CN219924155U

CN219924155U - Cable pre-buried pipeline expansion robot

Info

Publication number: CN219924155U
Application number: CN202322437755.5U
Authority: CN
Inventors: 高少龙; 杨浩; 王改芳; 李青
Original assignee: Shenhua Lianhe Construction Co ltd
Current assignee: Shenhua Lianhe Construction Co ltd
Priority date: 2023-09-08
Filing date: 2023-09-08
Publication date: 2023-10-31
Anticipated expiration: 2033-09-08

Abstract

The utility model relates to the technical field of pipe fitting robots, in particular to a cable embedded pipeline expanding robot. Comprises a supporting cylinder and a pipe fitting shaping device; the pipe fitting shaping device comprises a pipe fitting shaping barrel, a pipe fitting shaping cone, an expansion assembly and a driving assembly. The driving assembly drives the pipe fitting shaping barrel and the pipe fitting shaping cone to reversely rotate, so that the pipe fitting shaping cone rotates and advances, the pipe fitting shaping plate is driven to spirally extend out of the pipe fitting shaping barrel in a vortex shape relative to the pipe fitting shaping cone to gradually approach the pipe fitting, the pipe fitting shaping plate far away from the pipe fitting shaping cone is firstly propped against the inner wall of the pipe fitting which is not concavely deformed, so that uniform support of stress is provided, gradually increased pushing force is provided for the inner wall of the pipe fitting which is concavely deformed, after the concave deformation part is expanded and shaped, the pipe fitting shaping plate close to the concave deformation part of the pipe fitting slides into the stabilizing groove from the shaping groove, so that the concave deformation part of the pipe fitting is expanded and the concave deformation part is not concavely deformed, and the effect of expanding and shaping of the pipe fitting is improved.

Description

Cable pre-buried pipeline expansion robot

Technical Field

The utility model relates to the technical field of pipe fitting robots, in particular to a cable embedded pipeline expanding robot.

Background

The pipe fitting can cause pipe orifice diameter change and the like when the pipe fitting is concavely deformed, and follow-up use can be affected if the pipe fitting is not timely reshaped. For example, in the use process of a pipe fitting for embedding a cable, the pipe fitting is deformed, particularly the pipe fitting is concavely deformed, so that the cable cannot pass through the pipe fitting. If the concave deformed pipe fitting is not deformed in time, accidents can occur, and unnecessary losses are caused.

In the prior art, as in the chinese patent with the publication number CN219151211U, the name of the robot for expanding the cable embedded pipeline, the disclosure technical scheme records that the steering motor drives the installation seat to rotate through the gear set, so that the circular arc pipe fitting composite plate is aligned with the concave deformation position of the pipe fitting, then drives the hydraulic cylinder far away from the concave deformation position of the pipe fitting to extend, and the other circular arc pipe fitting composite plate is close to the inner wall of the pipe fitting as a reverse stress point, then drives the hydraulic cylinder aligned with the concave deformation position of the pipe fitting to extend, so that the concave deformation position of the pipe fitting expands and is shaped, the inner diameter of the circle where the adopted circular arc pipe fitting composite plate is located is the same as the inner diameter of the to-be-expanded complex pipe fitting, and the diameter of the pipe fitting deformation position can expand and be shaped. However, the factors that cause the pipe fitting concave deformation are various, a plurality of concave deformations of circumference can be formed on the pipe fitting, for example, all concave deformations about, when rethread scheme restores this moment, two hydraulic cylinder effort imbalance about then can appear, when probably causing the damage to the pivot, influence the effect that the pipe fitting expanded was compound.

Disclosure of Invention

The utility model provides a cable embedded pipeline expanding robot to solve the problems.

The utility model adopts the following technical scheme: a cable pre-buried pipeline expanding robot comprises a supporting cylinder; the axial line of the supporting cylinder is arranged back and forth; the outer side wall of the supporting cylinder is provided with a travelling device; the front end of the supporting cylinder is provided with a pipe fitting shaping device; the pipe fitting shaping device comprises a pipe fitting shaping barrel, a pipe fitting shaping cone, a plurality of expansion assemblies and a driving assembly;

the pipe fitting shaping cylinder is coaxially arranged in front of the supporting cylinder; the pipe fitting shaping cylinder is rotatably arranged at the front end of the supporting cylinder;

the pipe fitting complex cone is cone-shaped with a small end facing forward and is coaxially arranged in the pipe fitting complex cylinder; the pipe fitting shaping cone and the pipe fitting shaping cylinder are connected through a threaded transmission assembly; a plurality of complex grooves with the same spiral direction are uniformly distributed on the conical surface of the pipe fitting complex cone along the circumferential direction of the pipe fitting complex cone; the rear end of the complex cone of the pipe fitting is coaxially fixed with a stabilizing cylinder; a plurality of stabilizing grooves with the same spiral direction as the complex grooves are uniformly distributed on the outer side wall of the stabilizing cylinder along the circumferential direction of the stabilizing cylinder; the stabilizing grooves are in one-to-one correspondence with the complex grooves; the stabilizing groove is communicated with the corresponding complex groove;

the expansion assemblies are distributed along the front and back of the conical surface of the complex cone of the pipe fitting; the expansion assembly comprises a plurality of pipe fitting complex plates which are uniformly distributed along the circumferential direction of the pipe fitting complex cylinder; the pipe fitting complex plates are in one-to-one correspondence with the complex grooves; the pipe fitting complex plate is arranged on the pipe fitting complex cylinder in a sliding manner along the radial direction of the pipe fitting complex cylinder; one end of the pipe fitting complex plate, which is close to the pipe fitting complex cone, is in sliding fit with the corresponding complex groove, and one end of the pipe fitting complex plate, which is far away from the pipe fitting complex cone, is in an arc shape; connecting lines of one ends of the pipe fitting complex plates of the plurality of expansion assemblies, which are far away from the pipe fitting complex cone, enclose a conical surface with a small end arranged forward;

the driving assembly is used for driving the pipe fitting complex barrel and the pipe fitting complex cone to synchronously rotate, and the rotation directions of the pipe fitting complex barrel and the pipe fitting complex cone are opposite, so that the pipe fitting complex cone rotates and advances under the action of the thread transmission assembly, the pipe fitting complex plate is driven to spirally extend out of the pipe fitting complex barrel in a vortex shape relative to the pipe fitting complex cone so as to gradually approach the pipe fitting, the pipe fitting complex plate far away from the pipe fitting concave deformation position slides into the stable groove from the complex groove, the pipe fitting complex plate far away from the pipe fitting complex cone is firstly propped against the inner wall of the pipe fitting which is not concave deformed, so that uniform stress support is provided for the pipe fitting complex device, more and more pipe fitting complex plates slide into the stable groove along with forward movement of the pipe fitting complex cone, and stable and uniform supporting force is provided for the pipe fitting complex plate at the pipe fitting concave deformation position to spirally extend upwards to push the concave deformation position; the pipe fitting compound plate close to the concave deformation position of the pipe fitting slides along the compound groove, extends out of the pipe fitting compound cylinder and abuts against the concave deformation inner wall of the pipe fitting, the pipe fitting compound plate provides gradually increased pushing force for the concave deformation pipe fitting inner wall under the thread transmission of the thread transmission component, after the concave deformation position is expanded and deformed, the pipe fitting compound plate close to the concave deformation position of the pipe fitting slides into the stable groove from the compound groove, so that the concave deformation position of the pipe fitting is smoothly transited after being expanded and deformed and the non-concave deformation position is smoothly transited, and the effect of expanding and shaping the pipe fitting is improved.

Further, the driving assembly comprises a driving motor, a driving wheel and a driving ring; the driving motor is fixed in the middle of the supporting cylinder; the driving wheel and the supporting cylinder are coaxially arranged and rotatably arranged on the supporting cylinder; the driving wheel is fixedly connected with the output shaft of the driving motor; one end of the driving wheel, which is close to the pipe fitting complex cone, is coaxially fixed with a driving rod; the pipe fitting complex cone is arranged on the driving rod in a way of being capable of moving back and forth through a spline;

the driving ring is sleeved on the outer side of the driving wheel and is fixed at the rear end of the pipe fitting shaping cylinder; an intermediate wheel is arranged between the driving ring and the driving wheel; the middle wheel is rotatably arranged on the supporting cylinder; the intermediate wheel and the driving ring are meshed for transmission; the middle wheel and the driving wheel are meshed for transmission. The driving motor drives the driving wheel to rotate, the driving wheel drives the pipe fitting complex cone to rotate in the same direction through the driving rod, and meanwhile, the driving wheel drives the driving ring to drive the pipe fitting complex cylinder to rotate reversely through the middle wheel, so that the pipe fitting complex plate rotates along with the pipe fitting complex cylinder, and the rotation directions of the pipe fitting complex plate and the pipe fitting complex cone are opposite.

Further, the thread transmission assembly comprises an outer cylinder and an inner cylinder; the outer cylinder is coaxially arranged in the stabilizing cylinder; the outer cylinder is fixed at the rear end of the pipe fitting shaping cylinder through a connecting cylinder; the inner cylinder is coaxially arranged in the outer cylinder, and the front end of the inner cylinder is fixed at the rear end of the complex cone of the pipe fitting; the inner cylinder and the outer cylinder are in threaded transmission. The pipe fitting complex cone drives the inner cylinder to rotate, and the pipe fitting complex cylinder drives the outer cylinder to reversely rotate, so that the pipe fitting complex cone is driven to rotate and advance.

Further, a pulley is rotatably arranged on the arc end face of the pipe fitting complex plate. The friction force between the complex plate of the pipe fitting and the inner wall of the pipe fitting is reduced.

Further, the connecting cylinder is arranged between the outer cylinder and the stabilizing cylinder; the connecting cylinder is in sliding fit with the stabilizing cylinder. The support function is achieved when the pipe fitting complex plate slides to the stable cylinder.

Further, the travelling device comprises a plurality of travelling components uniformly distributed along the circumference of the supporting cylinder; the advancing assembly comprises a lifting structure and a mounting plate; the mounting plate extends along the axial direction of the supporting cylinder; the mounting plate is arranged on the outer side of the supporting cylinder in a radial moving way along the supporting cylinder; the mounting plate is rotatably provided with a travelling wheel and a driven wheel; one side of the travelling wheel is provided with a travelling motor; the advancing motor is fixed on the mounting plate; the output shaft of the travelling motor and the rotating shaft of the travelling wheel are driven by a belt pulley; the lifting structure is used for driving the mounting plate to move along the radial direction of the supporting cylinder.

Further, the lifting structure comprises two lifting rods which are arranged in a crossing way; the two lifting rods are in running fit at the middle point; the lifting rod is arranged front and back; the front end of one lifting rod is rotatably arranged on the supporting cylinder, and the rear end of the lifting rod is rotatably arranged on the sliding block; the sliding block is slidably arranged on the mounting plate; the front end of the other lifting rod is rotatably arranged at the front end of the mounting plate, and the rear end of the other lifting rod is rotatably provided with a sliding rod; the sliding rod is radially arranged along the supporting cylinder, one end of the sliding rod is slidably arranged on the side wall of the supporting cylinder through a sliding groove, and the other end of the sliding rod is fixedly connected with the connecting disc; a lifting hydraulic cylinder is arranged between the connecting disc and the supporting cylinder; the lifting hydraulic cylinder is fixed on the supporting cylinder, and the piston rod is arranged along the axis of the supporting cylinder; the movable end of the piston rod is fixedly connected with the connecting disc.

The beneficial effects of the utility model are as follows: when the deformed pipe fitting needs to be deformed, the driving assembly drives the pipe fitting shaping barrel and the pipe fitting shaping cone to synchronously rotate, and the rotation directions of the pipe fitting shaping barrel and the pipe fitting shaping cone are opposite, so that the pipe fitting shaping cone rotates and advances under the action of the thread transmission assembly, the pipe fitting shaping plate is driven to spirally extend out of the pipe fitting shaping barrel in a vortex shape relative to the pipe fitting shaping cone so as to gradually approach the pipe fitting, the pipe fitting shaping plate far away from the pipe fitting concave deformation position slides into the stabilizing groove from the shaping groove at first, the pipe fitting shaping plate far away from the pipe fitting shaping cone is pressed against the inner wall of the pipe fitting which is not concavely deformed at first, so that uniform stress support is provided for the pipe fitting shaping device, more pipe fitting shaping plates slide into the stabilizing groove along with the pipe fitting shaping cone, and stable and uniform supporting force is provided for the pipe fitting shaping plate at the pipe fitting concave deformation position to spirally extend upwards and push the concave deformation position; the pipe fitting compound plate close to the concave deformation position of the pipe fitting slides along the compound groove, extends out of the pipe fitting compound cylinder and abuts against the concave deformation inner wall of the pipe fitting, the pipe fitting compound plate provides gradually increased pushing force for the concave deformation pipe fitting inner wall under the thread transmission of the thread transmission component, after the concave deformation position is expanded and deformed, the pipe fitting compound plate close to the concave deformation position of the pipe fitting slides into the stable groove from the compound groove, so that the concave deformation position of the pipe fitting is smoothly transited after being expanded and the non-concave deformation position is smoothly transited, and the expansion and deformation effect of the pipe fitting is improved.

Drawings

In order to more clearly illustrate the embodiments of the utility model or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are only some embodiments of the utility model, and that other drawings can be obtained according to these drawings without inventive faculty for a person skilled in the art.

FIG. 1 is a schematic view of a cable pre-buried pipeline expansion robot according to an embodiment of the present utility model;

FIG. 2 is a rear view of an embodiment of the present utility model;

FIG. 3 is a cross-sectional view at A-A in FIG. 2;

FIG. 4 is a schematic view of a complex cone, a stabilizing cylinder, and an inner cylinder of a pipe fitting according to an embodiment of the present utility model;

FIG. 5 is a front view of a complex cone, a stabilizing barrel, an inner barrel of a tube in accordance with an embodiment of the present utility model;

FIG. 6 is a schematic diagram of a drive assembly according to an embodiment of the present utility model;

FIG. 7 is a cross-sectional view of a drive assembly of an embodiment of the present utility model;

FIG. 8 is a schematic view of a tube fitting shaping cylinder, outer cylinder, connecting cylinder according to an embodiment of the present utility model;

FIG. 9 is a cross-sectional view of a tube forming barrel, outer barrel, connecting barrel of an embodiment of the present utility model;

FIG. 10 is a schematic view of a tubular shaping mandrel, tubular shaping plate, according to an embodiment of the present utility model;

FIG. 11 is an elevation view of a tubular shaping mandrel, tubular shaping plate of an embodiment of the present utility model;

fig. 12 is a cross-sectional view at B-B in fig. 11.

In the figure: 100. a support cylinder; 200. a pipe fitting shaping device; 210. a pipe fitting shaping cylinder; 220. a pipe fitting complex cone; 221. a complex groove; 230. a stabilizing cylinder; 231. a stabilizing groove; 240. a tube complex plate; 241. a pulley; 250. a drive assembly; 251. a driving motor; 252. a driving wheel; 253. a driving rod; 254. a drive ring; 261. an outer cylinder; 262. an inner cylinder; 263. a connecting cylinder; 300. a traveling device; 310. a lifting structure; 311. a lifting rod; 312. a slide bar; 313. a lifting hydraulic cylinder; 320. a mounting plate; 330. a travelling wheel; 340. driven wheel; 350. a travel motor.

Detailed Description

Reference will now be made in detail to the present embodiments of the present utility model, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the like or similar elements throughout or elements having the same or similar functions. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

The features of the utility model "first", "second" and the like in the description and in the claims may be used for the explicit or implicit inclusion of one or more such features. In the description of the present utility model, unless otherwise indicated, the meaning of "a plurality" is two or more.

In the description of the present utility model, it should be understood that the terms "center", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present utility model and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model.

In the description of the present utility model, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art.

An embodiment of a cable pre-buried pipeline expanding robot of the present utility model is shown in fig. 1 to 12: a cable pre-buried pipeline expansion robot comprises a support cylinder 100. The support cylinder 100 is disposed axially back and forth. The outer sidewall of the support cylinder 100 is provided with a traveling device 300. The front end of the support cylinder 100 is provided with a pipe fitting shaping device 200. The tubular shaping apparatus 200 includes a tubular shaping mandrel 210, a tubular shaping cone 220, a plurality of expansion assemblies, and a drive assembly 250. The tube shaping cylinder 210 is coaxially disposed in front of the support cylinder 100. The pipe fitting shaping cylinder 210 is rotatably installed at the front end of the support cylinder 100.

The pipe fitting shaping cone 220 is tapered with a small end facing forward, and is coaxially disposed within the pipe fitting shaping cylinder 210. The pipe fitting shaping cone 220 and the pipe fitting shaping cylinder 210 are connected through a threaded transmission assembly. The screw drive assembly includes an outer barrel 261, an inner barrel 262. The outer cylinder 261 is coaxially disposed within the stability cylinder 230. The outer cylinder 261 is fixed to the rear end of the tube complex cylinder 210 by a connecting cylinder 263. The inner cylinder 262 is coaxially arranged in the outer cylinder 261, and the front end is fixed at the rear end of the pipe fitting complex cone 220. A screw drive is provided between the inner cylinder 262 and the outer cylinder 261. The pipe fitting complex cone 220 drives the inner cylinder 262 to rotate, and the pipe fitting complex cylinder 210 drives the outer cylinder 261 to reversely rotate, so that the pipe fitting complex cone 220 is driven to rotate and advance.

A plurality of complex grooves 221 with the same spiral direction are uniformly distributed on the conical surface of the pipe complex cone 220 along the circumferential direction of the pipe complex cone 220. The rear end of the tube complex cone 220 is coaxially fixed with a stabilizing cylinder 230. A plurality of stabilizing grooves 231 with the same spiral direction as the compound grooves 221 are uniformly distributed on the outer side wall of the stabilizing cylinder 230 along the circumferential direction of the stabilizing cylinder 230. The stabilizing grooves 231 are in one-to-one correspondence with the complex grooves 221. The stabilizing slots 231 communicate with the corresponding complex slots 221.

A plurality of expansion elements are disposed back and forth along the tapered surface of the tubular complex taper 220. The expansion assembly includes a plurality of tubular compound plates 240 circumferentially distributed about the tubular compound barrel 210. The pipe fitting complex plate 240 corresponds to the complex groove 221 one by one. The tube complex plate 240 is slidably mounted on the tube complex barrel 210 radially along the tube complex barrel 210. Pulley 241 is rotatably installed on the circular arc end surface of the tube complex plate 240 to reduce friction force between the tube complex plate 240 and the inner wall of the tube. The end of the pipe fitting complex plate 240, which is close to the pipe fitting complex cone 220, is in sliding fit with the corresponding complex groove 221, and the end, which is far away from the pipe fitting complex cone 220, is in an arc shape. The connection line of the ends of the pipe fitting complex plates 240 of the plurality of expansion assemblies far away from the pipe fitting complex cone 220 encloses a cone surface with the small end arranged forward. In other embodiments, the tube shaping cartridge 210 includes a rotating cartridge portion and a removable cartridge portion; the rotary cylinder part is rotatably arranged at the front end of the supporting cylinder 100, and the disassembly cylinder part is coaxially arranged in front of the rotary cylinder part; the rotary cylinder part and the disassembly cylinder part are detachably and fixedly connected through threads; the tube complex plate 240 is slidably mounted on the disassembly barrel portion of the tube complex barrel 210 to facilitate changing the appropriate tube complex plate 240 size according to different tube diameter sizes.

Drive assembly 250 includes a drive motor 251, a drive wheel 252, and a drive ring 254. The driving motor 251 is fixed to the middle of the support cylinder 100. The drive wheel 252 is coaxially disposed with the support cylinder 100 and is rotatably mounted on the support cylinder 100. The driving wheel 252 is fixedly connected with the output shaft of the driving motor 251. A drive rod 253 is coaxially fixed to the end of the drive wheel 252 adjacent to the tube complex cone 220. The tube complex cone 220 is spline-mounted on the driving rod 253 to be movable back and forth.

The driving ring 254 is sleeved outside the driving wheel 252 and fixed at the rear end of the pipe shaping cylinder 210. An intermediate wheel is provided between the drive ring 254 and the drive wheel 252. The intermediate wheel is rotatably mounted on the support cylinder 100. The intermediate wheel and drive ring 254 engage the transmission. The intermediate wheel and the drive wheel 252 are in meshed transmission. The driving motor 251 drives the driving wheel 252 to rotate, the driving wheel 252 drives the pipe fitting complex cone 220 to rotate in the same direction through the driving rod 253, meanwhile, the driving wheel 252 drives the driving ring 254 to drive the pipe fitting complex cylinder 210 to rotate reversely through the middle wheel, so that the pipe fitting complex plate 240 rotates along with the pipe fitting complex cylinder 210, and the rotation directions of the pipe fitting complex plate 240 and the pipe fitting complex cone 220 are opposite, so that the pipe fitting complex cone 220 rotates and advances under the action of the threaded transmission assembly, the pipe fitting complex plate 240 is driven to spirally extend out of the pipe fitting complex cylinder 210 in a vortex shape relative to the pipe fitting complex cone 220, so as to gradually approach the pipe fitting, so that the pipe fitting complex plate 240 far away from the pipe fitting concave deformation is firstly slid into the stable groove 231 from the complex groove 221, so that the pipe fitting complex plate 240 far away from the pipe fitting complex cone 220 is firstly pressed against the pipe fitting inner wall which is not concavely deformed, uniform support is provided for the pipe fitting complex device 200, and as the pipe fitting complex cone 220 moves forwards, more pipe fitting complex plate 240 slides into the stable groove 231, and stable supporting force is provided for the pipe fitting complex plate 240 at the concave deformation to spirally extend upwards and the stable concave deformation. The pipe fitting complex plate 240 near the pipe fitting concave deformation part slides along the complex groove 221, extends out of the pipe fitting complex barrel 210 and abuts against the pipe fitting concave deformation inner wall, the pipe fitting complex plate 240 provides gradually increasing pushing force for the concave deformation pipe fitting inner wall under the thread transmission of the thread transmission component, after the concave deformation part is expanded and deformed, the pipe fitting complex plate 240 near the pipe fitting concave deformation part slides into the stable groove 231 from the complex groove 221, so that the concave deformation part of the pipe fitting is smoothly transited with the non-concave deformation part after being expanded, and the pipe fitting expanding and shaping effect is improved.

In the present embodiment, the connecting cylinder 263 is disposed between the outer cylinder 261 and the stabilizing cylinder 230. The sliding fit between the connecting cylinder 263 and the stabilizing cylinder 230 provides support for the tube complex plate 240 as it slides onto the stabilizing cylinder 230.

In the present embodiment, the traveling device 300 includes a plurality of traveling assemblies uniformly distributed along the circumference of the support cylinder 100. The traveling assembly includes a lifting structure 310, a mounting plate 320. The mounting plate 320 is disposed to extend axially along the support cylinder 100. The mounting plate 320 is provided outside the support cylinder 100 so as to move radially along the support cylinder 100. The mounting plate 320 is rotatably mounted with a traveling wheel 330 and a driven wheel 340. A travel motor 350 is provided at one side of the travel wheel 330. The travel motor 350 is fixed to the mounting plate 320. The output shaft of the traveling motor 350 and the rotating shaft of the traveling wheel 330 are driven by a belt pulley. The lifting structure 310 is used to drive the mounting plate 320 to move radially along the support cylinder 100. The lifting structure 310 includes two lifting bars 311 disposed crosswise. The two lifting bars 311 are in a running fit at the midpoint. The lifting rod 311 is disposed back and forth. One of the lifting rods 311 is rotatably mounted at a front end thereof to the support cylinder 100 and at a rear end thereof to the slider. The slider is slidably mounted on the mounting plate 320. The front end of the other lifting rod 311 is rotatably mounted at the front end of the mounting plate 320, and the rear end is rotatably mounted with a sliding rod 312. The slide bar 312 is radially arranged along the support cylinder 100, one end of the slide bar is slidably mounted on the side wall of the support cylinder 100 through a slide groove, and the other end of the slide bar is fixedly connected with a connecting disc. A lifting hydraulic cylinder 313 is provided between the connection plate and the support cylinder 100. The lifting hydraulic cylinder 313 is fixed to the support cylinder 100, and a piston rod is disposed along the axis of the support cylinder 100. The movable end of the piston rod is fixedly connected with the connecting disc. After the device is placed in the pipe fitting, the lifting hydraulic cylinder 313 is started to drive the connecting disc to drive the sliding rod 312 to move so as to drive the two ends of the lifting rod 311 to be away from each other, and the mounting plate 320 drives the travelling wheel 330 and the driven wheel 340 to move towards the inner wall of the pipe fitting and abut against the travelling wheel 330 and the driven wheel 340. The travel motor 350 drives the travel wheel 330 to rotate to drive the present apparatus to move within the tubular.

In combination with the above embodiment, the use principle and working process of the present utility model are as follows: after the device is placed at a position needing to be reshaped in a pipe fitting, the lifting hydraulic cylinder 313 is started, the connecting disc is driven to drive the sliding rod 312 to move, so that the two ends of the lifting rod 311 are driven to be away from each other, and the mounting plate 320 drives the travelling wheel 330 and the driven wheel 340 to move towards the inner wall of the pipe fitting and abut against the travelling wheel 330 and the driven wheel 340. The travel motor 350 drives the travel wheel 330 to rotate to drive the present apparatus to move within the tubular. When the pipe fitting complex plate 240 at the front end of the device moves to the pipe fitting concave deformation position, the driving motor 251 is started, the driving motor 251 drives the driving wheel 252 to rotate, the driving wheel 252 drives the pipe fitting complex plate 220 to rotate in the same direction through the driving rod 253, meanwhile, the driving wheel 252 drives the driving ring 254 to drive the pipe fitting complex cylinder 210 to rotate reversely through the middle wheel, so that the pipe fitting complex plate 240 rotates along with the pipe fitting complex cylinder 210, and the pipe fitting complex plate 240 and the pipe fitting complex cone 220 rotate in opposite directions, and as the pipe fitting complex plate 220 drives the inner cylinder 262 to rotate, the pipe fitting complex cylinder 210 drives the outer cylinder 261 to rotate reversely, so that the pipe fitting complex cone 220 is driven to rotate forward, the pipe fitting complex plate 240 is driven to extend out of the pipe fitting complex cylinder 210 in a vortex-shaped spiral manner relative to the pipe fitting complex cone 220, so as to gradually approach the pipe fitting, and the pipe fitting complex plate 240 far from the pipe fitting complex cone 220 slides into the stable groove 231 from the complex groove 221, so that the pipe fitting complex plate 240 far from the pipe fitting complex cone 220 is firstly pressed against the inner wall of the non-concave deformation so as to provide uniform bearing for the pipe fitting complex plate 200, and the pipe fitting complex plate 240 is stably slides forward along with the movement of the complex cone 220 to the stable groove to be deformed more and stably in the concave deformation position; the pipe fitting complex plate 240 near the pipe fitting concave deformation part slides along the complex groove 221, extends out of the pipe fitting complex barrel 210 and abuts against the pipe fitting concave deformation inner wall, the pipe fitting complex plate 240 provides gradually increasing pushing force for the concave deformation pipe fitting inner wall under the thread transmission of the thread transmission component, after the concave deformation part is expanded and deformed, the pipe fitting complex plate 240 near the pipe fitting concave deformation part slides into the stable groove 231 from the complex groove 221, so that the concave deformation part of the pipe fitting is smoothly transited with the non-concave deformation part after being expanded, and the pipe fitting expanding and shaping effect is improved.

The foregoing description of the preferred embodiments of the utility model is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the utility model.

Claims

1. The utility model provides a pre-buried pipeline expansion robot of cable which characterized in that: comprises a support cylinder (100); the axial line of the supporting cylinder (100) is arranged back and forth; the outer side wall of the supporting cylinder (100) is provided with a travelling device (300); the front end of the supporting cylinder (100) is provided with a pipe fitting shaping device (200); the pipe fitting shaping device (200) comprises a pipe fitting shaping cylinder (210), a pipe fitting shaping cone (220), a plurality of expansion assemblies and a driving assembly (250);

the pipe fitting shaping cylinder (210) is coaxially arranged in front of the supporting cylinder (100); the pipe fitting shaping cylinder (210) is rotatably arranged at the front end of the supporting cylinder (100);

the pipe fitting shaping cone (220) is cone-shaped with a small end facing forward and is coaxially arranged in the pipe fitting shaping cylinder (210); the pipe fitting shaping cone (220) is connected with the pipe fitting shaping cylinder (210) through a thread transmission assembly; a plurality of complex grooves (221) with the same spiral direction are uniformly distributed on the conical surface of the pipe fitting complex cone (220) along the circumferential direction of the pipe fitting complex cone (220); the rear end of the pipe fitting complex cone (220) is coaxially fixed with a stabilizing cylinder (230); a plurality of stabilizing grooves (231) with the same spiral direction as the complex groove (221) are uniformly distributed on the outer side wall of the stabilizing cylinder (230) along the circumferential direction of the stabilizing cylinder (230); the stabilizing grooves (231) are in one-to-one correspondence with the complex grooves (221); the stabilizing groove (231) is communicated with the corresponding complex groove (221);

the expansion assemblies are distributed back and forth along the conical surface of the pipe fitting complex cone (220); the expansion assembly comprises a plurality of pipe fitting complex plates (240) which are uniformly distributed along the circumferential direction of the pipe fitting complex cylinder (210); the pipe fitting complex plates (240) are in one-to-one correspondence with the complex grooves (221); the pipe fitting complex plate (240) is arranged on the pipe fitting complex cylinder (210) in a radial sliding way along the pipe fitting complex cylinder (210); one end of the pipe fitting complex plate (240) close to the pipe fitting complex cone (220) is in sliding fit with the corresponding complex groove (221), and one end far away from the pipe fitting complex cone (220) is in an arc shape; the connecting line of one end of the pipe fitting complex plate (240) of the plurality of expansion components, which is far away from the pipe fitting complex cone (220), encloses a conical surface with a small end arranged forward;

the driving assembly (250) is used for driving the pipe fitting shaping cylinder (210) and the pipe fitting shaping cone (220) to synchronously rotate, and the rotation directions of the pipe fitting shaping cylinder (210) and the pipe fitting shaping cone (220) are opposite.

2. The cable pre-buried pipeline expansion robot according to claim 1, wherein: the driving assembly (250) comprises a driving motor (251), a driving wheel (252) and a driving ring (254); the driving motor (251) is fixed in the middle of the supporting cylinder (100); the driving wheel (252) and the supporting cylinder (100) are coaxially arranged and rotatably arranged on the supporting cylinder (100); the driving wheel (252) is fixedly connected with the output shaft of the driving motor (251); one end of the driving wheel (252) close to the pipe fitting complex cone (220) is coaxially fixed with a driving rod (253); the pipe fitting complex cone (220) is movably arranged on the driving rod (253) back and forth through a spline;

the driving ring (254) is sleeved outside the driving wheel (252) and is fixed at the rear end of the pipe fitting shaping cylinder (210); an intermediate wheel is arranged between the driving ring (254) and the driving wheel (252); the middle wheel is rotatably arranged on the supporting cylinder (100); the intermediate wheel and the driving ring (254) are meshed for transmission; the intermediate wheel and the driving wheel (252) are engaged for transmission.

3. The cable pre-buried pipeline expansion robot according to claim 2, wherein: the screw thread transmission assembly comprises an outer cylinder (261) and an inner cylinder (262); the outer cylinder (261) is coaxially arranged in the stabilizing cylinder (230); the outer cylinder (261) is fixed at the rear end of the pipe fitting shaping cylinder (210) through a connecting cylinder (263); the inner cylinder (262) is coaxially arranged in the outer cylinder (261), and the front end of the inner cylinder is fixed at the rear end of the pipe fitting complex cone (220); the inner cylinder (262) and the outer cylinder (261) are in threaded transmission.

4. A cable pre-buried pipeline expansion robot according to claim 3, characterized in that: a pulley (241) is rotatably arranged on the arc end surface of the pipe fitting complex plate (240).

5. A cable pre-buried pipeline expansion robot according to claim 3, characterized in that: the connecting cylinder (263) is arranged between the outer cylinder (261) and the stabilizing cylinder (230); the connecting cylinder (263) and the stabilizing cylinder (230) are in sliding fit.

6. A cable pre-buried pipeline expansion robot according to any of claims 1-5, characterized in that: the travelling device (300) comprises a plurality of travelling components which are uniformly distributed along the circumferential direction of the supporting cylinder (100); the travelling assembly comprises a lifting structure (310) and a mounting plate (320); the mounting plate (320) extends along the axial direction of the support cylinder (100); the mounting plate (320) is arranged outside the support cylinder (100) in a radial moving manner along the support cylinder (100); the mounting plate (320) is rotatably provided with a travelling wheel (330) and a driven wheel (340); a travelling motor (350) is arranged at one side of the travelling wheel (330); the travelling motor (350) is fixed on the mounting plate (320); the output shaft of the travelling motor (350) and the rotating shaft of the travelling wheel (330) are driven by a belt pulley; the lifting structure (310) is used for driving the mounting plate (320) to move along the radial direction of the support cylinder (100).

7. The cable pre-buried pipeline expansion robot according to claim 6, wherein: the lifting structure (310) comprises two lifting rods (311) which are arranged in a crossing way; the two lifting rods (311) are in running fit at the middle point; the lifting rod (311) is arranged front and back; the front end of one lifting rod (311) is rotatably arranged on the supporting cylinder (100), and the rear end is rotatably arranged on the sliding block; the sliding block is slidably arranged on the mounting plate (320); the front end of the other lifting rod (311) is rotatably arranged at the front end of the mounting plate (320), and the rear end is rotatably provided with a sliding rod (312); the sliding rod (312) is radially arranged along the supporting cylinder (100), one end of the sliding rod is slidably arranged on the side wall of the supporting cylinder (100) through a sliding groove, and the other end of the sliding rod is fixedly connected with a connecting disc; a lifting hydraulic cylinder (313) is arranged between the connecting disc and the supporting cylinder (100); the lifting hydraulic cylinder (313) is fixed on the supporting cylinder (100), and the piston rod is arranged along the axis of the supporting cylinder (100); the movable end of the piston rod is fixedly connected with the connecting disc.