d) is coaxially and fixedly arranged at one end of the cylindrical machine body (1);
the brush arm assembly comprises an inner gear ring (5e), one end of the inner gear ring (5e) is coaxially provided with a rotating track ring (5f) which is coaxially and rotatably connected with a fixed track ring (5d), the inner gear of the inner gear ring (5e) is in meshing transmission connection with a second gear (5c), and the brush arms (6) are uniformly distributed on the outer circumferential surface of the inner gear ring (5e) along the axis of a first gear (5 a).
6. The robot for integrated ultraviolet curing repair of storm sewer according to claim 1, characterized in that the brush arm (6) comprises:
the fixed arms (6a) are uniformly distributed on the outer circumferential surface of the inner gear ring (5e) along the axis of the first gear (5 a);
the brush head (6b) is arranged at the top end of the fixed arm (6 a).
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| CN202022143999.9U CN213452381U (en) | 2020-09-25 | 2020-09-25 | Whole ultraviolet curing of rain sewage pipeline restores robot |
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| CN202022143999.9U CN213452381U (en) | 2020-09-25 | 2020-09-25 | Whole ultraviolet curing of rain sewage pipeline restores robot |
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| CN115199857A (en) * | 2022-06-28 | 2022-10-18 | 浙江城露环境科技有限公司 | Ultraviolet curing repair system for urban sewage pipe network |
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| CN113464769A (en) * | 2021-07-06 | 2021-10-01 | 刘春艳 | A modular clearance repairing machine for exhaust emission pipeline |
| CN113464769B (en) * | 2021-07-06 | 2023-04-21 | 仙桃绿色东方环保发电有限公司 | Modularized cleaning and repairing machine for exhaust emission pipeline |
| CN115199857A (en) * | 2022-06-28 | 2022-10-18 | 浙江城露环境科技有限公司 | Ultraviolet curing repair system for urban sewage pipe network |
| CN115199857B (en) * | 2022-06-28 | 2023-12-05 | 浙江城露环境科技有限公司 | Ultraviolet curing repair system for urban sewage pipe network |
| CN116146825A (en) * | 2023-02-21 | 2023-05-23 | 道雨耐节能科技宿迁有限公司 | Mobile robot for pipeline detection and repair |
| CN116146825B (en) * | 2023-02-21 | 2023-10-27 | 道雨耐节能科技宿迁有限公司 | Mobile robot for pipeline detection and repair |
| CN117225838A (en) * | 2023-11-13 | 2023-12-15 | 中铁三局集团建筑安装工程有限公司 | Self-propelled robot for cleaning operation of ultra-long large-diameter heating pipeline |
| CN117225838B (en) * | 2023-11-13 | 2024-01-23 | 中铁三局集团建筑安装工程有限公司 | Self-propelled robot for cleaning operation of ultra-long large-diameter heating pipeline |
| CN117469521A (en) * | 2023-12-28 | 2024-01-30 | 河南黄河水工机械有限公司 | Pipeline quality detection device for hydraulic engineering |
| CN117469521B (en) * | 2023-12-28 | 2024-03-15 | 河南黄河水工机械有限公司 | Pipeline quality detection device for hydraulic engineering |
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