A method for repairing a field joint of a buried pipeline

Abstract

The application provides a buried pipeline pipe joint misalignment repair method, and belongs to the technical field of pipeline repair, and comprises the following steps: step one, grouting and reinforcing the external soil body deviated to one side of the pipe joint; step two, pushing and repairing the pipe joint misalignment position in the pipe joint; step three, grouting and reinforcing the surrounding of the pipe joint misalignment position; step four, cutting and grinding the inner wall of the pipe joint misalignment position in the pipe joint; and step five, lining and repairing the pipe joint misalignment position in the pipe joint. The buried pipeline pipe joint misalignment repair method provided by the application can prevent the pipe joint misalignment from further developing seriously in the subsequent pushing and repairing process in step one, and can further restore the misalignment and prevent the misalignment from further developing seriously in step three. Through the non-excavation repair treatment, the repair of the third and fourth grade serious misalignment is realized, the pipeline flow section can be comprehensively restored, and the further development of the misalignment can be prevented.

Description

Technical Field

[0001] This invention relates to the field of pipeline repair technology, specifically to a method for repairing misaligned joints in buried pipelines. Background Technology

[0002] Buried municipal pipelines, especially brittle pipelines, often suffer from defects such as misalignment due to reasons such as insecure pipe joint connections during construction, changes in the load above the pipeline, soil loss around the pipe, or uneven settlement. These defects seriously affect the normal operation of the pipeline.

[0003] Currently, there are two methods for handling pipe misalignment: one is open-cut repair, but municipal pipelines are mostly located in busy urban areas, where excavation is often not feasible; the other is trenchless repair. Trenchless repair can only handle minor misalignments of level one and two, typically using stainless steel double expansion rings and localized resin curing for localized lining repair. However, it cannot effectively handle severe misalignments of level three and four. Taking drainage pipelines as an example, pipe misalignment inevitably affects the pipeline's flow cross-section, and trenchless repair is only a functional repair, only fixing the leakage caused by the misalignment, but not restoring the flow capacity. Summary of the Invention

[0004] Therefore, the technical problem to be solved by the present invention is to overcome the defect of the prior art in which trenchless repair cannot handle the severe misalignment of third and fourth grade pipe sections, thereby providing a method for repairing misalignment of buried pipe sections.

[0005] To solve the above-mentioned technical problems, the present invention provides a method for repairing misaligned joints of buried pipelines, comprising the following steps:

[0006] Step 1: Grouting is performed to reinforce the external soil on one side of the pipe section;

[0007] Step 2: Repair the misaligned sections of the pipe section by jacking them inside the pipe section;

[0008] Step 3: Grouting is performed around the misaligned joint of the pipe section for reinforcement.

[0009] Step 4: Cut and grind the inner wall of the misaligned part of the pipe section inside the pipe section.

[0010] Step 5: Repair the misaligned joints of the pipe sections by lining them inside the pipe section.

[0011] Optionally, in step five, the misaligned joint of the pipe section is repaired by using a stainless steel double expansion ring, a stainless steel quick lock, or localized resin curing inside the pipe section.

[0012] Optionally, in steps one and three, the grouting material used for grouting is cement fly ash grout, cement clay grout, or polyurethane grout.

[0013] Optionally, in steps one and three, a grouting robot is used to grout the outside of the misaligned section of the pipe section from inside the pipe section.

[0014] Optionally, the grouting robot includes:

[0015] First vehicle body;

[0016] A drive assembly is disposed on the first vehicle body, and the drive assembly has a first output terminal and a second output terminal;

[0017] A drilling assembly and a grouting assembly are mounted on the first vehicle body. The grouting assembly is connected to the first output end, and the drilling assembly is connected to the second output end. The driving assembly drives the grouting assembly and the drilling assembly to move synchronously in opposite directions. In use, the driving assembly first moves the drilling assembly to the position to be drilled and then drills the hole. Then, the driving assembly moves the grouting assembly into the hole to perform grouting.

[0018] Optionally, in step two, the misaligned portion of the pipe section is pushed up inside the pipe section using a pipe section misalignment repair device.

[0019] Optionally, the pipe section misalignment repair device includes:

[0020] Second car body;

[0021] A jacking mechanism is disposed on the second vehicle body. The jacking mechanism includes a first jacking member and a second jacking member, which are symmetrically arranged.

[0022] Optionally, the jacking mechanism has multiple sets, and the jacking components of the multiple sets of jacking mechanisms are evenly distributed in the circumferential direction, and each set of jacking mechanisms can work independently.

[0023] Optionally, the second vehicle body is driven by a double-rocker tracked walking mechanism.

[0024] Optionally, in step four, a grinding robot is used to cut and grind the inner wall of the misaligned part of the pipe section inside the pipe section.

[0025] Optionally, the polishing robot includes:

[0026] Third vehicle body;

[0027] A grinding component is installed on the third vehicle body. The grinding component grinds the misaligned parts of the pipe sections by means of a drive.

[0028] Optionally, the polishing assembly is connected to the third vehicle body via a first adjusting assembly, the first adjusting assembly being used to adjust the position of the polishing assembly.

[0029] The technical solution of this invention has the following advantages:

[0030] 1. The buried pipeline segment misalignment repair method provided by this invention, for severely misaligned segments, firstly, grouting and reinforcement of the external soil on one side of the segment to prevent further development of the misalignment during the subsequent jacking repair process, then jacking repair of the misaligned segment inside the segment, and grouting and reinforcement of the surrounding area of ​​the misalignment, can further restore the misalignment through grouting. Reinforcing the pipeline foundation can also prevent the misalignment from developing further. Then, the repaired inner wall is cut and ground smooth, and finally, the inner lining is repaired. Through trenchless repair, the repair of severe misalignments of level three and four is achieved, ensuring the stability of the repair process. It can not only fully restore the pipeline flow section, but also prevent the misalignment from developing further.

[0031] 2. The buried pipeline section misalignment repair method provided by the present invention uses stainless steel double expansion rings, stainless steel quick locks, or local resin curing to line and repair the misaligned part of the pipe section, ensuring the tightness of the misalignment. The lining repair process is simple and quick.

[0032] 3. The buried pipeline joint misalignment repair method provided by the present invention uses cement fly ash grout, cement clay grout or polyurethane grout as the grouting material, which has good stability and fluidity, improves the working performance of the surrounding land, and makes the pipeline joint misalignment repair more stable.

[0033] 4. The buried pipeline joint misalignment repair method provided by the present invention uses a grouting robot, a joint misalignment repair device, and a grinding robot to perform grouting, jacking repair, and grinding respectively, realizing mechanized and automatic operation, saving time and labor, eliminating the need for excavation repair, and reducing interference with urban traffic.

[0034] 5. The buried pipeline joint misalignment repair method provided by the present invention includes a grouting robot comprising a first vehicle body, a drive assembly, a drilling assembly, and a grouting assembly. The drive assembly has a first output end and a second output end. The grouting assembly is connected to the first output end, and the drilling assembly is connected to the second output end. The drive assembly drives the grouting assembly and the drilling assembly to move synchronously in opposite directions. The drilling assembly moves to the position to be drilled by the drive and then drills. The grouting assembly moves into the hole by the drive and then grouts. The drilling and grouting processes are independent of each other and are driven by the same drive assembly. Both are set on the workbench, eliminating the need for two sets of equipment. The drive assembly automatically realizes the alternation of the drilling assembly and the grouting assembly, improving grouting efficiency and avoiding clogging caused by small grouting holes.

[0035] 6. The buried pipeline section misalignment repair method provided by the present invention includes a second vehicle body and a jacking mechanism. The jacking mechanism includes a first jacking component and a second jacking component, which are symmetrically arranged. When the second vehicle body moves to the misalignment position, the first jacking component and the second jacking component are activated to push the misalignment, so that the misalignment is gradually restored, effectively solving the problem of difficult repair of severe misalignment of municipal pipeline sections.

[0036] 7. The buried pipeline section misalignment repair method provided by the present invention has multiple sets of jacking mechanisms, and the jacking components of the multiple sets of jacking mechanisms are evenly distributed in the circumferential direction, which can be applied to various types of misalignment and has strong versatility.

[0037] 8. The buried pipeline section misalignment repair method provided by the present invention uses a second vehicle body driven by a double rocker arm tracked walking mechanism, which helps the auxiliary device improve its obstacle-crossing ability and facilitates crossing the misaligned section to reach another pipeline section. In addition, the tracked design can improve the robot's ability to adapt to complex working conditions.

[0038] 9. The buried pipeline section misalignment repair method provided by the present invention includes a grinding robot comprising a third vehicle body and a grinding component. The grinding component grinds the misaligned part of the pipe section by driving it, thereby realizing automatic grinding of the misaligned part, saving time and effort, and achieving high efficiency.

[0039] 10. The buried pipeline joint misalignment repair method provided by the present invention uses a grinding component connected to a third vehicle body via a first adjustment component. The first adjustment component is used to adjust the position of the grinding component, and the grinding component can be adjusted accordingly according to the actual position to be ground, which has strong versatility. Attached Figure Description

[0040] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0041] Figure 1 A flowchart illustrating a specific implementation of a method for repairing misaligned joints of buried pipelines provided in an embodiment of the present invention;

[0042] Figure 2 This is a structural diagram illustrating steps two and three.

[0043] Figure 3 This is a schematic diagram of the structure after the lining repair in step five;

[0044] Figure 4 for Figure 2A schematic diagram of the structure of the grouting robot;

[0045] Figure 5 for Figure 4 Top view;

[0046] Figure 6 for Figure 4 Schematic diagram of the drive assembly, grouting assembly and drilling assembly;

[0047] Figure 7 for Figure 4 A schematic diagram of a structure for drilling holes in the top of a pipe;

[0048] Figure 8 for Figure 4 A schematic diagram of the structure for grouting the top of the pipe inside the pipe;

[0049] Figure 9 for Figure 4 A schematic diagram of drilling holes in the bottom of the pipe;

[0050] Figure 10 for Figure 4 A schematic diagram of the structure for grouting the bottom of the pipe inside the pipe;

[0051] Figure 11 for Figure 2 Schematic diagram of the structure of the pipe section misalignment repair device;

[0052] Figure 12 for Figure 11 Schematic diagram of the middle jacking mechanism;

[0053] Figure 13 A schematic diagram of a pipe joint misalignment repair device placed inside a pipe;

[0054] Figure 14 A schematic diagram of a grinding robot placed inside a pipe.

[0055] Explanation of reference numerals in the attached figures:

[0056] 1. Grouting robot; 2. First vehicle body; 3. Drive assembly; 4. First output end; 5. Second output end; 6. Drilling assembly; 7. Grouting assembly; 8. Pipe joint misalignment repair device; 9. Second vehicle body; 10. Pushing mechanism; 11. First pushing component; 12. Second pushing component; 13. Walking mechanism; 14. Grinding robot; 15. Third vehicle body; 16. Grinding assembly; 17. First adjustment assembly; 18. Mounting component; 19. Second adjustment assembly; 20. Rotating component; 21. Height adjustment component; 22. Angle adjustment component; 23. First lifting component; 24. Second lifting component; 25. First drive assembly; 26. Drive wheel; 27. Synchronous belt; 28. Internal gear; 29. ​​External gear; 30. First gear; 31. Drill rod; 32. Second drive component; 33. Second gear; 34. Fixing mechanism; 35. Upper telescopic support; 36. Lower telescopic support; 37. Upper top plate; 38. Lower top plate; 39. First camera device; 40. Lighting component; 41. Adjusting component; 42. Traveling wheel; 43. Third drive component; 44. First adjusting component; 45. Second adjusting component; 46. Second camera device; 47. Third adjusting component; 48. First push plate; 49. Second push plate; 50. Inner liner. Detailed Implementation

[0057] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0058] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0059] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0060] Furthermore, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0061] The buried pipeline section misalignment repair method provided in this embodiment achieves the repair of severe misalignments of level three and four through trenchless repair, ensuring stability during the repair process. It can not only fully restore the pipeline flow cross section, but also prevent the misalignment from developing further.

[0062] like Figure 1 The image shows a specific implementation of the buried pipeline joint misalignment repair method provided in this embodiment, which includes the following steps:

[0063] Step 1: Grouting is performed to reinforce the external soil on one side of the pipe section;

[0064] Step 2: Repair the misaligned sections of the pipe section by jacking them inside the pipe section;

[0065] Step 3: Grouting is performed around the misaligned joint of the pipe section for reinforcement.

[0066] Step 4: Cut and grind the inner wall of the misaligned part of the pipe section inside the pipe section.

[0067] Step 5: Repair the misaligned joints of the pipe sections by lining them inside the pipe section.

[0068] Trenchless repair was used to repair severe misalignments of level three and four, ensuring stability during the repair process. This not only fully restored the pipeline flow cross-section but also prevented the misalignment from developing further.

[0069] Specifically, before processing, a misalignment level evaluation of the pipe section can be performed to determine whether the misalignment level exceeds level 3. If the misalignment level exceeds level 3, proceed to step one; otherwise, proceed directly to step five. The specific process includes: using acquisition equipment to collect video and images of the buried pipeline, such as CCTV detection devices, QV detection devices, sonar detection devices, or 3D laser scanning devices; and evaluating the misalignment level of the pipe section based on the video, images, and other data collected from the pipeline, according to the pipeline evaluation method given in the Technical Specification for Inspection and Evaluation of Urban Drainage Pipelines, to determine whether it exceeds level 3.

[0070] In step one, determine the relative position of the misalignment, and grout the soil on one side of the pipe section to reinforce it, so as to prevent the misalignment from developing further during subsequent jacking repair. If the misalignment is vertical, grout the soil at the bottom of the pipe to reinforce it, so as to ensure that the pipe will not settle during the jacking process. After the grout has completely solidified, proceed to step two.

[0071] In step two, such as Figure 2 As shown, the pipe section misalignment can be completely or partially repaired through jacking repair. Complete repair means that the two pipe sections are completely aligned after the jacking repair is completed and there is no more misalignment. Partial repair means that when the jacking process reaches a state where it is impossible to jack further, the two pipe sections are not completely aligned and there is a slight misalignment. After the pipe section is repaired, the jacking mechanism is not withdrawn, but continues to jack. Step 3 is carried out in the jacking state. After the slurry in step 3 is completely solidified, the jacking mechanism is withdrawn.

[0072] In step three, such as Figure 2 As shown, grouting is performed around the misaligned pipe section to reinforce it. After the misalignment is restored, a cavity will inevitably form around the pipe. First, the cavity around the pipe is filled with grout. At the same time, for misalignments that have not been fully restored, grouting can be used to further restore the misalignment. Grouting is also performed on the soil in other parts to ensure that the entire foundation of the pipeline is reinforced and to prevent the misalignment from developing further.

[0073] In step four, the inner wall of the misaligned section of the pipe section is cut and ground smooth. For partially repaired misalignments, the misaligned section along with the solidified material that has leaked into the pipe is cut and ground smooth to ensure that the misaligned section is smooth. If the misalignment is not completely repaired, only the leaked solidified material needs to be cut and ground smooth. If there is no solidified material that has leaked into the pipe, no treatment of the solidified material is required.

[0074] The buried pipeline section misalignment repair method provided in this embodiment, in step five, uses stainless steel double expansion rings, stainless steel quick-locks, or localized resin curing to line and repair the misaligned area inside the pipe section, ensuring the tightness of the misalignment. The lining repair process is simple and quick. For completely repaired misalignments, stainless steel quick-locks or localized resin curing are used; for partially repaired misalignments, stainless steel double expansion rings or localized resin curing are used. Alternatively, as an alternative implementation, HDPE diameter reduction or spiral pipe lining can also be used for lining repair. Figure 3 The diagram shows the structure after the lining repair. After the repair, an inner lining sheet 50 is formed at the misalignment of the pipe section.

[0075] The buried pipeline joint misalignment repair method provided in this embodiment uses cement-fly ash grout, cement-clay grout, or polyurethane grout as the grouting material in steps one and three. These materials possess good stability and fluidity, improving the workability of the surrounding soil and making the repaired pipeline joint more stable. Alternatively, as an alternative implementation, ultrafine cement grouting material can also be used.

[0076] like Figure 2As shown in the embodiment, the method for repairing misaligned sections of buried pipelines provided in this embodiment involves using a grouting robot 1 to grout the misaligned section from inside the pipe section in steps one and three. This achieves mechanized and automated operation, saving time and labor, eliminating the need for excavation repair, and reducing disruption to urban traffic. For large-diameter pipelines with a diameter of DN800 and above, manual grouting can be performed inside the pipe; for small-diameter pipelines with a diameter of less than DN800, grouting can be performed using the grouting robot 1.

[0077] like Figures 4 to 6 As shown, the grouting robot 1 includes a first vehicle body 2, a drive assembly 3, a drilling assembly 6, and a grouting assembly 7. The drive assembly 3 is mounted on the first vehicle body 2 and has a first output end 4 and a second output end 5. The drilling assembly 6 and the grouting assembly 7 are also mounted on the first vehicle body 2. The grouting assembly 7 is connected to the first output end 4, and the drilling assembly 6 is connected to the second output end 5. The drive assembly 3 drives the grouting assembly 7 and the drilling assembly 6 to move synchronously in opposite directions. In use, the drive assembly 3 first moves the drilling assembly 6 to the position to be drilled and then drills the hole. Then, the drive assembly 3 moves the grouting assembly 7 into the hole for grouting. The drilling and grouting processes are independent of each other and are driven by the same drive assembly 3. Both are mounted on the first vehicle body 2, eliminating the need for two sets of equipment. The drive assembly 3 automatically alternates between the drilling assembly 6 and the grouting assembly 7, improving grouting efficiency and avoiding clogging caused by small grouting holes.

[0078] like Figure 4 As shown, the grouting robot 1 also includes a mounting component 18. The drive assembly 3 is disposed on the mounting component 18, and the grouting assembly 7 and the drilling assembly 6 are slidably disposed on the mounting component 18. The mounting component 18 provides support for the grouting assembly and the drilling assembly 6, making their sliding more stable. Specifically, the mounting component 18 can consist of a mounting base plate and a mounting side plate. The mounting side plate is provided with a sliding groove or a sliding rail. Both the grouting assembly 7 and the drilling assembly 6 are provided with corresponding sliding rails or sliding grooves. The sliding rails and grooves make the sliding process more stable. Alternatively, as an alternative implementation, the mounting component 18 can be omitted, the drive assembly 3 can be directly mounted on the first vehicle body 2, and the grouting assembly 7 and the drilling assembly 6 can be slidably disposed on different sliding rail structures.

[0079] like Figure 4As shown, the grouting robot 1 also includes a second adjustment component 19, which is mounted on the first vehicle body 2 and connected to the mounting component 18. The second adjustment component 19 drives the mounting component 18 to move. The second adjustment component 19 can adjust the angle and height of the mounting component 18 according to the position of the hole to be drilled, making it highly versatile and adaptable to grouting operations with different pipe diameters. Alternatively, as an alternative implementation, the second adjustment component 19 can be omitted, and the grouting component 7 and the drilling component 6 can be set with fixed height and angle.

[0080] like Figure 4 As shown, the second adjustment component 19 includes a rotating component 20, a height adjusting component 21, and an angle adjusting component 22. The rotating component 20 is mounted on the first vehicle body 2. The height adjusting component 21 is connected to the output end of the rotating component 20. The angle adjusting component 22 is connected to the output end of the height adjusting component 21, and the output end of the angle adjusting component 22 is connected to the mounting component 18. The rotating component 20 is used to adjust the direction of the mounting component 18. When the drilling position is on the side wall, the overall direction of the mounting component 18 can be adjusted by the rotating component 20. The height adjusting component 21 is used to adjust the height of the mounting component 18, and the angle adjusting component 22 is used to adjust the pitch of the mounting component 18, facilitating grouting to the top and bottom of the pipe. Specifically, the rotating component 20 can be a motor, an electric rotary disk, etc., and the height adjusting component 21 can be an electric cylinder, a pneumatic cylinder, or a hydraulic cylinder, etc. The output end of the height adjusting component 21 is provided with a mounting plate, and the angle adjusting component 22 is mounted on the mounting plate.

[0081] The angle adjustment component 22 includes a first lifting component 23 and a second lifting component 24, the output ends of which are hinged to the two ends of the mounting component 18, respectively. The angle of the mounting component 18 is adjusted by moving the first lifting component 23 and the second lifting component 24 at different heights. The structure is simple and the angle adjustment is convenient. The first lifting component 23 and the second lifting component 24 are hydraulic cylinders, pneumatic cylinders, or electric cylinders.

[0082] like Figures 4 to 6As shown, the drive assembly 3 includes a first drive member 25 and a transmission wheel 26. The transmission wheel 26 has at least one set and is connected to the first drive member 25. The grouting assembly 7 and the drilling assembly 6 are respectively connected to both sides of the transmission wheel 26. The rotation of the transmission wheel 26 drives the grouting assembly 7 and the drilling assembly 6 to move synchronously in opposite directions. The drive structure is simple, simultaneously driving the grouting assembly 7 and the drilling assembly 6 through a single first drive member 25. The structure is compact and automatically achieves the alternation of the drilling assembly 6 and the grouting assembly 7, improving work efficiency. The transmission wheel 26 is a gear. The first drive member 25 is fixed on the mounting member 18, and the transmission wheel 26 is coaxially fixed at the output end of the first drive member 25. The first drive member 25 can be a motor. The first drive member 25 can directly drive the rotation of the transmission wheel 26, or indirectly drive the rotation of the transmission wheel 26 through the transmission member. Alternatively, as an alternative implementation, the drive assembly 3 can also be other structures. For example, a cylinder can drive a connecting rod to make the two ends of the connecting rod move synchronously in opposite directions, connecting the grouting assembly 7 and the drilling assembly 6 to the two ends of the connecting rod respectively, thus achieving the alternating operation of the drilling assembly 6 and the grouting assembly through a single cylinder.

[0083] like Figure 4 and Figure 6 As shown, the drive assembly 3 also includes a synchronous belt 27. The inner wall of the synchronous belt 27 has internal teeth 28. There are two sets of transmission wheels 26, which are connected by the synchronous belt 27. The internal teeth 28 mesh with the transmission wheels 26 for transmission. One straight edge of the synchronous belt 27 is the first output end 4, and the other straight edge of the synchronous belt 27 is the second output end 5. The first drive member 25 drives the first output end 4 and the second output end 5 to move synchronously in opposite directions. The first output end 4 is connected to the grouting assembly 7, and the second output end 5 is connected to the drilling assembly 6. The synchronous belt 27 improves the stability of the grouting assembly 7 and the drilling assembly 6 during transmission, and increases the moving distance of the grouting assembly 7 and the drilling assembly 6, resulting in better adaptability. The first drive member 25 only needs to drive one set of transmission wheels 26.

[0084] like Figure 6 As shown in the embodiment, the method for repairing misaligned sections of buried pipelines provided in this embodiment has an external toothed portion 29 on the outer wall of the synchronous belt 27. The grouting assembly includes a grouting conduit, which is arranged parallel to the first output end 4. A first toothed portion 30 is provided on the side wall of the grouting conduit, and the first toothed portion 30 engages with the external toothed portion 29 on the first output end 4 for transmission. The grouting conduit is connected to grouting equipment on the ground. The movement of the grouting conduit is realized through tooth engagement, and grouting is achieved in the borehole through pumping by the grouting equipment on the ground.

[0085] like Figure 4 and Figure 6 As shown, the drilling assembly 6 includes a drill rod 31 and a second drive member 32. The drill rod 31 is arranged parallel to the second output end 5. The second drive member 32 is connected to the drill rod 31, and a second tooth 33 is provided on the side wall of the second drive member 32. The second tooth 33 meshes with the external tooth 29 on the second output end 5 for transmission. Through tooth meshing, the drill rod 31 can be moved to the drilling location, and at the same time, the second drive member 32 is activated, realizing the drilling process during the movement. The drilling process is fast and stable. The second drive member 32 is a motor, which drives the rotation of the drill rod 31 to realize drilling. Among them, the first tooth 30 and the second tooth 33 are racks. The rack configuration maximizes the movement distance of the grouting assembly and the drilling assembly 6. In addition, as an alternative embodiment, the first tooth 30 and the second tooth 33 can also be a discontinuous rack structure.

[0086] like Figure 4 As shown, the grouting robot 1 also includes a fixing mechanism 34, which includes an upper telescopic support 35 and a lower telescopic support 36. The upper telescopic support 35 is disposed on the top surface of the first vehicle body 2, and an upper top plate 37 is disposed at the top of the upper telescopic support 35 for abutting against the top of the pipe. The lower telescopic support 36 is disposed on the bottom surface of the first vehicle body 2, and a lower top plate 38 is disposed at the bottom of the lower telescopic support 36 for abutting against the bottom of the pipe. Through the pushing force of the upper telescopic support 35 and the lower telescopic support 36, the upper top plate 37 and the lower top plate 38 are tightly attached to the inner wall of the pipe, which maintains the stability of the device on the one hand, and provides the reaction force required during the drilling process through the friction between the top plate and the pipe wall on the other hand. Specifically, the upper telescopic support 35 and the lower telescopic support 36 can be hydraulic cylinders, electric cylinders, pneumatic cylinders, or other structures. The top surface of the upper top plate 37 and the bottom surface of the lower top plate 38 are curved surfaces to adapt to the internal structure of the pipe, achieving a better tight fit and further improving stability. Pressure detection elements are provided on the top surface of the upper top plate 37 and the bottom surface of the lower top plate 38 to monitor the pressure between the top plate and the pipe wall, preventing excessive pressure from rupturing the pipe. Specifically, the pressure detection elements are thin-film pressure sensors, which do not occupy space and provide accurate pressure monitoring.

[0087] like Figure 4As shown, the grouting robot 1 also includes a first camera device 39, a supplementary lighting component 40, and a controller. The first camera device 39 is mounted on the first vehicle body 2; the supplementary lighting component 40 is mounted on the first vehicle body 2 to provide supplementary lighting for the first camera device 39; the controller is electrically connected to the first camera device 39, the grouting assembly 7, and the drilling assembly 6. The first camera device 39 is used to observe the situation inside the pipe wall and transmit the image signal to the controller, driving the first vehicle body 2 to a designated position. The supplementary lighting component 40 is used to provide supplementary lighting for the first camera device 39, facilitating its imaging. Based on the real-time imaging of the first camera device 39, the controller drives the first vehicle body 2 and the grouting mechanism to operate. The supplementary lighting component 40 can be located around the first camera device 39 and can be an LED light.

[0088] The first camera device 39 is mounted on the first vehicle body 2 via an adjusting member 41. The adjusting member 41 is used to adjust the position of the first camera device 39, thereby increasing the shooting range and improving the shooting accuracy. Specifically, the adjusting member 41 consists of multiple wall rods and a telescopic cylinder, which can drive the first camera device 39 to move up and down. The telescopic bracket is hinged to the first camera device 39 via the telescopic cylinder, ensuring that the first camera device 39 can achieve a pitch movement within a 90° range. The bottom wall rod of the telescopic bracket is connected to the first vehicle body 2 via a ball joint, ensuring that the telescopic bracket can rotate within a 360° range. The telescopic bracket is installed on the side of the top surface of the first vehicle body 2, and the grouting assembly 7 and the drilling assembly 6 are located on the centerline of the top surface of the first vehicle body 2.

[0089] like Figure 4 and Figure 5 As shown, the first vehicle body 2 of the grouting robot 1 is equipped with four sets of walking wheels 42 at its front and rear ends. The walking wheels 42 are connected to the third drive unit 43 and are Mecanum wheels. The third drive unit 43 can be a motor, which drives the walking wheels 42 to move to the designated position. The walking wheels 42 are Mecanum wheels, which can realize omnidirectional movement such as forward, backward, translation, and rotation, and can adapt well to the walking environment inside the pipe.

[0090] like Figure 7 and Figure 8 As shown, the method for grouting the top of a buried pipeline using an internal grouting device includes:

[0091] The device is placed inside the pipe to be grouted through the inspection well;

[0092] Control the first vehicle body 2 to drive the device to move inside the pipeline, and observe the situation inside the pipeline through the first camera device 39, and reach the position where grouting is required;

[0093] The upper telescopic support 35 and the lower telescopic support 36 begin to push forward, so that the upper top plate 37 and the lower top plate 38 are tightly fitted with the inner wall of the pipe respectively. The pressure at the upper top plate 37 and the lower top plate 38 is monitored by the pressure detection device. When the pressure approaches the compressive strength of the pipe wall, the pushing forward is stopped and the pushing force is kept still.

[0094] The position of the mounting component 18 can be adjusted by rotating component 20 and height adjusting component 21;

[0095] The second lifting component 24 extends and retracts, adjusting the inclination of the mounting component 18 so that the axis of the drill rod 31 of the drilling assembly 6 passes through the position of the pipe wall where drilling is required.

[0096] Open the second drive unit 32 and the first drive unit 25, and the synchronous belt 27 rotates clockwise, driving the drill rod 31 to drill into the pipe wall;

[0097] When the first drive component 25 is closed, the second lifting component 24 is finely adjusted, which drives the drill rod 31 to expand the hole.

[0098] Open the first drive unit 25, and the synchronous belt 27 rotates counterclockwise, causing the drill rod 31 of the drilling assembly 6 to exit from the pipe hole. Then close the first drive unit 25 and the second drive unit 32.

[0099] Adjust the extension and retraction of the second lifting component 24 and adjust the inclination of the mounting component 18 so that the axis of the grouting pipe passes through the center of the borehole;

[0100] Open the first drive component 25, and the synchronous belt 27 rotates counterclockwise, driving the grouting pipe into the borehole;

[0101] Close the first drive unit 25, turn on the grouting pump of the grouting equipment, and start grouting.

[0102] After grouting is completed, the grouting conduit is withdrawn, all adjusting components are restored, and the device is removed from the pipeline.

[0103] like Figure 9 and Figure 10 As shown, the method for grouting the bottom of buried pipelines using an internal grouting device includes:

[0104] The device is placed inside the pipe to be grouted through the inspection well;

[0105] Control the first vehicle body 2 to drive the device to move inside the pipeline, and observe the situation inside the pipeline through the first camera device 39, and reach the position where grouting is required;

[0106] The upper telescopic support 35 and the lower telescopic support 36 begin to push forward, so that the upper top plate 37 and the lower top plate 38 are tightly fitted with the inner wall of the pipe respectively. The pressure at the upper top plate 37 and the lower top plate 38 is monitored by the pressure detection device. When the pressure approaches the compressive strength of the pipe wall, the pushing forward is stopped and the pushing force is kept still.

[0107] The position of the mounting component 18 can be adjusted by rotating component 20 and height adjusting component 21;

[0108] The first lifting component 23 extends and retracts, adjusting the inclination of the mounting component 18 so that the axis of the drill rod 31 of the drilling assembly 6 passes through the pipe wall at the position where drilling is required.

[0109] Open the second drive unit 32 and the first drive unit 25, and the synchronous belt 27 rotates clockwise, driving the drill rod 31 to drill into the pipe wall;

[0110] When the first drive component 25 is closed, the first lifting component 23 is finely adjusted, which drives the drill rod 31 to expand the hole.

[0111] Open the first drive unit 25, and the synchronous belt 27 rotates counterclockwise, causing the drill rod 31 of the drilling assembly 6 to exit from the pipe hole. Then close the first drive unit 25 and the second drive unit 32.

[0112] Adjust the extension and retraction of the first lifting component 23 and adjust the inclination of the mounting component 18 so that the axis of the grouting pipe passes through the center of the borehole;

[0113] Open the first drive component 25, and the synchronous belt 27 rotates counterclockwise, driving the grouting pipe into the borehole;

[0114] Close the first drive unit 25, turn on the grouting pump of the grouting equipment, and start grouting.

[0115] After grouting is completed, the grouting conduit is withdrawn, all adjusting components are restored, and the device is removed from the pipeline.

[0116] like Figure 2 As shown in the embodiment, the method for repairing misaligned sections of buried pipelines provided in this embodiment involves, in step two, using a pipe section misalignment repair device 8 to push the misaligned portion of the pipe section inside the pipe section. This achieves mechanized and automated operation, saving time and labor, eliminating the need for excavation repair, and reducing disruption to urban traffic.

[0117] like Figure 11 As shown in the figure, the buried pipeline section misalignment repair method provided in this embodiment includes a pipe section misalignment repair device 8 comprising a second vehicle body 9 and a jacking mechanism 10. The jacking mechanism 10 is mounted on the second vehicle body 9 and includes a first jacking component 11 and a second jacking component 12, which are symmetrically arranged. When the second vehicle body 9 moves to the misalignment position, the first jacking component 11 and the second jacking component 12 are activated to push the misalignment, gradually restoring it to its original position. This effectively solves the problem of difficult repair of severe misalignments in municipal pipeline sections. The first jacking component 11 and the second jacking component 12 can be electric cylinders, pneumatic cylinders, or hydraulic cylinders, etc., which repair the pipeline misalignment through extension and retraction.

[0118] like Figure 11As shown, the second vehicle body 9 is driven by a double rocker arm tracked walking mechanism 13, which helps the auxiliary device improve its obstacle-crossing ability, making it easier to cross the misaligned pipe section and reach another pipe section. In addition, the tracked design can improve the robot's ability to adapt to complex working conditions.

[0119] like Figure 11 As shown, a first adjusting member 44 and a second adjusting member 45 are respectively provided at both ends of the second vehicle body 9. The first adjusting member 44 is provided on the top surface of the traveling mechanism 13 located at one end, and the second adjusting member 45 is provided on the top surface of the traveling mechanism 13 located at the other end. The output ends of the first adjusting member 44 and the second adjusting member 45 are respectively hinged to both ends of the second vehicle body 9. The first adjusting member 44 and the second adjusting member 45 can be electric cylinders, pneumatic cylinders or hydraulic cylinders. The adjusting members are vertically arranged to drive the second vehicle body 9 to move in the vertical direction.

[0120] After the second vehicle body 9 reaches the designated position, it is positioned on the axis of the pipeline by adjusting the first adjusting member 44 and the second adjusting member 45, and then pushed at the center position to ensure the pushing effect and repair effect. A level sensor can be installed on the second vehicle body 9 to better adjust its position. Alternatively, as an alternative implementation, both ends of the second vehicle body 9 can be directly mounted on the top surface of the traveling mechanism 13.

[0121] like Figure 11 As shown, the pipe joint misalignment repair device 8 also includes a second camera device 46. The second camera device 46 is connected to the top surface of the walking mechanism 13 via a third adjusting member 47, which is used to adjust the position of the second camera device 46. Adjusting the position of the second camera device 46 according to the actual misalignment position allows for more accurate and clear observation of the misalignment, improving the observation range. Alternatively, as an alternative implementation, the second camera device 46 can be directly mounted on the top surface of the walking mechanism 13 or mounted on the second vehicle body 9. The third adjusting member 47 has the same structure as the adjusting member 41 in the grouting robot 1, enabling the second camera device 46 to be adjusted within its maximum range. Supplementary lighting members 40 are also provided around the second camera device 46 to provide supplementary lighting.

[0122] like Figure 11 and Figure 12 As shown, the outer end of the first pushing member 11 is provided with a first pushing plate 48, and the outer end of the second pushing member 12 is provided with a second pushing plate 49. The first pushing plate 48 and the second pushing plate 49 are adapted to the inner wall structure of the pipe. The outer end faces of the first pushing plate 48 and the second pushing plate 49 are arc-shaped, which makes the first pushing plate 48 and the second pushing plate 49 fit more closely with the inner wall of the pipe, improving the stress effect of the pipe and improving the repair effect and efficiency.

[0123] like Figure 12 As shown, the jacking mechanism 10 has multiple sets, and the jacking components of the multiple sets of jacking mechanisms 10 are evenly distributed in the circumferential direction, which can be applied to various types of misaligned joints and has strong versatility.

[0124] like Figure 13 As shown, the working process of the pipe section misalignment repair device 8 includes the following steps:

[0125] The assembled pipe joint misalignment repair device 8 is lowered into the pipe to be repaired through the inspection well;

[0126] The pipe section misalignment repair device 8 travels inside the pipeline. The second camera device 46 is used to determine the position of the misalignment of the pipe section. After reaching the position, the double rocker arm tracked walking mechanism 13 is used to assist the double rocker arm tracked walking mechanism in front to cross the misalignment of the pipe section and reach another pipe section.

[0127] Adjust the position of the second camera device 46 so that both second camera devices 46 face the misalignment, ensuring that the ground operator can clearly observe the overall condition of the misalignment;

[0128] Adjust the first adjusting member 44 and the second adjusting member 45 so that the second car body 9 is approximately at the position of the pipeline axis. Then adjust the jacking mechanism 10 so that the top plate of the first jacking mechanism 10 contacts the inner wall of the pipe section port.

[0129] The jacking mechanism 10 pushes forward, gradually restoring the misaligned joint, and the jacking process and the final restoration state are observed through the second camera device 46;

[0130] When the misalignment of the pipe section is completely restored, the jacking mechanism 10 can no longer jack in, or the pipe section port begins to crack, stop jacking and keep the hydraulic equipment stationary.

[0131] After the surrounding soil is grouted and solidified, the misalignment repair device is retrieved, and non-excavation local repair technology is used to repair the misaligned area.

[0132] like Figure 14 As shown in the embodiment, the method for repairing misaligned sections of buried pipelines provided in this embodiment involves step four, where a grinding robot 14 cuts and grinds the inner wall of the misaligned section inside the pipeline. This achieves mechanized and automated operation, saving time and labor, eliminating the need for excavation, and reducing disruption to urban traffic. For large-diameter pipelines with a diameter of DN800 and above, manual grinding can be performed inside the pipe; for small-diameter pipelines with a diameter of less than DN800, grouting can be performed inside the pipe using a grinding robot.

[0133] like Figure 14As shown in the figure, the buried pipeline section misalignment repair method provided in this embodiment includes a grinding robot 14 comprising a third vehicle body 15 and a grinding component 16. The grinding component 16 is mounted on the third vehicle body 15. The grinding component 16 grinds the misaligned section of the pipeline section by driving it, realizing automatic grinding of the misaligned section, saving time and effort, and achieving high efficiency. The grinding component 16 is an electric grinder.

[0134] like Figure 14 As shown in the embodiment, the method for repairing misaligned sections of buried pipelines provided in this embodiment involves a grinding component 16 connected to a third vehicle body 15 via a first adjusting component 17. The first adjusting component 17 is used to adjust the position of the grinding component 16. The grinding component can be adjusted according to the actual position to be ground, offering strong versatility. The structure of the first adjusting component 17 can be the same as that of the second adjusting component 19 in the grouting robot 1. The grinding robot 14 is also equipped with a camera device. When grinding is required, the grinding robot 14 is lowered into the pipeline, the camera device determines the specific position to be ground, and after the third vehicle body 15 reaches the designated position, the first adjusting component 17 is adjusted according to the position to be ground, adjusting the grinding component 16 to the appropriate position. The grinding component 16 is then activated to grind the inner wall of the pipeline at the misalignment point.

[0135] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A method for repairing misaligned joints in buried pipelines, characterized in that, Includes the following steps: Step 1: Grouting is performed to reinforce the external soil on one side of the pipe section; Step 2: Repair the misaligned sections of the pipe section by jacking them inside the pipe section; Step 3: Grouting is performed to reinforce the area around the misaligned joint of the pipe section; Step 4: Cut and grind the inner wall of the misaligned part of the pipe section inside the pipe section. Step 5: Repair the misaligned joints of the pipe sections by lining them inside the pipe section. Before proceeding to step one, the misalignment level of the pipe section is evaluated to determine whether the misalignment level of the pipe section exceeds level 3. If the misalignment level of the pipe section exceeds level 3, proceed to steps one through five in sequence; otherwise, proceed directly to step five. In step one, determine the relative position of the misalignment and reinforce the soil on one side of the pipe section by grouting. If the misalignment is vertical, reinforce the soil at the bottom of the pipe by grouting. After the grout has completely solidified, proceed to step two. In step two, the misalignment of the pipe section is completely or partially repaired by jacking repair. After the pipe section is repaired, the jacking mechanism is not removed, but continues to jack. Step three is carried out in the jacking state. After the grout in step three has completely solidified, the jacking mechanism is removed. In step three, grouting is performed around the misaligned joint of the pipe section to reinforce it. After the misalignment of the pipe section is restored, the voids around the pipe are first filled with grout. For misalignments that are not fully restored, grouting is used to further restore the misalignment, and grouting is performed to reinforce the soil in the remaining areas.

2. The method for repairing misaligned joints of buried pipelines according to claim 1, characterized in that, In step five, the misaligned joints of the pipe section are repaired by using stainless steel double expansion rings, stainless steel quick locks, or localized resin curing inside the pipe section.

3. The method for repairing misaligned joints of buried pipelines according to claim 1, characterized in that, In steps one and three, the grouting material used for grouting is cement fly ash grout, cement clay grout, or polyurethane grout.

4. The method for repairing misaligned joints of buried pipelines according to claim 1, characterized in that, In steps one and three, a grouting robot (1) is used to grout the outside of the misaligned part of the pipe section inside the pipe section.

5. The method for repairing misaligned joints of buried pipelines according to claim 4, characterized in that, The grouting robot (1) includes: First vehicle body (2); A drive assembly (3) is disposed on the first vehicle body (2), and the drive assembly (3) has a first output terminal (4) and a second output terminal (5). The drilling assembly (6) and the grouting assembly (7) are mounted on the first vehicle body (2). The grouting assembly (7) is connected to the first output end (4), and the drilling assembly (6) is connected to the second output end (5). The driving assembly (3) drives the grouting assembly (7) and the drilling assembly (6) to move synchronously in opposite directions. In use, the driving assembly (3) first moves the drilling assembly (6) to the position to be drilled and then drills the hole. Then, the driving assembly (3) moves the grouting assembly (7) into the hole for grouting.

6. The method for repairing misaligned joints of buried pipelines according to claim 1, characterized in that, In step two, the misaligned part of the pipe section is pushed up inside the pipe section by the pipe section misalignment repair device (8).

7. The method for repairing misaligned joints of buried pipelines according to claim 6, characterized in that, The pipe section misalignment repair device (8) includes: Second vehicle body (9); The jacking mechanism (10) is disposed on the second vehicle body (9). The jacking mechanism (10) includes a first jacking member (11) and a second jacking member (12), which are symmetrically arranged.

8. The method for repairing misaligned joints of buried pipelines according to claim 7, characterized in that, The jacking mechanism (10) has multiple sets, and the jacking components of the multiple sets of jacking mechanisms (10) are evenly distributed in the circumferential direction. Each set of jacking mechanisms (10) can work independently.

9. The method for repairing misaligned joints of buried pipelines according to claim 7, characterized in that, The second vehicle body (9) is driven by a double rocker arm tracked walking mechanism (13).

10. The method for repairing misaligned joints of buried pipelines according to any one of claims 1-9, characterized in that, In step four, the inner wall of the misaligned part of the pipe section is cut and smoothed by the grinding robot (14).

11. The method for repairing misaligned joints of buried pipelines according to claim 10, characterized in that, The polishing robot (14) includes: Third vehicle body (15); A grinding component (16) is disposed on the third vehicle body (15) and the grinding component (16) grinds the misaligned part of the pipe section.

12. The method for repairing misaligned joints of buried pipelines according to claim 11, characterized in that, The polishing assembly (16) is connected to the third vehicle body (15) via a first adjustment assembly (17), which is used to adjust the position of the polishing assembly (16).

Images