CN114688385B - Non-excavation drainage pipeline pretreatment robot - Google Patents
Non-excavation drainage pipeline pretreatment robot Download PDFInfo
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- CN114688385B CN114688385B CN202210182714.3A CN202210182714A CN114688385B CN 114688385 B CN114688385 B CN 114688385B CN 202210182714 A CN202210182714 A CN 202210182714A CN 114688385 B CN114688385 B CN 114688385B
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- reaming
- traction column
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- steel wire
- cylinder
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- 238000009412 basement excavation Methods 0.000 title claims abstract description 11
- 230000007246 mechanism Effects 0.000 claims abstract description 40
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 39
- 239000010959 steel Substances 0.000 claims abstract description 39
- 238000004804 winding Methods 0.000 claims abstract description 6
- 230000005540 biological transmission Effects 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract description 7
- 238000010276 construction Methods 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 12
- 230000008439 repair process Effects 0.000 description 12
- 230000008569 process Effects 0.000 description 8
- 230000009471 action Effects 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000000149 penetrating effect Effects 0.000 description 2
- 239000004033 plastic Substances 0.000 description 2
- 238000007493 shaping process Methods 0.000 description 2
- 235000017166 Bambusa arundinacea Nutrition 0.000 description 1
- 235000017491 Bambusa tulda Nutrition 0.000 description 1
- 241001330002 Bambuseae Species 0.000 description 1
- 235000015334 Phyllostachys viridis Nutrition 0.000 description 1
- 229910000639 Spring steel Inorganic materials 0.000 description 1
- 239000011425 bamboo Substances 0.000 description 1
- 238000001723 curing Methods 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000009757 thermoplastic moulding Methods 0.000 description 1
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/18—Appliances for use in repairing pipes
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/40—Constructional aspects of the body
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/10—Treating the inside of pipes
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Sewage (AREA)
- Investigation Of Foundation Soil And Reinforcement Of Foundation Soil By Compacting Or Drainage (AREA)
Abstract
The application discloses a non-excavation drainage pipeline pretreatment robot which comprises a running gear, a reaming device arranged at the front end of the running gear and a supporting device arranged at the tail end of the running gear, wherein the reaming device comprises a reaming barrel and a first driving component for driving the reaming barrel to rotate, and the outer diameter of the reaming barrel is matched with the inner diameter of a drainage pipe to be repaired; the supporting device comprises a traction column, a steel wire is spirally wound on the traction column along the length direction, the diameter of a spiral ring formed by the spiral steel wire is larger than the inner diameter of the drainage pipe, and a limiting mechanism for limiting the expansion of the steel wire is arranged on the traction column. According to the application, the concave drain pipe is swung into a circle through the reaming barrel, the steel wire is released, and the spiral ring formed by winding the steel wire is outwards expanded, so that the drain pipe is supported, the drain pipe is repaired later, the repairing effect of the drain pipe is improved, and the construction period of the drain pipe is shortened.
Description
Technical Field
The application relates to the technical field of pipeline repair, in particular to a non-excavation drainage pipeline pretreatment robot.
Background
After the underground drain pipe made of steel-plastic materials is used for a long time, the top of the local pipe joint is sunken due to deformation caused by the action of the road surface soil pressure, so that the drain is affected, and the pipe repair is needed regularly. In order to shorten the repair period and not to influence traffic, a non-excavation pipeline repair method is mostly adopted to repair the pipeline, and the existing non-excavation pipeline repair method comprises a thermoplastic molding method and an ultraviolet light curing method, however, no pre-reaming treatment is carried out on the drain pipe by adopting any method, so that the repair period is long and the repair effect is poor. Therefore, improvements are needed.
Disclosure of Invention
In order to shorten the repairing period of the drain pipe and improve the repairing effect, the application provides a non-excavation drain pipe pretreatment robot.
The application provides a non-excavation drainage pipeline pretreatment robot which adopts the following technical scheme:
The non-excavation drainage pipeline pretreatment robot comprises a traveling device, a reaming device arranged at the front end of the traveling device and a supporting device arranged at the tail end of the traveling device, wherein the reaming device comprises a reaming barrel and a first driving component for driving the reaming barrel to rotate, and the outer diameter of the reaming barrel is matched with the inner diameter of a drainage pipe to be repaired; the supporting device comprises a traction column, steel wires are spirally wound on the traction column along the length direction, the diameter of a spiral ring formed by the steel wires in a spiral mode is larger than the inner diameter of the drainage pipe, and a limiting mechanism for limiting the expansion of the steel wires is arranged on the traction column.
By adopting the technical scheme, when repairing pre-reaming treatment is carried out on the steel-plastic drain pipe, the pretreatment robot is firstly placed in the drain pipe to be repaired. When the pretreatment robot moves to the area to be repaired, the first driving component drives the reaming barrel to rotate, the traveling device continues to advance, when the reaming barrel swings the concave drain pipe, the traveling device drives the reaming device and the supporting device to advance, when the supporting device moves to the area with the swing, the limiting mechanism is gradually unlocked to release the steel wire, the steel wire is outwards expanded until the inner pipe wall of the drain pipe is abutted against after losing the limitation of the limiting mechanism, thus the primarily supporting is carried out on the drain pipe with the swing, the drain pipe with the swing is prevented from being recessed again under the action of heavy pressure, so that the drain pipe is repaired later, the repairing effect of the drain pipe is remarkably improved, and the repairing period is shortened.
Preferably, the traveling device comprises three groups of traveling mechanisms which are sequentially connected, each traveling mechanism comprises a traveling cylinder and a plurality of pipe pieces surrounding the periphery of each traveling cylinder, a first connecting rod is hinged between each pipe piece and a piston rod of each traveling cylinder, a second connecting rod is hinged between each pipe piece and a cylinder body of each traveling cylinder, and piston rods located on two adjacent traveling cylinders are hinged with the cylinder bodies.
By adopting the technical scheme, after the pretreatment robot is placed in the drain pipe, the pipe piece on the travelling mechanism close to the supporting device is adjusted to an expanded state, the pipe piece on the travelling mechanism in the middle is adjusted to an expanded state, and the pipe piece on the travelling mechanism close to the reaming device is kept in a furled state. When the traveling device automatically works, a piston rod of a traveling cylinder close to the reaming device contracts to drive the pipe piece to open until the pipe piece abuts against the inner pipe wall of the drain pipe, and the piston rod of the traveling cylinder located in the middle synchronously stretches out to enable the pipe piece to be folded, and a traveling mechanism close to the supporting device is used as a back-supporting structure during the process. Then, the piston rod of the walking cylinder positioned in the middle part contracts to drive the pipe piece to expand, and the piston rod of the walking cylinder close to the supporting device synchronously stretches out to drive the pipe piece to fold, and during the period, the walking mechanism close to the reaming device is used as a back-supporting structure. Then, the piston rod of the traveling cylinder close to the reaming device is extended to gather the pipe piece and the piston rod of the traveling cylinder close to the supporting device is contracted to expand the pipe piece, and the traveling mechanism positioned in the middle serves as a back supporting structure during the expansion of the pipe piece. Finally, the piston rod of the traveling cylinder close to the reaming device is contracted to expand the duct piece, and the piston rod of the traveling cylinder positioned in the middle extends to retract the duct piece, and during the period, the traveling mechanism close to the supporting device serves as a back supporting structure. Therefore, the walking device completes one period of action, and the steps are repeated, so that the pretreatment robot can stably creep in the drainage pipeline, and compared with the mode that the trolley drives the reaming device and the supporting device to move in the drainage pipeline, the reaming device and the supporting device are beneficial to improving the stability of the reaming barrel in the reaming process.
Preferably, the limiting mechanism comprises a plurality of limiting rods which surround the periphery of the traction column with the axis of the traction column as the center and a second driving assembly which drives the limiting rods to synchronously move along the axis direction of the traction column, the limiting rods extend along the length direction of the traction column, and the limiting rods tightly support the spring steel wires on the traction column.
Through adopting above-mentioned technical scheme, after strutting arrangement removed the drain pipe department that has been reamed the pipe and is beaten the circle, the second drive assembly drives a plurality of gag levers and moves along the axis direction synchronous of traction column to progressively release the steel wire, thereby the outward expansion of steel wire that is released props up the drain pipe, so that follow-up repair drain pipe.
Preferably, the periphery of the traction column is recessed with a positioning groove for winding the steel wire, and the positioning groove spirally extends along the length direction of the traction column.
Through adopting above-mentioned technical scheme, conveniently twine the steel wire in the constant head tank, and make the pitch of the bolt ring behind the steel wire spiral shaping unanimous to improve the supporting stability to the drain pipe.
Preferably, a plurality of through holes for the limiting rods to pass through are formed in the two ends of the traction column in a penetrating manner, the through holes are communicated with the positioning grooves, the limiting rods are movably inserted into the through holes, and gaps for the steel wires to be placed in are reserved between the limiting rods and the bottoms of the positioning grooves.
By adopting the technical scheme, the limiting rod is more stable in the moving process.
Preferably, two second connecting rods are hinged between each duct piece and the cylinder body of the travelling mechanism, and the two second connecting rods are arranged in parallel.
By adopting the technical scheme, the duct piece can not deflect in the expanding or folding process, so that the support stability of the traveling mechanism serving as a back-supporting structure and the stability of the traveling device in the traveling process are improved.
Preferably, the first driving assembly comprises a mounting seat and a motor arranged on the mounting seat, an output shaft of the motor is in transmission connection with the reaming barrel, and the mounting seat is fixedly connected with a piston rod of a walking cylinder far away from the supporting device.
Through adopting above-mentioned technical scheme, the motor operation drives the reaming section of thick bamboo rotation to carry out reaming work.
Preferably, one end of the reaming barrel far away from the mounting seat is in a conical furling arrangement.
By adopting the technical scheme, the drilling efficiency of the reaming barrel is improved, and the possibility that the reaming barrel damages a drain pipe is reduced.
Preferably, the second driving assembly comprises a driving cylinder arranged at one end of the traction column far away from the travelling mechanism, a piston rod of the driving cylinder is fixedly connected with a fixing frame, and a plurality of limiting rods are arranged on the fixing frame.
By adopting the technical scheme, the cylinder is driven to operate so as to drive the plurality of limiting rods to synchronously move, so that the steel wire is gradually released. And the second driving component is arranged on one side of the traction column far away from the travelling mechanism, so that the travelling mechanism is not hindered from operating.
In summary, the present application includes at least one of the following beneficial technical effects:
according to the application, the reaming device and the supporting device are driven by the running device to move in the drainage pipeline, the reaming device swings the concave drainage pipe round, then the steel wire is released, and the spiral ring formed by winding the steel wire outwards expands to support the drainage pipe, so that the drainage pipe is repaired later, the repairing effect of the drainage pipe is obviously improved, and the construction period of the drainage pipe is shortened;
By adopting three groups of travelling mechanisms to form the travelling device, the pretreatment robot can creep in the pipeline, so that the pretreatment robot is more stable in the moving process, and the reaming device and the supporting device are more stable in working;
Through being provided with the constant head tank on the traction column, conveniently wind the steel wire to the pitch of the spiral ring after making the steel wire shaping is unanimous, thereby makes the steel wire provide stable support to the drain pipe.
Drawings
FIG. 1 is a schematic view of the overall structure of the present application;
FIG. 2 is a schematic view of the structure of the present application after releasing the steel wire;
fig. 3 is an enlarged schematic view of a of fig. 2 in the present application.
Reference numerals illustrate:
1. a walking mechanism; 11. a walking cylinder; 12. a segment; 13. a first link; 14. a second link; 2. a reaming device; 21. reaming barrels; 22. a first drive assembly; 221. a mounting base; 2211. a bottom plate; 2212. a connecting rod; 222. a motor; 223. a cross; 3. a support device; 31. a traction column; 32. a steel wire; 33. a positioning groove; 34. a restriction mechanism; 341. a limit rod; 342. a second drive assembly; 3421. a driving cylinder; 3422. a fixing frame; 35. and a through hole.
Detailed Description
The application is described in further detail below with reference to fig. 1-3.
The embodiment of the application discloses a non-excavation drainage pipeline pretreatment robot. Referring to fig. 1, the device comprises a running gear, a reaming device 2 arranged at the front end of the running gear, and a supporting device 3 arranged at the tail end of the running gear.
Referring to fig. 1, the traveling device includes three groups of traveling mechanisms 1 sequentially connected, where the traveling mechanisms 1 include a traveling cylinder 11 and a plurality of segments 12, in the embodiment of the present application, the segments 12 are provided with three segments, and the three segments 12 are circumferentially distributed around the traveling cylinder 11 with the axis of the traveling cylinder 11 as the center. A first connecting rod 13 is hinged between each segment 12 and a piston rod of the traveling cylinder 11, two second connecting rods 14 are hinged between each segment 12 and a cylinder body of the traveling cylinder 11, the two second connecting rods 14 are parallel to each other, and axes of the first connecting rods 13 and the second connecting rods 14 which are positioned in the same group are positioned in the same plane. The piston rods positioned on two adjacent traveling cylinders 11 are hinged with the cylinder body.
After the pretreatment robot is placed in the drain pipe, the pipe piece 12 on the travelling mechanism close to the supporting device 3 is adjusted to an expanded state, the pipe piece 12 on the travelling mechanism 1 in the middle is adjusted to an expanded state, and the pipe piece 12 on the travelling mechanism 1 close to the reaming device 2 is kept in a furled state. When the traveling device automatically works, the piston rod of the traveling cylinder 11 close to the reaming device 2 contracts to drive the pipe piece 12 to open until the pipe piece 12 abuts against the inner pipe wall of the drain pipe, and the piston rod of the traveling cylinder 11 positioned in the middle synchronously stretches out to enable the pipe piece 12 to be folded, and the traveling mechanism 1 close to the supporting device 3 serves as a back-supporting structure during the process. Then, the piston rod of the traveling cylinder 11 positioned in the middle is contracted to drive the pipe piece 12 to expand, and the piston rod of the traveling cylinder 11 close to the supporting device 3 is synchronously extended to drive the pipe piece 12 to be folded, and during the period, the traveling mechanism 1 close to the reaming device 2 is used as a back-supporting structure. Next, the piston rod of the traveling cylinder 11 near the reaming device 2 is extended to retract the segment 12 and the piston rod of the traveling cylinder 11 near the supporting device 3 is contracted to expand the segment 12, during which the traveling mechanism 1 located in the middle acts as a back-up structure. Finally, the piston rod of the traveling cylinder 11 near the reaming device 2 is contracted to expand the segment 12 and the piston rod of the traveling cylinder 11 located in the middle is extended to retract the segment 12, during which the traveling mechanism 1 near the supporting device 3 serves as a back-up structure. Thus, the running gear completes a cycle of action, and the steps are repeated, so that the pretreatment robot can stably creep in the drainage pipeline, and the stability of the reaming device 2 in the reaming process can be improved.
Referring to fig. 1, the reaming device 2 includes a reaming cylinder 21 and a first driving assembly 22 for driving the reaming cylinder 21 to rotate. The first driving assembly 22 comprises a mounting seat 221 and a motor 222 arranged on the mounting seat 221, the mounting seat 221 comprises a bottom plate 2211 and two connecting rods 2212 fixed on one side of the bottom plate 2211, the bottom plate 2211 is in a disc-shaped arrangement, the two connecting rods 2212 are circumferentially distributed by taking the axis of the bottom plate 2211 as the center, the connecting rods 2212 are in an L-shaped arrangement, and one end, far away from the bottom plate 2211, of the connecting rods 2212 is fixedly connected with a piston rod of a traveling cylinder 11 far away from the supporting device 3. The motor 222 is installed at a side of the base plate 2211 provided with the connection rod 2212, and an output shaft of the motor 222 is disposed coaxially with the base plate 2211 passing through the base plate 2211. The reaming barrel 21 is arranged on one side of the bottom plate 2211 far away from the connecting rod 2212, the output shaft of the motor 222 is fixedly connected with a cross 223, and the cross 223 is arranged in the reaming barrel 21 and fixedly connected with the reaming barrel 21. When the preconditioner robot travels to the drain recess, the motor 222 operates to drive the reamer spindle 21 to rotate, thereby performing the reaming operation.
The outer diameter of the end of the reaming barrel 21 close to the bottom plate 2211 is matched with the inner diameter of the drain pipe, and the end of the reaming barrel 21 far away from the bottom plate 2211 is tapered, so that the pretreatment robot can travel in the drain pipe, and the possibility that the drain pipe is damaged by the reaming barrel 21 is reduced.
Referring to fig. 2, the supporting device 3 includes a traction column 31 and a wire 32 wound around the traction column 31 and around the traction column 31. The diameter of the traction column 31 is smaller than the inner diameter of the drain pipe, and in the embodiment of the application, the diameter of the traction column 31 is 2-3 cm smaller than the inner diameter of the drain pipe. The periphery of the traction column 31 is recessed with a positioning groove 33 for winding the steel wire 32, the positioning groove 33 spirally extends along the length direction of the traction column 31, the distance between two adjacent groove marks of the positioning groove 33 is 1-2 cm, the steel wire 32 is wound on the traction column 31 along the extending direction of the positioning groove 33, the diameter of a spiral ring formed by the spiral of the steel wire 32 is larger than the inner diameter of a drainage pipe, and a limiting mechanism 34 for limiting the expansion of the steel wire 32 is arranged on the traction column 31. By arranging the positioning groove 33, on one hand, the steel wire 32 is conveniently wound on the traction column 31, and on the other hand, the screw pitch of the spiral ring formed by winding the steel wire 32 is consistent, so that the support stability of the drain pipe which is swung into a circle by the reaming barrel 21 is improved.
Referring to fig. 2 and 3, the limiting mechanism 34 includes a plurality of limiting rods 341 and a second driving assembly 342 driving the plurality of limiting rods 341 to move synchronously along the axial direction of the traction column 31. A plurality of through holes 35 are formed in the two ends of the traction column 31 in a penetrating manner, the through holes 35 are uniformly distributed around the axis of the traction column 31, the through holes 35 are communicated with the positioning groove 33, one through hole 35 corresponds to one limiting rod 341, the limiting rod 341 is connected with the through holes 35 in a sliding manner, and a gap for clamping the steel wire 32 is reserved between the limiting rod 341 and the bottom of the positioning groove 33.
Referring to fig. 2, the second driving assembly 342 includes a driving cylinder 3421 disposed at one end of the traction column 31 far away from the traveling mechanism 1, a cylinder body of the driving cylinder 3421 is mounted at an end of the traction column 31, a piston rod of the driving cylinder 3421 is fixedly connected with a fixing frame 3422, and one ends of the plurality of limiting rods 341 are fixedly connected with the fixing frame 3422.
When the reaming barrel 21 rounds the concave drain pipe, the traveling device drives the reaming device 2 and the supporting device 3 to continue advancing. After the supporting device 3 moves to the section of the drain pipe which is whirled by the reaming barrel 21, the driving cylinder 3421 drives the fixing frame 3422 to move towards the direction far away from the traction column 31, so that the limiting rod 341 is driven to move, the steel wire 32 is gradually released, the released steel wire 32 expands outwards to prop up the drain pipe, so that the possibility of re-sinking of the drain pipe is reduced, the subsequent repair of the drain pipe is facilitated, the repair effect of the drain pipe is effectively improved, and the repair period is shortened.
The above embodiments are not intended to limit the scope of the present application, so: all equivalent changes in structure, shape and principle of the application should be covered in the scope of protection of the application.
Claims (7)
1. A non-excavation drainage pipeline pretreatment robot, characterized in that: the device comprises a running gear, a reaming device (2) arranged at the front end of the running gear and a supporting device (3) arranged at the tail end of the running gear, wherein the reaming device (2) comprises a reaming barrel (21) and a first driving assembly (22) for driving the reaming barrel (21) to rotate, and the outer diameter of the reaming barrel (21) is matched with the inner diameter of a drain pipe to be repaired;
the supporting device (3) comprises a traction column (31), wherein the traction column (31) is spirally wound with a steel wire (32) along the length direction, the diameter of a spiral ring formed by the steel wire (32) in a spiral mode is larger than the inner diameter of a drainage pipe, and a limiting mechanism (34) for limiting the expansion of the steel wire (32) is arranged on the traction column (31);
The traveling device comprises three groups of traveling mechanisms (1) which are sequentially connected, the traveling mechanisms (1) comprise traveling cylinders (11) and a plurality of pipe pieces (12) which surround the peripheries of the traveling cylinders (11), a first connecting rod (13) is hinged between each pipe piece (12) and a piston rod of each traveling cylinder (11), a second connecting rod (14) is hinged between each pipe piece (12) and a cylinder body of each traveling cylinder (11), and piston rods positioned on two adjacent traveling cylinders (11) are hinged with the cylinder body;
The limiting mechanism (34) comprises a plurality of limiting rods (341) which are arranged around the periphery of the traction column (31) by taking the axis of the traction column (31) as the center and a second driving assembly (342) which drives the limiting rods (341) to synchronously move along the axis direction of the traction column (31), the limiting rods (341) are arranged in an extending mode along the length direction of the traction column (31), and the limiting rods (341) are used for propping the steel wires (32) against the traction column (31).
2. A trenchless drain pipeline pretreatment robot as defined in claim 1, wherein: the periphery of the traction column (31) is recessed with a positioning groove (33) for winding the steel wire (32), and the positioning groove (33) spirally extends along the length direction of the traction column (31).
3. A trenchless drain pipeline pretreatment robot as defined in claim 2, wherein: the two ends of the traction column (31) are communicated with a plurality of through holes (35) through which the limiting rods (341) penetrate, the through holes (35) are communicated with the positioning grooves (33), the limiting rods (341) are movably inserted into the through holes (35), and gaps for placing the steel wires (32) are reserved between the limiting rods (341) and the bottoms of the positioning grooves (33).
4. A trenchless drain pipeline pretreatment robot as defined in claim 1, wherein: two second connecting rods (14) are hinged between each duct piece (12) and the cylinder body of the travelling mechanism (1), and the two second connecting rods (14) are arranged in parallel.
5. A trenchless drain pipeline pretreatment robot as defined in claim 1, wherein: the first driving assembly (22) comprises a mounting seat (221) and a motor (222) arranged on the mounting seat (221), an output shaft of the motor (222) is in transmission connection with the reaming barrel (21), and the mounting seat (221) is fixedly connected with a piston rod of a traveling cylinder (11) far away from the supporting device (3).
6. A trenchless drain pipeline pretreatment robot as defined in claim 1, wherein: one end of the reaming barrel (21) far away from the mounting seat (221) is in a conical furling arrangement.
7. A trenchless drain pipeline pretreatment robot as defined in claim 1, wherein: the second driving assembly (342) comprises a fixed seat arranged at one end of the traction column (31) far away from the travelling mechanism (1), a driving cylinder (3421) is arranged on the fixed seat, a fixing frame (3422) is fixedly connected with a piston rod of the driving cylinder (3421), and a plurality of limiting rods (341) are arranged on the fixing frame (3422).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210182714.3A CN114688385B (en) | 2022-02-26 | 2022-02-26 | Non-excavation drainage pipeline pretreatment robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210182714.3A CN114688385B (en) | 2022-02-26 | 2022-02-26 | Non-excavation drainage pipeline pretreatment robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114688385A CN114688385A (en) | 2022-07-01 |
| CN114688385B true CN114688385B (en) | 2024-05-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210182714.3A Active CN114688385B (en) | 2022-02-26 | 2022-02-26 | Non-excavation drainage pipeline pretreatment robot |
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