阅读说明：本技术 一种自动行进式大口径管内管带绕管机器人 (Automatic marching type large-diameter pipe inner belt winding robot ) 是由 解富民 解天 于 2021-10-12 设计创作，主要内容包括：本发明公开了一种自动行进式大口径管内管带绕管机器人,包括：底座、滚轮、驱动机构、转盘、引导辊轴、引导槽轮、压带辊轴和辊压组件；底座的底部设有滚轮,驱动机构与转盘相连；引导辊与转盘固定相连,引导辊轴上设有引导槽轮,引导辊轴上设有第一卡钩；压带辊轴与引导辊轴相邻,压带辊轴上设有第二卡钩；辊压组件包括辊压轮、摆杆、弹簧和定位柱；转盘设有可摆动地摆杆,摆杆上转动设有辊压轮,转盘上设有定位柱和弹簧,弹簧与摆杆相连。本装置可将预先放入地下大口径管道内的螺旋管带压合在管道内壁上,形成一个新管道,实现对地下大口径管道的自动免开挖修补,这种方式有效提高了修补效率,降低了修补难度,具备推广前景。(The invention discloses an automatic advancing type large-caliber in-pipe belt winding robot, which comprises: the automatic belt pressing device comprises a base, rollers, a driving mechanism, a turntable, a guide roller shaft, a guide grooved wheel, a belt pressing roller shaft and a rolling assembly; the bottom of the base is provided with a roller, and the driving mechanism is connected with the turntable; the guide roller is fixedly connected with the turntable, a guide grooved wheel is arranged on a guide roller shaft, and a first clamping hook is arranged on the guide roller shaft; the press belt roll shaft is adjacent to the guide roll shaft, and a second clamping hook is arranged on the press belt roll shaft; the rolling assembly comprises a rolling wheel, a swing rod, a spring and a positioning column; the turntable is provided with a swinging rod capable of swinging, the swinging rod is rotatably provided with a rolling wheel, the turntable is provided with a positioning column and a spring, and the spring is connected with the swinging rod. This device can take the pressfitting to form a new pipeline on pipeline inner wall with the coil pipe of putting into underground heavy-calibre pipeline in advance, realizes exempting from to excavate the repair to the automation of underground heavy-calibre pipeline, and this kind of mode has effectively improved repair efficiency, has reduced the repair degree of difficulty, possesses the popularization prospect.)

1. The utility model provides an automatic marching type heavy-calibre intraductal pipe area is around tub robot, the robot is suitable for to place in the pipeline, spiral pipe area has been preset in the pipeline, one side of the width direction of pipe area is equipped with the draw-in groove, the opposite side of the width direction of pipe area is equipped with the arch, the draw-in groove with the arch all is followed the length direction of pipe area extends, wherein, the draw-in groove orientation is close to the inside direction of pipeline is opened, protruding orientation is kept away from the inside direction protrusion of pipeline, the pipe area is close to in the width direction the side of draw-in groove with part between the draw-in groove is the edge, its characterized in that, the robot includes: the automatic belt pressing device comprises a base, rollers, a driving mechanism, a turntable, a guide roller shaft, a guide grooved wheel, a belt pressing roller shaft and a rolling assembly;

the bottom of the base is provided with the roller, the driving mechanism is arranged on the base and connected with the rear side of the turntable to drive the turntable to rotate, and the rotating direction of the turntable is opposite to the spiral direction of the pipe belt;

the guide roller shaft is positioned on the front side of the rotary table and is fixedly connected with the rotary table; the guide roll shaft is provided with the guide grooved pulley, the peripheral surface of the guide grooved pulley is provided with an annular first groove and an annular second groove, the first groove is positioned at the rear side, the second groove is positioned at the front side, the bulge is suitable for being embedded into the first groove, the edge is suitable for being embedded into the second groove, and the front end of the guide roll shaft is bent towards the direction close to the inside of the pipeline to form a first clamping hook;

the pressing belt roll shaft is positioned on the front side of the turntable and fixedly connected with the turntable, the pressing belt roll shaft is adjacent to the guide roll shaft, and the front end of the pressing belt roll shaft is bent towards the direction far away from the inside of the pipeline to form a second clamping hook;

the rolling assembly comprises a rolling wheel, a swing rod, a spring and a positioning column; the rotary table is provided with a swinging rod, the swinging rod is rotatably provided with the roller wheel, the roller wheel is positioned on the front side of the rotary table, the rotary table is provided with the positioning column and the spring, the spring is connected with the swinging rod, and the spring is used for pulling the swinging rod to swing along the rotating direction of the rotary table so as to abut against the positioning column.

2. The automated traveling robot for winding a pipe in a large-caliber pipe belt according to claim 1, wherein the driving mechanism comprises a motor and a reducer, the motor is connected with the reducer, and the reducer is connected with the turntable.

3. The automated traveling large-caliber pipe inside belt winding robot according to claim 1, wherein the guide roller shaft and the press belt roller shaft are each provided with a rotatable shaft sleeve adapted to abut against the pipe belt.

4. The automated traveling robot for winding a pipe in a large-caliber pipe according to claim 1, wherein the number of the rolling assemblies is plural, and the plurality of the rolling assemblies are arranged at intervals along a circumferential direction of the turntable.

5. The automatic traveling robot for winding a pipe in a large-caliber pipe belt according to claim 1, wherein a first link is detachably mounted to a rear side of the turntable, and a rear end of the guide roller shaft is connected to the first link.

6. The automatic traveling type large-caliber pipe-in-pipe belt winding robot according to claim 1, wherein a second connecting rod is detachably mounted on the rear side of the turntable, and the rear end of the belt pressing roller shaft is connected with the second connecting rod.

Technical Field

The invention relates to the technical field of pipeline repair, in particular to an automatic advancing type large-caliber in-pipe belt winding robot.

Background

The urban underground pipeline refers to a pipeline for water supply, drainage and the like which is buried underground in the urban range, and is an important infrastructure and a life line for guaranteeing urban operation. In the using process of the underground pipeline, due to the influence of factors such as corrosion of media, extrusion of peripheral media and the like for a long time, phenomena such as local pipe wall fracture, perforation and the like often occur, after the pipeline fractures, if the pipeline is not repaired in time, leakage of conveyed media can be caused, normal conveying of the media is influenced, and even ground collapse can be caused, so that serious consequences are caused.

In the prior art, when local breakage of an underground pipeline occurs, the underground pipeline is replaced integrally by adopting an excavation method, the method is time-consuming and labor-consuming, the repairing cost is high, and the underground pipeline is very inconvenient, so that an excavation-free repairing device needs to be designed to realize underground pipeline repairing.

Disclosure of Invention

The present invention is directed to solving at least one of the problems of the prior art. To this end, it is an object of the present invention to provide an automatic traveling type large-diameter in-pipe belt winding robot.

The technical scheme of the invention is as follows: the utility model provides an automatic marching type heavy-calibre intraductal pipe area is around tub robot, the robot is suitable for to place in the pipeline, spiral pipe area has been preset in the pipeline, one side of the width direction of pipe area is equipped with the draw-in groove, the opposite side of the width direction of pipe area is equipped with the arch, the draw-in groove with the arch all is followed the length direction of pipe area extends, wherein, the draw-in groove orientation is close to the inside direction of pipeline is opened, protruding orientation is kept away from the inside direction protrusion of pipeline, the pipe area is close to in the width direction the side of draw-in groove with part between the draw-in groove is the edge, its characterized in that, the robot includes: the automatic belt pressing device comprises a base, rollers, a driving mechanism, a turntable, a guide roller shaft, a guide grooved wheel, a belt pressing roller shaft and a rolling assembly;

the bottom of the base is provided with the roller, the driving mechanism is arranged on the base and connected with the rear side of the turntable to drive the turntable to rotate, and the rotating direction of the turntable is opposite to the spiral direction of the pipe belt;

the guide roller shaft is positioned on the front side of the rotary table and is fixedly connected with the rotary table; the guide roll shaft is provided with the guide grooved pulley, the peripheral surface of the guide grooved pulley is provided with an annular first groove and an annular second groove, the first groove is positioned at the rear side, the second groove is positioned at the front side, the bulge is suitable for being embedded into the first groove, the edge is suitable for being embedded into the second groove, and the front end of the guide roll shaft is bent towards the direction close to the inside of the pipeline to form a first clamping hook;

the pressing belt roll shaft is positioned on the front side of the turntable and fixedly connected with the turntable, the pressing belt roll shaft is adjacent to the guide roll shaft, and the front end of the pressing belt roll shaft is bent towards the direction far away from the inside of the pipeline to form a second clamping hook;

the rolling assembly comprises a rolling wheel, a swing rod, a spring and a positioning column; the rotary table is provided with a swinging rod, the swinging rod is rotatably provided with the roller wheel, the roller wheel is positioned on the front side of the rotary table, the rotary table is provided with the positioning column and the spring, the spring is connected with the swinging rod, and the spring is used for pulling the swinging rod to swing along the rotating direction of the rotary table so as to abut against the positioning column.

Preferably, the driving mechanism comprises a motor and a speed reducer, the motor is connected with the speed reducer, and the speed reducer is connected with the turntable.

Preferably, the guide roller shaft and the pressing belt roller shaft are both provided with rotatable shaft sleeves, and the shaft sleeves are suitable for being abutted to the pipe belts.

Preferably, the rolling assemblies are arranged in a plurality, and the rolling assemblies are arranged at intervals along the circumferential direction of the rotating disc.

Preferably, a first connecting rod is detachably mounted at the rear side of the turntable, and the rear end of the guide roller shaft is connected with the first connecting rod.

Preferably, a second connecting rod is detachably mounted on the rear side of the turntable, and the rear end of the press belt roller shaft is connected with the second connecting rod.

Compared with the prior art, the invention has the following beneficial effects:

according to the invention, the spiral pipe belt which is put into the underground large-caliber pipeline in advance can be pressed on the inner wall of the pipeline by using the pipe winding robot to form a new pipeline, so that the automatic excavation-free repair of the underground large-caliber pipeline is realized, the repair efficiency is effectively improved, the repair difficulty is reduced, and the method has a popularization prospect.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts:

FIG. 1 is a schematic view of the present invention with a pipe strap pre-installed into a pipeline;

FIG. 2 is a schematic view of the present invention with the pipe strap pre-installed into a pipeline;

FIG. 3 is a perspective view from the front side of the robot of the present invention;

FIG. 4 is a perspective view of the rear side perspective of the robot of the present invention;

fig. 5 is a schematic view of the working state of the present invention.

The reference numbers are as follows:

1. a pipeline; 2. a pipe strap; 3. a card slot; 4. a protrusion; 5. an edge; 6. a base; 7. a roller; 8. a drive mechanism; 9. a turntable; 10. a guide roller shaft; 11. a guide sheave; 12. a pinch roller shaft; 13. a rolling wheel; 14. a swing rod; 15. a spring; 16. a positioning column; 17. a first link; 18. a second link; 19. a first hook; 20. a second hook; 21. a first groove; 22. a second groove.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "inner", "outer", "vertical", "circumferential", "radial", "axial", and the like, indicate orientations and positional relationships based on those shown in the drawings, are only for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.

In the description of the present invention, "the first feature" and "the second feature" may include one or more of the features. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.

In the present invention, unless otherwise specifically stated or limited, the terms "mounted," "connected," "fixed," and the like are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

An automated traveling large-caliber in-pipe band 2 winding robot adapted to be placed in a pipe 1 according to an embodiment of the present invention will be described with reference to fig. 1 to 5 of the drawings.

As shown in fig. 1 and 2, a spiral pipe belt 2 is preset in a pipe 1, a clamping groove 3 is arranged on one side of the pipe belt 2 in the width direction, a protrusion 4 is arranged on the other side of the pipe belt 2 in the width direction, the clamping groove 3 and the protrusion 4 both extend along the length direction of the pipe belt 2, wherein the clamping groove 3 is open in the direction close to the inside of the pipe 1, the protrusion 4 protrudes in the direction far away from the inside of the pipe 1, and the edge 5 is arranged on the pipe belt 2 in the width direction between the side surface close to the clamping groove 3 and the clamping groove 3.

Specifically, taking the visual angle shown in fig. 2 as an example, the pipeline 1 extends in the front-rear direction, the pipe belt 2 is a pipe belt 2 made of plastic, the front end edge of the pipe belt 2 is provided with a protrusion 4, the rear side edge is provided with a clamping groove 3, the clamping groove 3 and the rear side edge are provided with edges 5, the protrusion 4 protrudes towards the direction far away from the inside of the pipeline 1, the clamping groove 3 opens towards the direction close to the inside of the pipeline 1, the shape of the clamping groove 3 is matched with the shape of the protrusion 4, and therefore the protrusion 4 can be clamped into the clamping groove 3. When the band 2 is pre-implanted in the pipe 1 in a loose spiral shape, a spiral gap is formed, and the locking groove 3 and the protrusion 4 are adjacent to each other at the spiral gap.

As shown in fig. 3 and 4, the robot includes: the automatic belt pressing device comprises a base 6, a roller 7, a driving mechanism 8, a turntable 9, a guide roller shaft 10, a guide grooved wheel 11, a belt pressing roller shaft 12 and a rolling assembly.

The bottom of base 6 is equipped with gyro wheel 7, and actuating mechanism 8 is located on base 6, and actuating mechanism 8 links to each other with the rear side of carousel 9 in order to drive carousel 9 to rotate, and the rotation direction of carousel 9 is opposite with the spiral direction of pipe area 2. Wherein, actuating mechanism 8 includes motor and reduction gear, and the motor links to each other with the reduction gear, and the reduction gear links to each other with carousel 9.

A first connecting rod 17 is detachably mounted on the rear side of the turntable 9, the guide roller shaft 10 is located on the front side of the turntable 9, the guide roller shaft 10 extends in the front-back direction, and the rear end of the guide roller shaft 10 is connected with the first connecting rod 17; the guide roller shaft 10 is provided with a guide sheave 11, the guide sheave 11 is positioned at the front side of the turntable 9, the peripheral surface of the guide sheave 11 is provided with a first annular groove 21 and a second annular groove 22, the first groove 21 is positioned at the rear side, the second groove 22 is positioned at the front side, the protrusion 4 is suitable for being embedded in the first groove 21, the edge 5 is suitable for being embedded in the second groove 22, and the front end of the guide roller shaft 10 is bent towards the direction close to the inside of the pipeline 1 to form a first hook 19.

The rear side of the rotary table 9 is detachably provided with a second connecting rod 18, the press belt roller shaft 12 is positioned on the front side of the rotary table 9, the press belt roller shaft 12 extends along the front-back direction, the rear end of the press belt roller shaft 12 is connected with the second connecting rod 18, the press belt roller shaft 12 is adjacent to the guide roller shaft 10, and the front end of the press belt roller shaft 12 is bent towards the direction away from the inside of the pipeline 1 to form a second clamping hook 20.

In practice, in order to reduce the friction with the tube web 2, the guide roller 10 and the pinch roller shaft 12 are each provided with a rotatable bushing adapted to abut against the tube web 2.

The rolling assembly comprises a rolling wheel 13, a swing rod 14, a spring 15 and a positioning column 16; turntable 9 is provided with swingable swing rod 14, swing rod 14 is provided with rolling wheel 13 in a rotating manner, rolling wheel 13 is located on the front side of turntable 9, turntable 9 is provided with positioning column 16 and spring 15, spring 15 is connected with swing rod 14, and spring 15 is used for pulling swing rod 14 to swing along the rotating direction of turntable 9 so as to abut against positioning column 16.

In order to improve the rolling effect, the rolling assembly should be a plurality of rolling assemblies, and the plurality of rolling assemblies are arranged at intervals along the circumferential direction of the rotating disc 9.

The working principle of the device is as follows: before the device is used, the pipeline 1 needs to be cleaned and primarily repaired simply, for example, sludge and garbage inside the pipeline 1 are cleaned, and for example, if the pipeline 1 is collapsed and the like, so that the inner wall protrusion 4 is generated, the recess needs to be repaired to be flattened to a certain extent, and then the plastic pipe belt 2 is put into the pipeline 1 in a spiral manner.

After the pipe belt 2 is put into the pipe belt, the protrusions 4 on the initial circles of the pipe belt 2 are manually pressed into the adjacent clamping grooves 3 at one end of the pipeline 1 to preliminarily position the pipe belt 2, and then the pipe belt is sent into the robot from the other end of the pipeline 1.

After the robot is fed, referring to fig. 5, the guide roller shaft 10 is inserted between the pipe tape 2 and the pipe 1, and the edge 5 at the spiral gap is embedded in the second groove 22, the protrusion 4 is embedded in the first groove 21, and the pipe tape 2 is hooked by the first hook 19 to prevent the pipe tape 2 from deviating, while the pinch roller shaft 12 and the pinch roller 13 are located at one side of the pipe tape 2 close to the inside of the pipe 1 and press the pipe tape 2, and the second hook 20 on the pinch roller shaft 12 hooks the pipe tape 2. That is, after the robot is properly positioned, the tube strip 2 needs to be placed on the guide roller 7, the protrusion 4 is embedded in the first groove 21, the edge 5 is embedded in the second groove 22, and the other pinch roller shafts 12 and the pinch roller 13 press the tube strip 2 against the inner wall of the pipe 1.

According to the experience of life, taking a spiral spring 15 as an example, if the spring 15 is screwed along the spiral direction of the spring 15, the spring 15 is tightened, the outer diameter of the spring 15 is small, and if the spring 15 is screwed against the spiral direction of the spring 15, the spring 15 is expanded, and the outer diameter of the spring 15 is increased.

Therefore, after the driving mechanism 8 is started, the driving mechanism 8 drives the rotary table 9 to rotate, the belt pressing roller shaft 12, the guiding roller shaft 10 and the rolling roller 13 can rotate along with the rotary table 9, because the rotation direction of the rotary table 9 is opposite to the spiral direction of the pipe belt 2, in the rotation process, the spiral pipe belt 2 can be expanded outwards to abut against the inner wall of the pipeline 1, in the process, the belt pressing roller shaft 12 is mainly used for pressing the pipe belt 2 which is not pressed, the pipe belt 2 is prevented from shifting, the guiding roller shaft 10 mainly guides the bulges 4 and the clamping grooves 3 of the pipe belt 2 which is not pressed and distributed on two sides of the guiding roller shaft 10 through the matching of the bulges 4, the edges 5 and the guiding grooved wheels 11, the bulges 4 and the clamping grooves 3 are made to approach each other, and therefore the subsequent rolling roller 13 can press the bulges 4 into the clamping grooves 3 to finish the fixing of the pipe belt 2.

In the process of rotating and pressing, if the rolling wheel 13 cannot easily pass by due to the fact that the inward convex bump on the inner wall of the pipeline 1 is met, the rolling wheel 13 can drive the swing rod 14 to overcome the elasticity of the spring 15 and rotate in the direction opposite to the rotating direction of the turntable 9 after touching the bump, so that the rolling wheel 13 can move close to the inside of the pipeline 1, the rolling wheel can smoothly slide on the bump, the swing rod 14 can be pulled again by the spring 15 to swing to the state abutted against the positioning column 16 after the bump is bypassed, the use flexibility of the robot can be improved, and the robot cannot be easily blocked.

Because the pipe belt 2 is spiral, after the first hook 19 and the second hook 20 hook the pipe belt 2, in the rotating and pressing process, the acting force applied to the robot by the pipe belt 2 through the first hook 19 and the second hook 20 has a component force along the axial direction of the pipeline 1, and the component force can drive the robot to automatically move forwards, so that the turntable 9 continuously rotates, the pipe belt 2 can be continuously pressed and fixed on the inner wall of the pipeline 1, the robot can slowly and automatically move forwards, and finally, the whole pressing and forming of the pipe belt 2 is completed, and a new spiral pipeline 1 formed by the pipe belt 2 and tightly abutted against the inner wall of the pipeline 1 is formed, so that the automatic excavation-free repairing of the underground large-diameter pipeline 1 is realized.

In conclusion, the spiral pipe belt 2 which is put into the underground large-caliber pipeline 1 in advance can be pressed on the inner wall of the pipeline 1 by using the pipe winding robot to form a new pipeline 1, automatic excavation-free repair of the underground large-caliber pipeline 1 is realized, and the mode effectively improves the repair efficiency, reduces the repair difficulty and has popularization prospect.

While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.