CN219151211U - Cable pre-buried pipeline expansion robot - Google Patents

Abstract

The utility model discloses a cable embedded pipeline expanding robot, which relates to the technical field of pipeline robots and comprises the following components: one end of the cable embedded pipeline travelling mechanism is connected with a circular mounting seat through a mounting column; the expansion point steering adjustment unit comprises a bearing, a rotating shaft, a steering block and a power assembly, wherein the middle part of the mounting seat is rotationally connected with the rotating shaft through the bearing, one end of the rotating shaft, which is far away from the cable embedded pipeline running mechanism, is fixedly connected with the steering block, one end of the rotating shaft, which is close to the cable embedded pipeline running mechanism, is connected with the power assembly, and the power assembly is arranged at the end part of the cable embedded pipeline running mechanism. This pre-buried pipeline expansion robot of cable adopts detachable circular arc expansion board to expand the pit, and the area of force is big, can change different circular arc expansion boards according to the pipeline of different pipe diameters, ensures that the pit of pipeline can resume to original state, and expansion repair effect is good.

Description

Cable pre-buried pipeline expansion robot

Technical Field

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

Background

At present, underground cables and communication optical cables are important components of a power system, are the basis for ensuring the reliability of power supply, and the underground cable transmission and distribution mode is adopted to replace overhead transmission lines in more and more cities at present, and pipeline deformation, particularly pipeline dent deformation, can be generated in the use process of cable pipelines, so that the cables cannot pass through;

in order to solve the problems, chinese patent application publication No. CN208816962U discloses a cable embedded pipeline expanding robot, which comprises a cable embedded pipeline traveling device, a cradle head, an expanding mechanism and a central processing unit; the cable embedded pipeline traveling device comprises a traveling driving motor and a plurality of traveling wheel assemblies which are uniformly distributed along the circumferential direction of the main shaft, wherein each traveling wheel assembly comprises a wheel leg and a supporting arm, and two ends of the supporting arm are hinged with the wheel leg and the main shaft; driving motor driving wheel legs; the reducing mechanism comprises a reducing driving motor, a reducing connecting rod and a screw transmission mechanism, two ends of the reducing connecting rod are hinged with the sliding block and the supporting arm, and the reducing driving motor pushes the screw transmission mechanism and the reducing connecting rod pushes the inclination of the supporting arm to change the expansion mechanism, and the expansion mechanism comprises an expansion push rod and an expansion driving motor; the central processing unit controls the walking driving motor, the reducing driving motor and the expanding driving motor, so that the robot walks to the concave part of the pipeline, and the expanding push rod pushes the concave part outwards to repair the concave pipeline;

although this patent addresses the problem of recessed pipe repair, the following drawbacks still exist: the expansion push rod is adopted to directly push the concave part outwards, so that the stress point is small, the concave part of the pipeline cannot be restored to an arc state, and the expansion repair effect is poor.

Disclosure of Invention

The utility model aims to overcome the existing defects, and provides a cable embedded pipeline expansion robot which adopts a detachable arc expansion plate to expand a concave part, has large stress area, can replace different arc expansion plates according to pipelines with different pipe diameters, ensures that the concave part of the pipeline can be restored to an original state, has good expansion and repair effects, and can effectively solve the problems in the background art.

In order to achieve the above purpose, the present utility model provides the following technical solutions: a cable pre-buried pipeline expansion robot, comprising:

one end of the cable embedded pipeline travelling mechanism is connected with a circular mounting seat through a mounting column;

the expansion point steering adjustment unit comprises a bearing, a rotating shaft, a steering block and a power assembly, wherein the middle part of the mounting seat is rotationally connected with the rotating shaft through the bearing, one end of the rotating shaft, which is far away from the cable embedded pipeline travelling mechanism, is fixedly connected with the steering block, one end of the rotating shaft, which is close to the cable embedded pipeline travelling mechanism, is connected with the power assembly, and the power assembly is arranged at the end part of the cable embedded pipeline travelling mechanism;

the pipeline concave point expansion unit comprises connecting sleeves, hydraulic cylinders, dismounting connecting blocks, clamping sleeves and circular arc expansion plates, wherein the connecting sleeves are symmetrically arranged on two sides of the steering block, fixed ends of the hydraulic cylinders are respectively sleeved in each connecting sleeve, the telescopic ends of the hydraulic cylinders are fixedly connected with the dismounting connecting blocks, the dismounting connecting blocks are connected with the clamping sleeves through the quick dismounting units of the expansion plates, and the clamping sleeves are far away from the middle of the inner sides of the circular arc expansion plates and fixedly connected with one ends of the hydraulic cylinders.

The cable pre-buried pipeline running gear walks to the pit in burying the pipeline, make pipeline pit expansion unit be in pipeline pit, then power component work drives the pivot and rotates for the mount pad through the bearing, make one of them circular arc expansion board aim at pipeline pit, then will keep away from the pneumatic cylinder extension of pipeline pit, make another circular arc expansion board be close to the inner wall of pipeline, act as reverse receipts power point, let pivot and steering block bear radial force and warp when avoiding repairing the expansion pit, then make the pneumatic cylinder extension of aiming at pipeline pit, the pneumatic cylinder of this department pushes the circular arc expansion board outwards promote the pit of pipeline, make the pit expansion of pipeline resume, the internal diameter of the circular of circular arc expansion board that adopts is the same with the internal diameter of waiting to expand restoration pipeline, expansion recovery effect is good, can quick connect joint cover and dismantlement connecting block through expansion board quick replacement circular arc expansion board according to the internal diameter of pipeline conveniently.

Further, the power component comprises a driven gear, a driving gear, a motor mounting sleeve and a steering motor, wherein the driven gear is fixedly connected with one end of the rotating shaft, which is close to the cable embedded pipeline travelling mechanism, the motor mounting sleeve is fixedly connected with one end side surface of the cable embedded pipeline travelling mechanism, which is close to the mounting seat, the steering motor is mounted in the motor mounting sleeve, the driving gear is fixedly connected with an output shaft of the steering motor, and the driving gear is meshed with the driven gear. The steering motor works, and the driving gear and the driven gear drive the rotating shaft to rotate relative to the mounting seat, so that the direction of the arc expansion plate is changed, and the arc expansion plate is aligned to the concave part of the pipeline.

Further, the steering stop assembly is further included, and the middle part of the rotating shaft is connected with the steering stop assembly. The steering stop component can lock the rotating shaft after the arc expansion plate is aligned with the concave part of the pipeline, so that the rotation of the rotating shaft caused by uneven stress on the outer side of the arc expansion plate during expansion is avoided.

Further, the steering stop component comprises a ratchet wheel, a fixed side block, a stop pawl and an electric telescopic rod, the ratchet wheel is fixedly sleeved in the middle of the rotating shaft, the fixed side block is fixedly connected with the side edge of the mounting seat, the fixed side block is fixedly connected with one end of the electric telescopic rod, and the other end of the electric telescopic rod faces the ratchet wheel and is fixedly connected with the stop pawl. The electric telescopic rod stretches to drive the stop pawl to be clamped with the ratchet, the stop pawl limits the rotation of the ratchet at the moment, so that the rotating shaft is locked, and when the electric telescopic rod shortens, the stop pawl can be separated from the ratchet, and the rotating shaft can rotate at will at the moment.

Further, the pipeline concave point expansion unit further comprises fastening bolts, the screw holes on the side surfaces of each connecting sleeve are respectively connected with the fastening bolts in a threaded mode, and the inner ends of the fastening bolts are abutted against the side surfaces of the fixed ends of the corresponding hydraulic cylinders. The hydraulic cylinder can be fixed to the fastening bolt, can change the hydraulic cylinder after turning on the fastening bolt.

Further, expansion board quick detach unit includes installation side groove, elastomeric element, fly leaf, presses control post and joint post, dismantle the one end that the connecting block is close to the joint cover and seted up two upper and lower symmetrical installation side grooves, dismantle the one end upside that the connecting block is close to the pneumatic cylinder and seted up the sliding hole one with two installation side groove intercommunication respectively, dismantle the one end upside that the connecting block is close to the joint cover and seted up the sliding hole two with two installation side groove intercommunication respectively, and two installation side grooves are close to one side of dismantling the connecting block middle part and are connected with the fly leaf through elastomeric element respectively, the both ends of fly leaf are fixedly connected with respectively presses control post and joint post, press control post and sliding connection of sliding hole one, and press the tip of control post and stretch out to the outside of sliding hole one, joint post and sliding connection of sliding hole two, the tip of joint post stretches out to the outside of sliding hole two and with the inboard joint groove joint of joint cover. Simultaneously pinch two upper and lower control posts that press down, press down in the control post shrink in the sliding hole one, compress elastomeric element through the fly leaf, the joint post also shrink in the sliding hole two this moment, make joint post and joint groove break away from, dismantle the connecting block and can follow the joint cover in this moment and take out, realized the change of joint cover and circular arc expansion board, it is swift convenient to change.

Further, the elastic component includes telescopic link and joint spring, the fly leaf is close to one side of dismantling the connecting block and is fixed connection two telescopic link's one end respectively, and the other end fixed connection installation side groove of telescopic link is close to one side of dismantling the connecting block middle part, the joint spring has been cup jointed on the telescopic link, adopts the joint spring as the elasticity source, uses the telescopic link can carry out stable installation to the joint spring.

Compared with the prior art, the utility model has the beneficial effects that: this pre-buried pipeline expansion robot of cable has following benefit:

1. the inner diameter of the circle of the arc expansion plate is the same as the inner diameter of the pipeline to be expanded and repaired, the expansion recovery effect is good, the clamping sleeve can be quickly connected with the connecting block to be quickly detached through the expansion plate quick-release unit, and the arc expansion plate can be conveniently quickly replaced according to the inner diameter of the pipeline.

2. The detachable arc expansion plates are adopted to expand the concave parts, the stress area is large, different arc expansion plates can be replaced according to pipelines with different pipe diameters, the concave parts of the pipelines can be ensured to be restored to the original state, and the expansion and repair effects are good.

Drawings

FIG. 1 is a schematic diagram of the structure of the present utility model;

FIG. 2 is a schematic view of the rear side structure of the present utility model;

FIG. 3 is a schematic view of the structure of the present utility model shown in FIG. 2 at a partially enlarged scale;

FIG. 4 is a schematic diagram of a quick release unit of an expansion plate according to the present utility model;

fig. 5 is a schematic view of the traveling unit structure of the present utility model.

In the figure: the device comprises a mounting column 1, a mounting seat 2, a 3 expansion point steering adjusting unit, a 31 bearing, a 32 rotating shaft, a 33 steering block, a 34 driven gear, a 35 driving gear, a 36 motor mounting sleeve, a 37 steering motor, a 4 pipeline concave point expanding unit, a 41 connecting sleeve, a 42 fastening bolt, a 43 hydraulic cylinder, a 44 dismounting connecting block, a 45 clamping sleeve, a 46 circular arc expanding plate, a 5 expansion plate quick dismounting unit, a 51 mounting side groove, a 52 telescopic rod, a 53 clamping spring, a 54 movable plate, a 55 pressing control column, a 56 clamping column, a 6 steering stop component, a 61 ratchet wheel, a 62 fixed side block, a 63 stopping pawl, a 64 electric telescopic rod, a 7 traveling unit, a 71 rectangular groove, a 72 wheel shaft, a 73 traveling wheel, a 74 driven sprocket, a 75 traveling motor, a 76 driving sprocket, a 77 chain, an 8 pipeline variable diameter adapting unit, a 81 adjusting disc, a 82 movable seat I, a 83 movable seat II, a 88 movable seat II, a 85 movable seat II, a 86 shaft, a 87 variable diameter side rod, a 88 seat, a 89 sliding block, a 810 dovetail sliding bar, a 811 end block, a 9 variable diameter power component, a 91 motor, a 92 tail end adjusting motor, a 10 adjusting force adjusting spring, a 13, a buffer disc, a 13, a head adjusting disc, a force adjusting disc, a 13, a buffer disc, a 13 adjusting disc, a force adjusting disc, a 13, a head adjusting spring component, a force adjusting disc, a 13, a head adjusting disc and a force adjusting disc.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. 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.

Referring to fig. 1-5, the present utility model provides a technical solution: a cable pre-buried pipeline expansion robot, comprising:

one end of the cable embedded pipeline travelling mechanism is connected with a circular mounting seat 2 through a mounting column 1;

the expansion point steering adjustment unit 3 comprises a bearing 31, a rotating shaft 32, a steering block 33 and a power assembly, wherein the middle part of the mounting seat 2 is rotatably connected with the rotating shaft 32 through the bearing 31, one end of the rotating shaft 32, which is far away from the cable embedded pipeline travelling mechanism, is fixedly connected with the steering block 33, one end of the rotating shaft 32, which is close to the cable embedded pipeline travelling mechanism, is connected with the power assembly, and the power assembly is arranged at the end part of the cable embedded pipeline travelling mechanism;

the power assembly comprises a driven gear 34, a driving gear 35, a motor mounting sleeve 36 and a steering motor 37, wherein the driven gear 34 is fixedly connected with one end, close to the cable embedded pipeline travelling mechanism, of the rotating shaft 32, the motor mounting sleeve 36 is fixedly connected with one end side surface, close to the mounting seat 2, of the cable embedded pipeline travelling mechanism, the steering motor 37 is mounted in the motor mounting sleeve 36, the driving gear 35 is fixedly connected with an output shaft of the steering motor 37, and the driving gear 35 is in meshed connection with the driven gear 34. The steering motor 37 works, and the driving gear 35 and the driven gear 34 drive the rotating shaft 32 to rotate relative to the mounting seat 2, so that the direction of the circular arc expansion plate 46 is changed, and the circular arc expansion plate 46 is aligned with the recess of the pipeline.

The pipeline concave point expansion unit 4 comprises connecting sleeves 41, hydraulic cylinders 43, dismounting connecting blocks 44, clamping sleeves 45 and circular arc expansion plates 46, wherein the connecting sleeves 41 are symmetrically arranged on two sides of the steering block 33, fixed ends of the hydraulic cylinders 43 are respectively sleeved in each connecting sleeve 41, telescopic ends of the hydraulic cylinders 43 are fixedly connected with the dismounting connecting blocks 44, the dismounting connecting blocks 44 are connected with the clamping sleeves 45 through the expansion plate quick-dismounting unit 5, and one ends of the clamping sleeves 45, far away from the hydraulic cylinders 43, are fixedly connected with the middle part of the inner side of the circular arc expansion plates 46.

The pipeline concave point expanding unit 4 further comprises fastening bolts 42, the fastening bolts 42 are respectively connected in screw holes on the side surfaces of the connecting sleeves 41 in a threaded mode, and the inner ends of the fastening bolts 42 abut against the side surfaces of fixed ends of the corresponding hydraulic cylinders 43. The hydraulic cylinder 43 can be fixed by the fastening bolt 42, and the hydraulic cylinder 43 can be replaced after the fastening bolt 42 is loosened.

When in use, the cable embedded pipeline travelling mechanism travels to the concave position in the embedded pipeline, positioning the pipeline depression point expansion unit 4 in the pipeline depression;

then the power assembly works to drive the rotating shaft 32 to rotate relative to the mounting seat 2 through the bearing 31, so that one of the circular arc expansion plates 46 is aligned to the pipeline depression;

then the hydraulic cylinder 43 far away from the pipeline depression is extended, the other circular arc expansion plate 46 is close to the inner wall of the pipeline and is used as a reverse stress receiving point, the rotating shaft 32 and the steering block 33 are prevented from being deformed by bearing radial force when repairing the expansion depression, and then the hydraulic cylinder 43 aligned with the pipeline depression is extended;

the hydraulic cylinder 43 pushes the circular arc expansion plate 46 to push the concave part of the pipeline outwards, so that the concave part of the pipeline is expanded and restored;

the inner diameter of the circle of the arc expansion plate 46 is the same as the inner diameter of the repair pipeline to be expanded, and the expansion recovery effect is good;

the clamping sleeve 45 can be quickly connected with the connecting block 44 and the circular arc expansion plate 46 can be quickly detached from the expansion plate quick-detachment unit 5, so that the circular arc expansion plate 46 can be quickly replaced according to the inner diameter of the pipeline.

In a second embodiment, referring to fig. 1-5, the present utility model provides a technical solution: the cable embedded pipeline expanding robot has the same structure as the first embodiment except that:

and further comprises a steering stop assembly 6, and the middle part of the rotating shaft 32 is connected with the steering stop assembly 6. The steering stop assembly 6 can lock the rotating shaft 32 after the circular arc expansion plate 46 is aligned with the concave part of the pipeline, so that the rotation of the rotating shaft caused by uneven stress on the outer side of the circular arc expansion plate 46 during expansion is avoided.

The steering stop assembly 6 comprises a ratchet wheel 61, a fixed side block 62, a stop pawl 63 and an electric telescopic rod 64, the middle part of the rotating shaft 32 is fixedly sleeved with the ratchet wheel 61, the side edge of the mounting seat 2 is fixedly connected with the fixed side block 62, the fixed side block 62 is fixedly connected with one end of the electric telescopic rod 64, and the other end of the electric telescopic rod 64 faces the ratchet wheel 61 and is fixedly connected with the stop pawl 63. The electric telescopic rod 64 stretches to drive the stop pawl 63 to be clamped with the ratchet wheel 61, at the moment, the stop pawl 63 limits the rotation of the ratchet wheel 61, so that the rotating shaft 32 is locked, and when the electric telescopic rod 64 shortens, the stop pawl 63 can be separated from the ratchet wheel 61, and at the moment, the rotating shaft 32 can rotate randomly.

In a third embodiment, referring to fig. 1-5, the present utility model provides a technical solution: the embodiment is a further explanation of the second embodiment:

the expansion plate quick-release unit 5 comprises an installation side groove 51, an elastic component, a movable plate 54, a pressing control column 55 and a clamping column 56, wherein two installation side grooves 51 which are vertically symmetrical are formed in one end, close to the clamping sleeve 45, of the dismounting connecting block 44, sliding holes I which are communicated with the two installation side grooves 51 are formed in the upper side and the lower side, close to the clamping sleeve 45, of one end, close to the clamping sleeve 45, of the dismounting connecting block 44, sliding holes II which are communicated with the two installation side grooves 51 are formed in the upper side and the lower side, respectively, one side, close to the middle of the dismounting connecting block 44, of the two installation side grooves 51 is connected with the movable plate 54 through the elastic component, the pressing control column 55 and the clamping column 56 are fixedly connected with two ends of the movable plate 54 respectively, the pressing control column 55 and the sliding hole I are connected with one end of the pressing control column 55, the end of the pressing control column 55 extends out of the sliding hole I, the clamping column 56 is connected with the sliding hole II in a sliding mode, and the end of the clamping column 56 extends out of the sliding hole II and is clamped with the clamping groove on the inner side of the clamping sleeve 45. Simultaneously pinch two upper and lower pressing control posts 55, press control post 55 shrink in the sliding hole one, compress elastomeric element through fly leaf 54, joint post 56 also shrink in the sliding hole two this moment, make joint post 56 and joint groove break away from, dismantle connecting block 44 can follow joint cover 45 in this moment and take out, realized the change of joint cover 45 and circular arc expansion board 46, it is swift convenient to change.

The elastic component includes telescopic link 52 and joint spring 53, and the one side that the fly leaf 54 is close to dismantling the connecting block 44 is two one end of telescopic link 52 of fixed connection respectively, and the other end fixed connection installation side groove 51 of telescopic link 52 is close to the one side of dismantling the connecting block 44 middle part, has cup jointed joint spring 53 on the telescopic link 52, adopts joint spring 53 as the elasticity source, uses telescopic link 52 can carry out stable installation to joint spring 53.

Referring to fig. 1 to 5, the cable embedded pipeline traveling mechanism may be a cable embedded pipeline traveling mechanism disclosed in a patent with an authorized publication number CN208723454U in the prior art;

or adopts the following technical scheme:

the cable embedded pipeline traveling mechanism comprises a tail end disc 11, a traveling unit 7, a pipeline reducing adaptation unit 8 and a reducing buffer force adjusting assembly 10, wherein the rear side of the tail end disc 11 is fixedly connected with the front side of a head disc 13 through two sliding rods 12; one end of the head disk 13 far away from the tail disk 11 is connected with a circular mounting seat 2 through a mounting column 1, and a motor mounting sleeve 36 is fixedly mounted on the head disk 13;

the pipeline reducing adaptation unit 8 comprises an adjusting disc 81, a first movable seat 82, a second movable seat 83, a second movable rod 84, a first movable rod 85, a movable shaft 86, a reducing side rod 87, a hinged support 88, a sliding block 89 and a dovetail slide 810, wherein three second movable seats 83 are annularly arranged on the outer periphery side of the head disc 13 in an array manner, each second movable seat 83 is respectively and movably connected with one end of the second movable rod 84 through a pin shaft, two sliding holes on the adjusting disc 81 are respectively and slidably connected with the middle parts of the two sliding rods 12, three first movable seats 82 corresponding to the second movable seats 83 are arranged on the annular array on the outer periphery side of the adjusting disc 81, each first movable seat 82 is respectively and movably connected with one end of the first movable rod 85 through a pin shaft, the middle part of the first movable rod 85 is in cross distribution with the middle part of the corresponding movable rod 84, the first movable rod 85 is movably connected with the third movable rod 84 through the movable shaft 86, one side of each sliding seat 88, which is respectively connected with one side of the dovetail slide groove 88, which is close to one side of the dovetail slide groove 810, which is respectively and is parallel to the other end of the corresponding sliding block 810, and is connected with one side of the sliding groove 89 of the sliding block which is respectively and is parallel to the front side of the sliding block 810;

the pipe reducing adaptation unit 8 further comprises a limiting end block 811, wherein the limiting end blocks 811 are detachably mounted at two ends of the dovetail slide 810 respectively, the limiting end blocks 811 can be clamped or fixed at two ends of the dovetail slide 810 through bolts, the limiting end blocks 811 can be removed, and the sliding blocks 89 on the dovetail slide 810 can be mounted or dismounted conveniently.

The variable-diameter buffer force adjusting device further comprises a variable-diameter power assembly 9, the variable-diameter power assembly 9 is arranged on the tail end disc 11 and the sliding rod 12, the variable-diameter power assembly 9 is connected with one end of the variable-diameter buffer force adjusting assembly 10, and the other end of the variable-diameter buffer force adjusting assembly 10 is connected with the adjusting disc 81. The reducing power assembly 9 pushes and pulls the adjusting disc 81 to move back and forth along the sliding rod 12 by means of the reducing buffer force adjusting assembly 10, reducing operation of the running device is achieved, the running device can be enabled to have a buffer effect through the reducing buffer force adjusting assembly 10 when running in a pipeline, the shearing movement of the shearing connecting rod can be adapted to slight change of pipe diameter or slight deformation of pipe diameter when running, stable running can be guaranteed without frequent reducing operation, buffer force of the reducing buffer force adjusting assembly 10 can be adjusted, and buffer force is increased or reduced.

The reducing power assembly 9 comprises a reducing motor 91, an adjusting screw 92 and a push-pull disc 93, the middle part of the front side of the tail disc 11 is fixedly provided with the reducing motor 91, an output shaft at the rear end of the reducing motor 91 penetrates through the tail disc 11 and is fixedly connected with the front end of the adjusting screw 92, the rear end of the adjusting screw 92 is in threaded connection with a screw hole in the middle part of the push-pull disc 93, and two sliding holes in the push-pull disc 93 are respectively in sliding connection with two sliding rods 12. The variable diameter motor 91 operates to drive the adjusting screw 92 to rotate, and the adjusting plate 81 is pushed and pulled to move back and forth along the slide rod 12 by the threaded action of the adjusting screw 92 and the push-pull plate 93.

The reducing buffer force adjusting assembly 10 comprises a force adjusting column 101, a force adjusting nut 102 and a buffer spring 103, wherein two force adjusting columns 101 are fixedly connected to the front side of the adjusting disc 81, the two force adjusting columns 101 are parallel to the sliding rod 12, the front ends of the two force adjusting columns 101 respectively penetrate through corresponding through holes in the push-pull disc 93 and are in threaded connection with the force adjusting nut 102, the column sections of the force adjusting columns 101 between the adjusting disc 81 and the push-pull disc 93 are sleeved with the buffer spring 103, and two ends of the buffer spring 103 are respectively connected with the adjusting disc 81 and the push-pull disc 93.

The tightening force adjusting nut 102 can compress the buffer spring, the buffer force of the buffer spring between the push-pull disc 93 and the adjusting disc 81 is increased, so that the buffer change of the outer diameter of the running device needs larger force, the running unit 7 can be ensured to be tightly attached to the inner wall of the pipeline, the friction force with the pipe wall is increased, the power requirement of the running unit 7 is increased, but the running is stable, when the tightening force adjusting nut 102 is loosened, the buffer force of the buffer spring between the push-pull disc 93 and the adjusting disc 81 is reduced, the buffer change of the outer diameter of the running device needs smaller force, the friction force between the running unit 7 and the inner wall of the pipeline is reduced, and the running unit 7 is easy to slip if the pipe wall is smooth, so that the running unit can be adjusted according to the friction force of the pipe wall.

The traveling unit 7 is mounted on the side of the variable-diameter side rod 87 remote from the head disk 13.

The traveling unit 7 comprises a rectangular groove 71, wheel shafts 72, traveling wheels 73 and traveling power components, the rectangular groove 71 is formed in one side, far away from the head disc 13, of the variable-diameter side rod 87, three wheel shafts 72 are connected in the rectangular groove 71 in an equidistant rotating mode, the traveling wheels 73 are fixedly connected to the middle portions of the wheel shafts 72, the traveling power components are installed in the rectangular groove 71, and the traveling power components are connected with the three wheel shafts 72.

The travelling power assembly works to drive the wheel shaft 72 to rotate so as to drive the travelling wheel 73 to rotate, and the travelling wheel 73 contacts with the pipe wall so as to enable the travelling device to travel forwards in the pipeline;

the advancing power assembly comprises a driven sprocket 74, an advancing motor 75, a driving sprocket 76 and a chain 77, wherein each wheel shaft 72 is fixedly connected with the driven sprocket 74 respectively, the advancing motor 75 is fixedly installed in the rectangular groove 71, an output shaft of the advancing motor 75 is fixedly connected with the driving sprocket 76, and the driving sprocket 76 is in transmission connection with the three driven sprockets 74 through the chain 77. The traveling motor 75 operates to drive the driving sprocket 76 to rotate, and drives the three driven sprockets 74 to synchronously rotate through the transmission of the chain 77, so that the traveling wheel 73 is driven to rotationally travel through the wheel shaft 72.

The adjusting disc 81 slides backwards along the sliding rod 12, the adjusting disc 81 pushes the movable rod I85 to move backwards through the movable seat I82, one end, close to the adjusting disc 81, of the movable rod I84 is movably connected with the movable rod I85 through the movable shaft 86 to form a scissor connecting rod, the variable-diameter side rod 87 is far away from the tail end disc 11, the sliding rod 12 and the head disc 13 through pushing of the scissor connecting rod, at the moment, the sliding block 89 moves backwards along the dovetail sliding strip 810, so that the diameter of the travelling device is increased, the travelling unit 7 contacts with the inner wall of a cable pipeline, the travelling unit 7 travels forwards, the adjusting disc 81 slides forwards along the sliding rod 12, the variable-diameter side rod 87 can be close to the tail end disc 11, the sliding rod 12 and the head disc 13, at the moment, the sliding block 89 moves forwards along the dovetail sliding strip 810, and the diameter of the travelling device is reduced, and the adjusting disc is suitable for pipelines with smaller diameters.

It should be noted that, in the above embodiment, the input ends of the steering motor 37, the hydraulic cylinder 43, the electric telescopic rod 64, the traveling motor 75 and the variable diameter motor 91 are all electrically connected to the output end of the external PLC controller through cables, and the steering motor 37, the traveling motor 75 and the variable diameter motor 91 are all servo motors, and the power of the servo motors can be selected by an operator according to the actual situation, and the external PLC controller controls the steering motor 37, the hydraulic cylinder 43, the electric telescopic rod 64, the traveling motor 75 and the variable diameter motor 91 to work by a method commonly used in the prior art.

Although embodiments of the present utility model have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the utility model, the scope of which is defined in the appended claims and their equivalents.

Claims (7)

1. The utility model provides a cable pre-buried pipeline expansion robot which characterized in that includes:

one end of the cable embedded pipeline travelling mechanism is connected with a circular mounting seat (2) through a mounting column (1);

the expansion point steering adjustment unit (3) comprises a bearing (31), a rotating shaft (32), a steering block (33) and a power assembly, wherein the middle part of the mounting seat (2) is rotationally connected with the rotating shaft (32) through the bearing (31), one end, far away from the cable embedded pipeline running mechanism, of the rotating shaft (32) is fixedly connected with the steering block (33), one end, close to the cable embedded pipeline running mechanism, of the rotating shaft (32) is connected with the power assembly, and the power assembly is mounted at the end part of the cable embedded pipeline running mechanism;

the utility model provides a pipeline sunk point expansion unit (4), includes adapter sleeve (41), pneumatic cylinder (43), dismantles connecting block (44), joint cover (45) and circular arc expansion board (46), the bilateral symmetry of turning to piece (33) is provided with adapter sleeve (41), has cup jointed the stiff end of pneumatic cylinder (43) in every adapter sleeve (41), and connecting block (44) are dismantled in the telescopic end fixed connection of pneumatic cylinder (43), joint cover (45) are connected through expansion board quick detach unit (5) to dismantlement connecting block (44), the inboard middle part of one end fixed connection circular arc expansion board (46) of pneumatic cylinder (43) are kept away from to joint cover (45).

2. The cable pre-buried pipeline expansion robot according to claim 1, wherein: the power assembly comprises a driven gear (34), a driving gear (35), a motor mounting sleeve (36) and a steering motor (37), wherein the driven gear (34) is fixedly connected with one end, close to a cable embedded pipeline travelling mechanism, of the rotating shaft (32), the motor mounting sleeve (36) is fixedly connected with one end side surface, close to the mounting seat (2), of the cable embedded pipeline travelling mechanism, the steering motor (37) is mounted in the motor mounting sleeve (36), the driving gear (35) is fixedly connected with an output shaft of the steering motor (37), and the driving gear (35) is connected with the driven gear (34) in a meshed mode.

3. A cable pre-buried pipeline expansion robot according to claim 1 or 2, characterized in that: the steering device further comprises a steering stop assembly (6), and the middle part of the rotating shaft (32) is connected with the steering stop assembly (6).

4. A cable pre-buried pipeline expansion robot according to claim 3, characterized in that: the steering stop assembly (6) comprises a ratchet wheel (61), a fixed side block (62), a stop pawl (63) and an electric telescopic rod (64), wherein the ratchet wheel (61) is fixedly sleeved in the middle of the rotating shaft (32), the fixed side block (62) is fixedly connected with the side edge of the mounting seat (2), one end of the electric telescopic rod (64) is fixedly connected with the fixed side block (62), and the other end of the electric telescopic rod (64) faces the ratchet wheel (61) and is fixedly connected with the stop pawl (63).

5. The cable pre-buried pipeline expansion robot according to claim 1, wherein: the pipeline concave point expansion unit (4) further comprises fastening bolts (42), the fastening bolts (42) are respectively connected in screw holes on the side surfaces of the connecting sleeves (41) in a threaded mode, and the inner ends of the fastening bolts (42) are abutted against the side surfaces of fixed ends of the corresponding hydraulic cylinders (43).

6. The cable pre-buried pipeline expansion robot according to claim 1, wherein: the expansion plate quick detach unit (5) includes installation side groove (51), elastomeric element, fly leaf (54), presses control post (55) and joint post (56), dismantle one end that connecting block (44) is close to joint cover (45) and offered two installation side grooves (51) of symmetry from top to bottom, dismantle one end upside that connecting block (44) is close to pneumatic cylinder (43) has offered the slide hole one with two installation side grooves (51) intercommunication respectively, dismantle one end upside that connecting block (44) is close to joint cover (45) and offered the slide hole two with two installation side groove (51) intercommunication respectively, and one side that two installation side grooves (51) are close to the middle part of dismantling connecting block (44) is connected with fly leaf (54) through elastomeric element respectively, the both ends of fly leaf (54) are fixedly connected with respectively presses control post (55) and joint post (56), press control post (55) and slide connection's one end to the outside of slide hole one, and press control post (55) stretch out to slide hole one, joint post (56) and slide hole two side and joint post (56) stretch out to two outside of joint hole (56).

7. The cable pre-buried pipeline expansion robot according to claim 6, wherein: the elastic component includes telescopic link (52) and joint spring (53), one side that movable plate (54) is close to dismantlement connecting block (44) is two one end of telescopic link (52) of fixed connection respectively, and one side at the middle part of telescopic link (52) is close to dismantlement connecting block (44) in other end fixed connection installation side groove (51), joint spring (53) have been cup jointed on telescopic link (52).

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