CN215807161U

CN215807161U - Pipeline non-excavation is restoreed with local repair robot

Info

Publication number: CN215807161U
Application number: CN202122341663.8U
Authority: CN
Inventors: 周强
Original assignee: Individual
Current assignee: Individual
Priority date: 2021-09-27
Filing date: 2021-09-27
Publication date: 2022-02-11
Anticipated expiration: 2031-09-27

Abstract

The utility model discloses a local repairing robot for trenchless pipeline repairing, which comprises: the automatic direction-adjusting travelling mechanisms are symmetrically arranged in parallel and level, and can adjust the lateral angle of the caster; the two groups of machine bodies are arranged in a reverse symmetrical mode; the rotating mechanisms are fixed on the two groups of machine bodies to enable the front machine body and the rear machine body to form a whole, and the rotating mechanisms can drive the rotating frames to rotate; the two groups of rotating arm adjusting mechanisms are arranged in a reverse symmetrical mode, and the position of the adsorption device can be adjusted through adjustment; the automatic direction-adjusting traveling mechanism is arranged on the lower end face of the machine body, the base of the rotating mechanism is fixedly connected with the machine body, and the rotating arm adjusting mechanism is fixedly arranged on the rotating mechanism. The utility model has the advantages of convenient operation and control, reasonable structure, suitability for pipelines with different pipe diameters and the like, and provides a novel repairing robot for trenchless local repairing of pipelines.

Description

Pipeline non-excavation is restoreed with local repair robot

Technical Field

The utility model relates to the technical field of pipeline trenchless repair equipment, in particular to a local repair robot for pipeline trenchless repair.

Background

The pipeline is one of the important carriers for water transportation, and is particularly widely applied to long-distance transportation. Pipelines are typically designed to be buried in the ground for a combination of aesthetic, safety and efficiency considerations. Due to the influences of complex geological conditions, stone impact in construction backfill, long-time external pressure, corrosion and the like, deformation and breakage can occur at the local position of the pipeline, and then water inside the pipeline leaks or cross contamination is formed between the water and the external environment. Usually, the local damage of the underground pipeline is repaired by adopting a trenchless local repair method.

The repair through the rubber sealing ring is a common method for trenchless local repair of the underground pipeline. However, in the process, due to the lack of efficient automatic repair equipment, most of the repair materials can only be carried in narrow pipelines by manpower, and particularly, the repair materials comprise stainless steel materials, sand-included glass fiber reinforced plastic materials and the like. The space limitation is big in the pipeline, relies on artificial location and support when restoreing, needs many people to assist when heavy-calibre pipeline restores to support and expand the sealing washer, falls down easily at intraductal curved space operation personnel operating stability difference, has the potential safety hazard. Meanwhile, the lack of a positioning auxiliary tool during manual installation of the repairing material can cause the boundary of the installation position of the sealing ring to deviate and have different surfaces, so that the stress of the sealing ring is not uniform, and the sealing effect is not ideal.

In order to solve the difficult problems of material transportation, large-diameter pipeline sealing ring and hardware installation positioning and supporting in the non-excavation local repair process, provide safe construction environment and achieve good repair effect, the design of the local repair robot suitable for the non-excavation repair of the pipeline is very necessary.

SUMMERY OF THE UTILITY MODEL

Aiming at the problems in the prior art, the utility model aims to provide a local repairing robot for trenchless repairing of pipelines, so as to solve the problems of material transportation, installation, positioning and supporting of sealing rings in the trenchless local repairing process, provide a safe construction environment and achieve a good repairing effect.

The technical scheme adopted by the utility model for solving the technical problems is as follows: the utility model provides a pipeline is local repair robot for trenchless restoration, includes that two sets of automatic transfer are to running gear, two sets of automatic transfer are to running gear parallel alignment each other, are reverse symmetrical arrangement. The automatic direction-adjusting walking mechanism comprises a transmission module, a caster, a locking block, a base and a push rod with an inner hole provided with transmission threads. The transmission module comprises a first motor, a bevel gear and a screw rod, and the screw rod is driven by the first motor to rotate so as to enable the push rod to axially move, so that the lateral angle of the caster wheel is adjusted, and the swing lateral angles of the caster wheel are kept consistent; the device comprises two groups of machine bodies, wherein the machine bodies are arranged in a reverse symmetrical mode in a non-adjusting state and comprise a transverse moving module and a lifting module, and the lifting module is fixedly connected with the upper end face of the transverse moving module; the rotating mechanism is arranged and fixed on the two groups of machine bodies to enable the front mechanism and the rear mechanism to form a whole, the rotating mechanism comprises a power system, a front supporting seat, a rear supporting seat, a rotating frame and a sliding platform, the power system comprises a worm gear speed reducer and a second motor, the output power of the second motor can be transmitted to generate large torque through the speed reducer so as to drive the rotating frame to rotate, and the rotating mechanism has a self-locking function so that the rotating frame cannot rotate; the two groups of rotating arm adjusting mechanisms are symmetrically distributed in the reverse direction and comprise hinged supports, telescopic sleeves, adsorption devices, connecting frames and screw rod transmission assemblies; the telescopic sleeve connected with the connecting frame is driven to expand or contract through the screw rod transmission assembly, so that the position of the adsorption device is adjusted; the automatic direction-adjusting traveling mechanism is arranged on the lower end face of the machine body, the base of the rotating mechanism is fixedly connected with the machine body through bolts, and the two groups of rotating arm adjusting mechanisms are symmetrically arranged on the rotating mechanism respectively.

Preferably, the transmission module further comprises a small bevel gear, a large bevel gear, a motor base and a bearing seat, the small bevel gear is fixed on the first motor, the large bevel gear is fixed on the screw rod, the motor base is arranged in the middle of the first motor and the small bevel gear, the first motor is arranged on the motor base, the bearing seat is arranged in the middle of the screw rod and the large bevel gear, and the screw rod is arranged on the bearing seat.

Preferably, the screw rod is a single-head trapezoidal screw rod, and a part of the shaft section of the screw rod is an optical shaft.

Preferably, the front fuselage has a large load, and a reinforcing plate is arranged at the upper end of the lifting module.

Preferably, the lifting module is an electric lifting device.

Preferably, the power system comprises a second motor and a worm gear speed reducer, the second motor is arranged on the worm gear speed reducer, and the worm gear speed reducer is fixedly connected with the front support seat.

Preferably, the rear support base includes a reinforcing plate provided on the support base.

Preferably, the sliding platform further comprises a box-type sliding block, an upper cover plate and a lower cover plate, the box-type sliding block is mounted on the rotating frame, the upper cover plate is mounted on the upper end face of the box-type sliding block, and the lower cover plate is mounted on the lower end face of the box-type sliding block.

Preferably, the screw rod transmission assembly further comprises a fixed seat, a screw rod, a locking nut, a round nut, a connecting pipe, a screw rod nut and a hand wheel. The fixing seat is fixedly connected with the sliding platform, one end of the screw rod is fixedly connected with the fixing seat, the locking nut is installed on the screw rod and is in contact with the screw rod fixing seat, the round nut is installed on the screw rod nut, and the hand wheel is fixedly connected with the screw rod nut.

Preferably, the screw rod is a single-head screw rod, and trapezoidal threads are machined on the whole shaft section of the screw rod.

Preferably, a control system is arranged on the side position on the front support plate mounting seat.

Compared with the prior art, the utility model provides a local repairing robot for trenchless repairing of pipelines, which has the following beneficial effects:

(1) the repairing robot consists of an automatic direction-adjusting walking mechanism, a machine body, a rotating mechanism and a rotating arm adjusting mechanism, all the mechanisms act according to control instructions of the system, and the robot is provided with a remote control system, so that automatic trenchless repairing operation can be realized, and the risk of construction in an underground pipeline is reduced;

(2) the automatic direction-adjusting walking mechanism is newly designed, when the repairing robot works in different pipelines, the automatic direction-adjusting walking mechanism can automatically feed back and adjust, so that the walking wheel of the robot is always perpendicular to the pipe wall, the risk of overturning of the robot during load transportation and operation is reduced, and the stability of the robot in the pipelines is greatly improved;

(3) the worm gear speed reducer is driven to rotate by the motor, so that the rotating speed is reduced, the torque is increased to drive the rotating mechanism to rotate, all parts and the mechanism are reasonably connected, the impact force among all parts is greatly reduced, and the service life of the parts is greatly prolonged;

(4) the utility model has good applicability to pipelines with different pipe diameters. The automatic direction-adjusting walking mechanism, the machine body and the rotating arm adjusting mechanism of the robot can realize the adjusting function, an operator only needs to input the corresponding pipe diameter size through the control system, the corresponding mechanism can be adjusted to a required state, and other mechanisms do not need to be replaced, so that the applicability of the repairing robot to different pipelines is greatly improved, and the manufacturing cost of repairing equipment is saved;

(5) the repairing robot is reasonable in design, and after the repairing robot is placed in a repairing well, the repairing material can be adsorbed and transported to a repairing position without being carried in a pipeline by a constructor. The positioning and installation of the repair material can be realized, and the unsatisfactory repair sealing effect caused by manual operation errors is avoided;

(6) the repairing robot is mainly driven by electric power, has no noise pollution in the working process, does not generate noise hazard to constructors, does not discharge pollutants, and has no adverse effect on the environment.

Drawings

The utility model is further illustrated with reference to the following figures and examples:

FIG. 1 is a schematic view of the construction of a rehabilitation robot of the present invention;

FIG. 2 is a schematic structural diagram of an automatic direction-adjusting walking mechanism;

FIG. 3 is a schematic illustration of a fuselage structure;

fig. 4 is a schematic structural view of the rotating mechanism;

FIG. 5 is a schematic view of the structure of the tumbler adjusting mechanism;

FIG. 6 is a schematic view of the operation of the rotary mechanism;

fig. 7 is a schematic diagram of the operation of the pipeline robot.

In the figure, 1, an automatic direction-adjusting walking mechanism, 11, a transmission module, 111, a first motor, 112, a bevel gear, 113, a screw rod, 12, a caster, 13, a locking block, 14, a base, 15, a push rod, 16, a fixed frame, 17, a rectangular frame, 2, a machine body, 21, a transverse moving module, 22, a lifting module, 3, a rotating mechanism, 31, a power system, 311, a second motor, 312, a speed reducer, 32, a front supporting seat, 33, a rear supporting seat, 34, a rotating frame, 341, a rotating disc, 342, a fixed seat, 343, a guide rail, 35, a sliding platform, 351, a lower cover plate, 352, a box-type sliding block, 353, an upper cover plate, a 4-rotating arm adjusting mechanism, 41, a hinged support, 42, a telescopic sleeve, 43, an adsorption device, 44, a connecting frame, 45, a screw rod transmission assembly, 451, a screw rod fixed seat, 452, a screw rod, 453, a locking nut, 454, a round nut, 455, a round nut, 456. the device comprises a hand wheel, 457, a connecting pipe, 5, a damaged pipeline inner wall, 6, a piece cutting pipe, 7, a sealing rubber ring and 8, and a control system.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention:

a local repairing robot for trenchless pipeline repairing is disclosed, as shown in fig. 1, fig. 2, fig. 3, fig. 4 and fig. 5, comprising an automatic direction-adjusting traveling mechanism 1, a machine body 2, a rotating mechanism 3 and a rotating arm adjusting mechanism 4, wherein the automatic direction-adjusting traveling mechanism 1 is arranged and fixed on the lower end surface of the machine body 2, the automatic direction-adjusting traveling mechanism 1 comprises a transmission module 11, a caster 12, a locking block 13, a base 14, a push rod 15 with a transmission thread in an inner hole, a fixed frame 16 and a rectangular frame 17, and the transmission module 11 comprises a first motor 111, a bevel gear 112 and a screw rod 113. The first motor 111 drives the screw rod 113 to rotate so as to axially move the push rod 15, thereby adjusting the lateral angle of the caster 12; the machine body 2 comprises a transverse moving module 21 and a lifting module 22, and the lifting module 22 is fixedly connected with the upper end face of the transverse moving module 21; the rotating mechanism 3 comprises a power system 31, a front supporting seat 32, a rear supporting seat 33, a rotating frame 34 and a sliding platform 35, the power system 31 comprises a worm and gear speed reducer 312 and a second motor 311, the output power of the second motor 311 can be transmitted to large torque through the worm and gear speed reducer 312 so as to drive the rotating frame 34 to rotate, the speed reducer has a self-locking function, and the rotating frame 34 cannot rotate; the rotating arm adjusting mechanism 4 comprises a hinged support 41, a telescopic sleeve 42, an adsorption device 43, a connecting frame 44 and a screw rod transmission assembly 45. The telescopic tube 42 connected with the connecting frame 44 is driven to expand or contract through the screw rod transmission assembly 45, so that the position of the adsorption device 43 is adjusted. Wherein the basic structure layout is as follows: the automatic direction-adjusting traveling mechanism 1 is arranged at the lower ends of rectangular frames 17 of the front body and the rear body, the rotating mechanism 3 is arranged and fixed at the upper ends of a front supporting seat 32 and a rear supporting seat 33 of the body, and the two groups of rotating arm adjusting mechanisms 4 are respectively arranged on the upper end surface and the lower end surface of a sliding platform 35.

Fig. 6 is a schematic diagram of the working state of the rotating mechanism 3, and under the driving of the power system 31, the rotating mechanism 3 rotates to a position having an included angle with the horizontal plane, and then keeps relatively stationary with the position of the power system 31 under the self-locking action of the worm gear reducer 312; fig. 7 shows the working state of the robot for locally repairing a pipeline, the casters 12 of the automatic direction-adjusting travelling mechanism 1 are supported on the inner wall 5 of the damaged pipeline of the pipeline, and the four groups of adsorption devices 43 firmly adsorb the repairing segmented pipe 6 by the front and rear groups of symmetrically distributed automatic direction-adjusting travelling mechanisms 1 running on the inner wall 5 of the damaged pipeline.

As a preferred embodiment, a small bevel gear and a large bevel gear are arranged in the transmission module 11, the small bevel gear is fixed on the first motor 111, the large bevel gear is fixed on the screw 113, the three bevel gears are engaged in a symmetrical distribution structure, the first motor 111 drives the bevel gear 112 to rotate, so as to drive the screw 113 on the left and right sides to rotate in different directions, while the casters 12 on the left and right sides keep moving in the same direction towards the outside or the inside. The screw 113 is designed as a single-head trapezoidal screw, adopts non-full-section processing threads, and is preferably made of 45 steel.

As a preferred embodiment, the transmission module further comprises a bearing seat arranged between the screw 113 and the large bevel gear, the screw 113 is mounted on the bearing seat, the bearing seat is assembled by adopting a compact double-row angular contact ball bearing type, the mounting space is reduced, and a mounting hole is arranged at the bottom of the bearing seat and is fastened on the rectangular frame 17 below the machine body through threaded connection.

As a preferred embodiment, a motor base is arranged between the first motor 111 and the bevel pinion, and the first motor 111 is mounted on the motor base, wherein the motor base is fastened on a rectangular frame 17 at the bottom of the machine body through threaded connection in order to ensure precision and reduce transmission wear of the bevel pinion and carry out finish machining on a mounting surface and a mounting hole.

As a preferred embodiment, the power system 31 is installed on the upper part of the front fuselage, the load is large, therefore, the upper end position of the lifting module 22 is provided with a reinforcing plate, the reinforcing plate adopts Q235, the thickness is 15-20 mm, and reinforcing plates can be added on two sides or four sides according to the requirement, and the reinforcing plates are fixed on the front fuselage by welding.

As a preferred embodiment, the power system 31 includes a second motor 311 and a worm and gear speed reducer 312, the second motor 311 is installed on the worm and gear speed reducer 312, the worm and gear speed reducer 312 is connected to the front support base 32, the worm and gear speed reducer 312 is of a first-stage type, speed ratios i50 to i80, and a center distance is not less than 130mm, so that it is ensured that a large torque output can be provided and a self-locking function is not disabled, and the second motor 311 is matched with corresponding specifications according to the worm and gear speed reducer 312.

As a preferred embodiment, the rear supporting base 33 is an L-shaped structure, has a thickness of 20mm, has a surface finish machining to ensure the coaxiality of the rear supporting base 33 and the central axis of the rotating frame 34, and according to the structural analysis, reinforcing plates are arranged on both sides of the L-shaped structure to ensure the stability of the rear supporting base 33, wherein the reinforcing plates are fixed on the rear supporting base 33 by welding.

In a preferred embodiment, the sliding platform 35 includes a box-type slider 352, an upper cover 353 and a lower cover 351, the box-type slider 352 is mounted on the rotating frame 34, the upper cover 353 is mounted on the upper end surface of the box-type slider 352, the lower cover 351 is mounted on the lower end surface of the box-type slider 352, and the box-type slider 352 is provided with a locking bolt, so that the sliding platform 35 can slide on the rotating frame 34 after being unscrewed, and cannot slide after being locked.

As a preferred embodiment, the screw transmission assembly 45 includes a screw holder 451, a screw 452, a locking nut 453, a round nut 454, a screw nut 455, a hand wheel 456, and a connection tube 457. The lead screw fixing seat 451 is fixedly connected with the sliding platform 35, one end of the lead screw 452 is fixedly connected with the lead screw fixing seat 451, the locking nut 453 is installed on the lead screw 452 and is in contact with the lead screw fixing seat 451, the round nut 454 is installed on the lead screw nut 455 and locks the connecting pipe 457 on the lead screw nut 455, and the hand wheel 456 is fixedly connected with the lead screw nut 455; the screw rod 452 is a single-head screw rod, and trapezoidal threads are machined by adopting a full-shaft section.

As a preferred embodiment, a control system 8 is installed at a position on the upper side of the front support 32, the control system can control all working instructions on the pipeline robot, the pipeline robot can execute corresponding actions through a control switch, and the system comprises a remote control module, and an operator can remotely control the robot through a remote controller.

The robot for locally repairing the pipeline can be used for repairing the pipeline through the following steps: 1. the direction of the caster 12 is adjusted, so that the caster 12 always runs in a direction perpendicular to the inner wall 5 of the damaged pipeline, the stability of the vehicle body is ensured, and the vehicle body is prevented from inclining; 2. the height of the machine body lifting module 22 is adjusted to ensure that the rotating center of the rotating mechanism 3 is superposed with the axle center of the damaged pipeline, thereby providing great convenience for local repair and installation operation; 3. the length of the telescopic sleeve 42 is adjusted, so that the piece cutting pipe 6 absorbed by the absorption device 43 is close to the inner wall of the damaged pipeline, and the installation of the sealing rubber ring 7 is facilitated. Therefore, the pipeline repairing robot provided by the utility model has excellent practicability and applicability in pipelines with different pipe diameters.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and equivalent alternatives or modifications according to the technical solution of the present invention and the inventive concept thereof should be covered by the scope of the present invention.

Claims

1. The utility model provides a pipeline is non-excavation to be restoreed with local repair robot which characterized in that: the automatic direction-adjusting walking mechanism comprises two groups of automatic direction-adjusting walking mechanisms (1), wherein the two groups of automatic direction-adjusting walking mechanisms (1) are aligned in parallel and are arranged in a reverse symmetry manner; the automatic direction-adjusting walking mechanism (1) comprises a transmission module (11), a caster (12), a locking block (13), a base (14) and a push rod (15) with an inner hole provided with transmission threads, wherein the transmission module (11) comprises a first motor (111), a bevel gear (112) and a screw rod (113); the screw rod (113) is driven to rotate by the first motor (111) so that the push rod (15) moves axially, the lateral angle of the caster (12) is adjusted, and the swinging lateral angle of the caster (12) is kept consistent;

the device comprises two groups of machine bodies (2), wherein the machine bodies are symmetrically arranged in the same direction in a non-adjusting state, each machine body (2) comprises a transverse moving module (21) and a lifting module (22), and the lifting modules (22) are fixedly connected with the upper end face of the transverse moving module (21);

the rotating mechanism (3) is fixedly arranged on the two sets of machine bodies (2), so that the front mechanism and the rear mechanism form a whole, the rotating mechanism (3) comprises a power system (31), a front supporting seat (32), a rear supporting seat (33), a rotating frame (34) and a sliding platform (35), the power system (31) comprises a worm and gear speed reducer (312) and a second motor (311), the output power of the second motor (311) can be transmitted to large torque through the speed reducer (312) so as to drive the rotating frame (34) to turn over, and the self-locking function is realized, so that the rotating frame (34) cannot rotate;

the two groups of rotating arm adjusting mechanisms (4) are symmetrically distributed in the reverse direction, and each rotating arm adjusting mechanism (4) comprises a hinged support (41), a telescopic sleeve (42), an adsorption device (43), a connecting frame (44) and a screw rod transmission assembly (45); the telescopic sleeve (42) connected with the connecting frame (44) is driven to expand or contract through the screw rod transmission assembly (45), so that the position of the adsorption device (43) is adjusted;

the automatic direction-adjusting traveling mechanism (1) is arranged on the lower end face of the machine body (2), the base of the rotating mechanism (3) is fixedly connected with the machine body (2) through bolts, and two groups of rotating arm adjusting mechanisms (4) are symmetrically arranged on the rotating mechanism (3) respectively.

2. The local repair robot according to claim 1, wherein said transmission module (11) further comprises a small bevel gear fixed to said first motor (111) and a large bevel gear fixed to a lead screw (113); the transmission module (11) further comprises a motor base arranged between the first motor (111) and the bevel pinion, and the first motor (111) is mounted on the motor base; the transmission module (11) further comprises a bearing seat arranged between the screw rod (113) and the large bevel gear, and the screw rod (113) is arranged on the bearing seat; the lead screw (113) is a single-head trapezoidal lead screw, and part of the shaft section of the lead screw (113) is an optical axis.

3. The partial repair robot according to claim 1, wherein the front body load is large, and a reinforcing plate is provided at an upper end position of the lifting module (22); the lifting module (22) is an electric lifting module.

4. The local repair robot according to claim 1, wherein the power system (31) comprises a second motor (311) and a worm and gear speed reducer (312), the second motor (311) is installed on the worm and gear speed reducer (312), and the worm and gear speed reducer (312) is fixedly connected with the front support base (32); the rear supporting seat (33) comprises a reinforcing plate arranged on the supporting seat; the sliding platform (35) further comprises a box-type sliding block (352), an upper cover plate (353) and a lower cover plate (351), the box-type sliding block (352) is installed on the rotating frame (34), the upper cover plate (353) is installed on the upper end face of the box-type sliding block (352), and the lower cover plate (351) is installed on the lower end face of the box-type sliding block (352).

5. The local repair robot according to claim 1, wherein the lead screw transmission assembly (45) further comprises a lead screw fixing seat (451), a lead screw (452), a locking nut (453), a round nut (454), a connecting pipe (457), a lead screw nut (455) and a hand wheel (456); the screw rod fixing seat (451) is fixedly connected with the sliding platform (35), one end of the screw rod (452) is fixedly connected with the screw rod fixing seat (451), the locking nut (453) is installed on the screw rod (452) and is in contact with the screw rod fixing seat (451), the round nut (454) is installed on the screw rod nut (455), and the hand wheel (456) is fixedly connected with the screw rod nut (455); the screw rod (452) is a single-head screw rod, and trapezoidal threads are machined on the whole shaft section of the screw rod (452).

6. The local repair robot according to claim 1, wherein a control system (8) is arranged at the upper side position of the front support seat (32) and used for controlling the action command of the robot, and the system comprises a remote control module, so that an operator can remotely control the robot through a remote controller.