An automatic repair patch, an automatic pipeline repair device and method

Abstract

The present invention discloses an automatic repair patch, an automatic pipeline repair device and a method. The automatic repair patch includes an electrode interface, a support layer and two electroactive layers. The two electroactive layers have the same structure and are each composed of a dielectric elastomer layer and two compatible electrode layers located on opposite sides of the dielectric elastomer layer. The material of the dielectric elastomer layer is a dielectric elastomer. The two electroactive layers are respectively adhered to opposite sides of the support layer. When the two electroactive layers are adhered to the support layer, they are pre-stretched, and the stretching directions are perpendicular to each other. The pulling forces of the two electroactive layers on the support layer cause the automatic repair patch to present a double-bending stable state structure. In the present invention, two electroactive layers subjected to mutually perpendicular pre-tensile forces are adhered to opposite sides of the support layer, forming an automatic repair patch with two bending stable states. The automatic repair patch can achieve stable state switching by applying a voltage to one of the electroactive layers; it can conveniently achieve automatic pipeline repair.

Description

Technical Field

[0001] The present invention belongs to the technical field of pipeline repair equipment, and particularly relates to an automatic repair patch, an automatic pipeline repair device and a method. Background Art

[0002] During long-term use, pipelines will gradually age or corrode, and thus problems such as cracks and perforations are likely to occur. Therefore, the repair of pipelines is becoming increasingly important. The existing pipeline repair methods are relatively complex, which is not conducive to achieving rapid repair at the first time when the pipeline is damaged; in addition, the relatively complex repair methods also make it difficult to realize automatic repair by using robots. Therefore, it is necessary to design an automatic repair patch with a convenient repair process that can cooperate with a pipeline crawling robot to realize automatic pipeline repair. Summary of the Invention

[0003] The purpose of the present invention is to provide an automatic repair patch, an automatic pipeline repair device and a method

[0004] In the first aspect, the present invention provides an automatic repair patch, which includes an electrode interface, a support layer and two electroactive layers. The structures of the two electroactive layers are the same, and each is composed of a dielectric elastomer layer and two compatible electrode layers located on opposite sides of the dielectric elastomer layer. The materials of the dielectric elastomer layers are all dielectric elastomers. The two electroactive layers are respectively bonded to opposite sides of the support layer. When the two electroactive layers are bonded to the support layer, they are pre-stretched, and the stretching directions are perpendicular to each other. The pulling forces of the two electroactive layers on the support layer make the automatic repair patch present a double-bending steady-state structure. The electrode interface is arranged on one side of the automatic repair patch. Four first contacts are arranged on the electrode interface; two of the first contacts are respectively electrically connected to the two compatible electrode layers on one electroactive layer; the other two first contacts are respectively electrically connected to the two compatible electrode layers on the other electroactive layer.

[0005] Preferably, the dielectric elastomer layer adopts an acrylate film. The material of the support layer is polyimide or polyester.

[0006] Preferably, in the initial state, the electrode interface is on the concave side of the automatic repair patch. When the electrode interface is on the convex side of the automatic repair patch, the bending angle of the automatic repair patch exceeds 180°.

[0007] Preferably, sealing layers are arranged on the opposite sides of the two electroactive layers; the material of the sealing layer is rubber.

[0008] In a second aspect, the present invention provides an automatic pipeline repair device, which includes an installation base, a repair patch storage mechanism and a repair feeding mechanism installed on the installation base. The repair patch storage mechanism includes a repair patch storage box and a storage box moving mechanism. The repair patch storage box is driven by the storage box moving mechanism to move. A plurality of storage slots are provided on the repair patch storage box; each storage slot is used for stacking and storing automatic repair patches. The repair feeding mechanism includes a propulsion component, a lifting component, a flipping component and a suction component. The propulsion component, the lifting component and the flipping component are respectively used to drive the suction component to move horizontally, move in the vertical direction and flip around the horizontal axis.

[0009] The suction component is installed at the outer end of a flipping rod inside the flipping component. The suction component includes a suction claw, a limit disk, a spring and a power supply plug. The limit disk is fixed on the flipping rod. The suction claw is slidably connected to the flipping rod. The suction claw is located on the side of the limit disk away from the flipping rod. A plurality of springs are provided between the suction claw and the limit disk. A plurality of suction arms are provided on the outer side of the suction claw; the outer ends of the suction arms are fixed with negative pressure suction cups. The outer end of the flipping rod penetrates through the suction claw and is fixed with a power supply plug. Four second contacts are provided at the outer end of the power supply plug. The relative positions of the four second contacts respectively correspond to the relative positions of the four first contacts. In the initial state, the power supply plug is on the side of each suction cup close to the suction claw.

[0010] Preferably, the storage box moving mechanism includes a first guide rod, a first driving mechanism, a second guide rod and a second driving mechanism. The first guide rod and the second guide rod that are perpendicular to each other on the horizontal plane are both slidably connected to the repair patch storage box. Sliders are fixed at both ends of the first guide rod and the second guide rod. The two ends of the first guide rod are slidably connected to the chutes on two opposite inner side walls of the installation base. The sliders at both ends of the second guide rod are slidably connected to the chutes on the other two opposite inner side walls of the installation base. The first driving mechanism includes a first motor and a first lead screw. The first lead screw is rotatably connected inside the installation base and forms a screw pair with a nut fixed on the first guide rod. The first motor is fixed inside the installation base, and the output shaft is fixed to the end of the first lead screw. The second driving mechanism includes a second motor and a second lead screw. The second lead screw is rotatably connected inside the installation base and forms a screw pair with a nut fixed on the second guide rod. The second motor is fixed inside the installation base, and the output shaft is fixed to the end of the second lead screw.

[0011] Preferably, the propulsion component includes a third guide rod, a third lead screw, a third motor, a propulsion support and a connecting block. Two horizontally arranged third guide rods are both slidably connected to the installation base. One end of the two third guide rods is fixed to the propulsion support; the connecting block is fixed to the two third guide rods. One end of the third lead screw is rotatably connected to the propulsion support. The other end of the third lead screw is rotatably connected to the connecting block. The third motor is fixed on the connecting block, and the output shaft is fixed to the third lead screw.

[0012] Preferably, the lifting assembly includes a lifting rod and a lifting drive mechanism. The lifting rod is slidably connected to the propulsion support and is driven by the lifting drive mechanism to move up and down. The lifting drive mechanism includes a crank disc, a first connecting rod, a rocker, a second connecting rod, and a fourth motor. The crank disc with a horizontal axis is rotatably connected to the propulsion support. The fourth motor is fixed on the propulsion support; the output shaft of the fourth motor is fixed to the crank disc. The inner end of the rocker is rotatably connected to the propulsion support. One end of the first connecting rod is rotatably connected to an eccentric position on the crank disc. The other end of the first connecting rod is rotatably connected to the middle of the rocker. The outer end of the rocker is rotatably connected to one end of the second connecting rod. The other end of the second connecting rod is rotatably connected to the top end of the lifting rod.

[0013] Preferably, the flipping assembly includes a flipping rod and a fifth motor. The inner end of the flipping rod and the bottom end of the lifting rod form a rotating pair; the fifth motor is fixed to the bottom end of the lifting rod, and its output shaft is fixed to the inner end of the flipping rod.

[0014] The working method of the pipeline automatic repair device is as follows:

[0015] Step 1: Manually or by a robot, move the pipeline automatic repair device to the damaged part of the pipeline. The propulsion assembly, the lifting assembly, and the flipping assembly drive the suction assembly to move to directly above the repair patch storage box and suck a piece of automatic repair patch.

[0016] Step 3: The lifting assembly drives the sucked automatic repair patch to rise; the flipping assembly drives the sucked automatic repair patch to flip; so that the convex side of the automatic repair patch faces the pipeline damaged part.

[0017] Step 4: The control module applies voltage to two contacts in the power supply plug corresponding to the electroactive layer on the convex side of the automatic repair patch; the propulsion assembly drives the sucked automatic repair patch to move towards the pipeline damaged part; when the automatic repair patch abuts against the pipeline damaged part, the suction claws remain stationary, while the power supply plug continues to move until the power supply plug is inserted into the electrode interface on the automatic repair patch, causing a steady-state change in the automatic repair patch to wrap the pipeline damaged part.

[0018] Step 5: The negative pressure suction cup stops adsorbing, and the repair feeding mechanism resets.

[0019] The beneficial effects of the present invention are as follows:

[0020] 1. In the present invention, two electroactive layers subjected to mutually perpendicular pre-tensile forces are pasted on opposite sides of the support layer to form an automatic repair patch with two bending steady states. The automatic repair patch can achieve steady-state switching by applying voltage to one of the electroactive layers; it can conveniently achieve automatic pipeline repair.

[0021] 2. In the pipeline automatic repair device provided by the present invention, the suction claw and the power supply plug can slide relative to each other; without relying on any sensors, it can avoid the steady-state switching of the automatic repair patch before the automatic repair patch abuts against the pipeline, and automatically perform steady-state switching after the automatic repair patch abuts against the pipeline, realizing pipeline repair. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic structural diagram of the automatic repair patch provided in Embodiment 1 of the present invention;

[0023] Figure 2 It is a schematic diagram of the steady-state switching of the automatic repair patch provided in Embodiment 1 of the present invention

[0024] Figure 3 It is a schematic structural diagram of the electroactive layer provided in Embodiment 1 of the present invention;

[0025] Figure 4 It is a schematic diagram of the pipeline repair by the automatic repair patch provided in Embodiment 1 of the present invention;

[0026] Figure 5 It is a schematic structural diagram of the pipeline automatic repair device provided in Embodiment 2 of the present invention;

[0027] Figure 6 It is a schematic structural diagram of the lifting assembly in Embodiment 2 of the present invention;

[0028] Figure 7 It is a schematic structural diagram of the flipping assembly in Embodiment 2 of the present invention;

[0029] Figure 8 It is a schematic structural diagram of the suction assembly in Embodiment 2 of the present invention;

[0030] Figure 9 It is a schematic diagram of mounting the pipeline automatic repair device on a robot in Embodiment 2 of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0031] The present invention will be further described below with reference to the accompanying drawings.

[0032] Embodiment 1

[0033] An automatic repair patch includes an electrode interface 1, a support layer 2, and two electroactive layers 3. The two electroactive layers 3 have the same structure and are both composed of a dielectric elastomer layer 3-1 and two compatible electrode layers 3-2 located on opposite sides of the dielectric elastomer layer 3-1. The material of the dielectric elastomer layer 3-1 is a dielectric elastomer, and in this embodiment, an acrylate adhesive film is specifically used. The support layer 2 is made of an elastic material that can be bent but not stretched, and in this embodiment, polyimide (PI) or polyester (PET) film is used. The support layer 2 has two opposite orientations

[0034] Two electroactive layers 3 are respectively bonded to opposite sides of the support layer 2. When the two electroactive layers 3 are bonded to the support layer 2, they are both subjected to a pre-tensile force and undergo tensile deformation in a specified direction. The pre-tensile forces applied to the two electroactive layers 3 are orthogonal forces (i.e., perpendicular to each other). When the electroactive layer 3 is energized, it will elongate in a direction perpendicular to the pre-tensile force, driving the automatic repair patch to bend; since the pre-tensile forces applied to the two electroactive layers 3 are perpendicular to each other; therefore, the two electroactive layers 3 apply perpendicular tensile forces to opposite sides of the support layer 2, causing the automatic repair patch to exhibit bistability; when the electroactive layer 3 on the convex-outward side is energized, the stable state of the automatic repair patch is disrupted and it switches to the opposite bending state.

[0035] In the structure of electroactive layer 3 - support layer 2 - electroactive layer 3, the automatic repair patch exhibits bistability and can maintain a stable state in two opposite bending states. The switching between the two stable states can be achieved by energizing the electroactive layer 3 on the convex-outward side. After the stable state is switched, even if the voltage is removed, the shape of the automatic repair patch will not change.

[0036] The specific principle of the stable state switching is as follows: Under the action of an electric field, the two electroactive layers 3 undergo an electromechanical response, are stretched by the Maxwell stress, and have the characteristics of becoming longer and thinner while the volume of the object remains unchanged. By energizing the electrodes, the stretching and shortening of the two electroactive layers 3 are realized, thereby changing the stress state of the support layer 2 and achieving stable state switching. Therefore, the automatic repair patch provided in this embodiment utilizes the unique electromechanical properties of the dielectric elastomers of the two electroactive layers 3 to manufacture a bistable structure that can be triggered by an electric field.

[0037] The electrode interface 1 is provided on one side of the automatic repair patch. Four outward-facing first contacts 1-1 are provided on the electrode interface 1; the main body of the electrode interface 1 is made of an insulating material. Two of the first contacts 1-1 are respectively electrically connected to two compatible electrode layers 3-2 on one of the electroactive layers 3; the other two first contacts 1-1 are respectively electrically connected to two compatible electrode layers 3-2 on the other electroactive layer 3. In the initial state, the electrode interface 1 is on the concave side of the automatic repair patch. Therefore, by controlling the energization conditions of the four first contacts 1-1, the switching of the automatic repair patch between the two stable states can be controlled. When the electrode interface 1 is on the convex-outward side of the automatic repair patch, the bending angle of the automatic repair patch exceeds 180°, so as to be able to better hold the pipeline.

[0038] This embodiment provides a non-essential technical detail: Sealing layers are provided on opposite sides of the two electroactive layers 3; the material of the sealing layer is rubber. The sealing layer can improve the sealing effect of pipeline 4 repair. The tensile deformation of the sealing layer generates a small elastic force and does not affect the bistability of the automatic repair patch.

[0039] The usage process of this automatic repair patch is as follows:

[0040] Step 1: Attach the convex side of the automatic repair patch to the damaged area on the outer side of the pipeline 4, with the current bending axis direction of the automatic repair patch perpendicular to the axis of the pipeline 4. The curvature of the outer wall of the pipeline 4 is smaller than the curvature of the automatic repair patch in the steady state; the length of the automatic repair patch (the direction of the bending axis of the automatic repair patch in the initial state is the length direction of the automatic repair patch) is greater than 1 / 2 of the outer wall circumference of the pipeline 4, so that the automatic repair patch wraps around the pipeline 4 over a range of more than 180°.

[0041] Step 2: Apply electricity to the electroactive layer 3 on the convex side of the automatic repair patch, causing the automatic repair patch to undergo a steady-state switch. The automatic repair patch changes to a state of bending towards the pipeline 4, thereby holding the damaged area of the pipeline 4 and achieving the repair of the pipeline 4.

[0042] When it is necessary to disassemble the automatic repair patch at the damaged area of the pipeline 4, only need to apply electricity to the electroactive layer 3 on the side of the automatic repair patch away from the pipeline 4; the automatic repair patch can automatically undergo a steady-state switch and bend away from the pipeline 4, realizing the switching of the automatic repair patch, realizing the recycling of the automatic repair patch, and facilitating the staff to repair the pipeline 4 more thoroughly in other ways.

[0043] The manufacturing process flow of the automatic repair patch is as follows:

[0044] Step 1: Apply orthogonal pre-tensile forces to the two electroactive layers 3 and bond them to both sides of the support layer 2 respectively.

[0045] Step 2: Remove the pre-tightening forces of the two electroactive layers 3; at this time, the two electroactive layers 3 generate contraction trends perpendicular to each other; the contraction trends of the two electroactive layers 3 can both drive the support layer 2 to bend; finally, the support layer 2 bends towards one side.

[0046] Step 3: Paste the electrode interface 1 on the electroactive layer 3 on the concave side or on the outside of the electroactive layer 3; then connect the four first contacts 1-1 of the electrode interface 1 to the four compatible electrode layers 3-2 respectively through wires.

[0047] Embodiment 2

[0048] An automatic pipeline repair device includes an installation base 5, a repair patch storage mechanism, and a repair feeding mechanism. The repair patch storage mechanism includes a repair patch storage box 6 and a storage box moving mechanism. The repair patch storage box 6 can move in two degrees of freedom in the horizontal plane under the drive of the storage box moving mechanism. A plurality of storage slots are provided on the repair patch storage box 6; several automatic repair patches are stacked in each storage slot.

[0049] The storage box moving mechanism includes a first guide rod 7, a first driving mechanism, a second guide rod 8 and a second driving mechanism. The first guide rod 7 and the second guide rod 8 that are perpendicular to each other on the horizontal plane are both slidably connected to the patch storage box 6. Sliders are fixed at both ends of the first guide rod 7 and the second guide rod 8. The sliders at both ends of the first guide rod 7 are slidably connected to the chutes on two opposite inner side walls of the mounting base 5. The sliders at both ends of the second guide rod 8 are slidably connected to the chutes on the other two opposite inner side walls of the mounting base 5. The first driving mechanism includes a first motor and a first lead screw. The first lead screw is rotatably connected inside the mounting base 5 and forms a screw pair with the nut fixed on the first guide rod 7. The first motor is fixed inside the mounting base 5, and the output shaft is fixed to the end of the first lead screw. The second driving mechanism includes a second motor and a second lead screw. The second lead screw is rotatably connected inside the mounting base 5 and forms a screw pair with the nut fixed on the second guide rod 8. The second motor is fixed inside the mounting base 5, and the output shaft is fixed to the end of the second lead screw. By rotating the first motor and the second motor, the patch storage box 6 can be driven to move with two degrees of freedom.

[0050] The patch feeding mechanism includes a pushing component, a lifting component, a flipping component and a sucking component. The pushing component includes a third guide rod 9, a third lead screw 10, a third motor 11, a pushing support 12 and a connecting block 13. The two horizontally arranged third guide rods 9 are both slidably connected to the mounting base 5. One end of the two third guide rods 9 is fixed to the pushing support 12; the connecting block 13 is fixed to the two third guide rods 9. One end of the third lead screw 10 is rotatably connected to the pushing support 12. The other end of the third lead screw 10 is rotatably connected to the connecting block 13. The third lead screw 10 forms a screw pair with the nut fixed on the mounting base 5; the third motor 11 is fixed on the connecting block 13, and the output shaft is fixed to the third lead screw 10.

[0051] The lifting component includes a lifting rod 14 and a lifting driving mechanism. The lifting rod 14 is slidably connected to the pushing support 12 and is driven by the lifting driving mechanism to perform a lifting motion. The lifting driving mechanism includes a crank disc 15, a first connecting rod 16, a rocker 17, a second connecting rod 18 and a fourth motor 19. The crank disc 15 with a horizontal axis is rotatably connected to the pushing support 12. The fourth motor 19 is fixed to the pushing support 12; the output shaft of the fourth motor 19 is fixed to the crank disc 15. The inner end of the rocker 17 is rotatably connected to the pushing support 12. One end of the first connecting rod 16 is rotatably connected to the eccentric position on the crank disc 15. The other end of the first connecting rod 16 is rotatably connected to the middle of the rocker 17. The outer end of the rocker 17 is rotatably connected to one end of the second connecting rod 18. The other end of the second connecting rod 18 is rotatably connected to the top end of the lifting rod 14.

[0052] The flipping assembly includes a flipping rod 20 and a fifth motor. The inner end of the flipping rod 20 forms a rotating pair with the bottom end of the lifting rod 14; the fifth motor is fixed to the bottom end of the lifting rod 14, and its output shaft is fixed to the inner end of the flipping rod 20.

[0053] The suction assembly is installed at the outer end of the flipping rod 20. The suction assembly includes suction claws 21, a limit disk 22, springs 23, and a power supply plug 24. The limit disk 22 is fixed to the flipping rod 20. The suction claws 21 are slidably connected to the flipping rod 20. The suction claws 21 are located on the side of the limit disk 22 away from the flipping rod 20. A plurality of springs 23 are arranged between the suction claws 21 and the limit disk 22. Three suction arms are arranged on the outer side of the suction claws 21; negative pressure suction cups are fixed to the outer ends of the suction arms. The air vent interface of the negative pressure suction cup is connected to a negative pressure source. The outer end of the flipping rod 20 penetrates through the suction claws 21 and is fixed with a power supply plug 24. Four second contacts are arranged at the outer end of the power supply plug 24. The relative positions of the four second contacts respectively correspond to the relative positions of the four first contacts 1-1.

[0054] Each suction cup is used to suck an automatic repair patch; the power supply plug 24 is used to dock with the electrode interface 1 on the automatic repair patch; in the initial state, the power supply plug 24 is on the side of each suction cup close to the suction claws 21.

[0055] Therefore, when the suction cup sucks the automatic repair patch, the power supply plug 24 is not docked with the electrode interface 1 on the automatic repair patch; when the automatic repair patch abuts against the pipeline 4, the suction claws 21 remain stationary under the obstruction of the pipeline 4, while the flipping rod 20 continues to move forward, so that the power supply plug 24 is docked with the electrode interface 1 on the automatic repair patch; realizing the steady-state switching of the automatic repair patch and completing the repair of the pipeline 4.

[0056] The working method of the pipeline automatic repair device is as follows:

[0057] Step 1: Fix the installation base 5 of the pipeline automatic repair device to a robot capable of crawling on the outer wall of the pipeline 4. In this embodiment, the robot adopts the rod outer wall climbing and obstacle-crossing robot described in any one of claims 1-9 of the patent application with the application number "2021111079483".

[0058] Step 2: The robot carries the pipeline automatic repair device and crawls to the damaged part of the pipeline 4. The propulsion assembly, the lifting assembly, and the flipping assembly drive the suction assembly to move to directly above the repair patch storage box 6 and suck an automatic repair patch.

[0059] Step 3: The lifting assembly drives the sucked automatic repair patch to rise; the flipping assembly drives the sucked automatic repair patch to flip; so that the convex side of the automatic repair patch faces the damaged part of the pipeline 4.

[0060] Step 4: The control module applies voltage to two contacts in the power supply plug 24 corresponding to the electroactive layer 3 on the convex side of the automatic repair patch; the propulsion assembly drives the sucked automatic repair patch to move towards the break of the pipeline 4; when the automatic repair patch abuts against the break of the pipeline 4, the suction claw 21 remains stationary, while the power supply plug 24 continues to move until the power supply plug 24 is inserted into the electrode interface 1 on the automatic repair patch, causing a steady-state change in the automatic repair patch to wrap the break of the pipeline 4.

[0061] Step 5: The negative pressure suction cup stops sucking, and the repair feeding mechanism resets.

Claims

1. An automatic repair patch, characterized in that: It includes an electrode interface (1), a support layer (2), and two electroactive layers (3); the two electroactive layers (3) have the same structure and are each composed of a dielectric elastomer layer (3-1) and two compatible electrode layers (3-2) located on opposite sides of the dielectric elastomer layer (3-1); the materials of the dielectric elastomer layers (3-1) are all dielectric elastomers, and the two electroactive layers (3) are respectively bonded to opposite sides of the support layer (2); when the two electroactive layers (3) are bonded to the support layer (2), they are pre-stretched, and the stretching directions are perpendicular to each other; the tensile forces of the two electroactive layers (3) on the support layer (2) cause the self-repairing patch to present a double-curved steady-state structure; the electrode interface (1) is provided on one side of the self-repairing patch; four first contacts (1-1) are provided on the electrode interface (1); two of the first contacts (1-1) are respectively electrically connected to the two compatible electrode layers (3-2) on one of the electroactive layers (3); the other two first contacts (1-1) are respectively electrically connected to the two compatible electrode layers (3-2) on the other electroactive layer (3).

2. The automatic repair patch according to claim 1, characterized in that: The dielectric elastomer layer (3-1) uses an acrylate film; the material of the support layer (2) is polyimide or polyester.

3. The automatic repair patch according to claim 1, wherein: In the initial state, the electrode interface (1) is on the concave side of the self-repairing patch; when the electrode interface (1) is on the convex side of the self-repairing patch, the bending angle of the self-repairing patch exceeds 180°.

4. The automatic repair patch according to claim 1, characterized in that: Sealing layers are provided on opposite sides of the two electroactive layers (3); the material of the sealing layer is rubber.

5. An automatic pipeline repair device, comprising an installation base (5), and a repair patch storage mechanism and a repair feeding mechanism installed on the installation base (5); characterized in that: The patch storage mechanism includes a patch storage box (6) and a storage box moving mechanism; the patch storage box (6) is driven by the storage box moving mechanism to move; a number of storage slots are provided on the patch storage box (6); each storage slot is used to store the self-repairing patch as described in any one of claims 1-4; the patch feeding mechanism includes a propulsion component, a lifting component, a flipping component, and a suction component; the propulsion component, the lifting component, and the flipping component are respectively used to drive the suction component to move horizontally, move vertically, and flip around a horizontal axis; The suction component is installed at the outer end of a flipping rod (20) inside the flipping component; the suction component includes a suction claw (21), a limit disk (22), a spring (23), and a power supply plug (24); the limit disk (22) is fixed on the flipping rod (20); the suction claw (21) is slidably connected to the flipping rod (20); the suction claw (21) is located on the side of the limit disk (22) away from the flipping rod (20); a number of springs (23) are provided between the suction claw (21) and the limit disk (22); a number of suction arms are provided on the outer side of the suction claw (21); negative pressure suction cups are fixed at the outer ends of the suction arms; the outer end of the flipping rod (20) penetrates through the suction claw (21) and is fixed with a power supply plug (24); four second contacts are provided at the outer end of the power supply plug (24); the relative positions of the four second contacts correspond to the relative positions of the four first contacts (1-1) respectively; in the initial state, the power supply plug (24) is on the side of each suction cup close to the suction claw (21).

6. The automatic pipeline repair device according to claim 5, characterized in that: The described storage box moving mechanism includes a first guide rod (7), a first driving mechanism, a second guide rod (8) and a second driving mechanism; the first guide rod (7) and the second guide rod (8) that are perpendicular to each other on the horizontal plane are both slidably connected to the patch storage box (6); sliders are fixed at both ends of the first guide rod (7) and the second guide rod (8); both ends of the first guide rod (7) are slidably connected to the chutes on two opposite inner side walls of the mounting base (5); the sliders at both ends of the second guide rod (8) are slidably connected to the chutes on the other two opposite inner side walls of the mounting base (5); the first driving mechanism includes a first motor and a first lead screw; the first lead screw is rotatably connected inside the mounting base (5) and forms a screw pair with the nut fixed on the first guide rod (7); the first motor is fixed inside the mounting base (5), and the output shaft is fixed to the end of the first lead screw; the second driving mechanism includes a second motor and a second lead screw; the second lead screw is rotatably connected inside the mounting base (5) and forms a screw pair with the nut fixed on the second guide rod (8); the second motor is fixed inside the mounting base (5), and the output shaft is fixed to the end of the second lead screw.

7. The automatic pipeline repair device according to claim 5, wherein: The described propulsion assembly includes a third guide rod (9), a third lead screw (10), a third motor (11), a propulsion support (12) and a connecting block (13); the two horizontally arranged third guide rods (9) are both slidably connected to the mounting base (5); one end of the two third guide rods (9) is fixed to the propulsion support (12); the connecting block (13) is fixed to the two third guide rods (9); one end of the third lead screw (10) is rotatably connected to the propulsion support (12); the other end of the third lead screw (10) is rotatably connected to the connecting block (13); the third lead screw (10) forms a screw pair with the nut fixed on the mounting base (5); the third motor (11) is fixed on the connecting block (13), and the output shaft is fixed to the third lead screw (10).

8. The automatic pipeline repair device according to claim 7, wherein: The described lifting assembly includes a lifting rod (14) and a lifting driving mechanism; the lifting rod (14) is slidably connected to the propulsion support (12) and is driven by the lifting driving mechanism to perform a lifting motion; the lifting driving mechanism includes a crank disk (15), a first connecting rod (16), a rocker (17), a second connecting rod (18) and a fourth motor (19); the crank disk (15) with a horizontal axis is rotatably connected to the propulsion support (12); the fourth motor (19) is fixed to the propulsion support (12); the output shaft of the fourth motor (19) is fixed to the crank disk (15); the inner end of the rocker (17) is rotatably connected to the propulsion support (12); one end of the first connecting rod (16) is rotatably connected to the eccentric position on the crank disk (15); the other end of the first connecting rod (16) is rotatably connected to the middle of the rocker (17); the outer end of the rocker (17) is rotatably connected to one end of the second connecting rod (18); the other end of the second connecting rod (18) is rotatably connected to the top of the lifting rod (14).

9. The automatic pipeline repair device according to claim 8, wherein: The described flipping component includes a flipping rod (20) and a fifth motor; the inner end of the flipping rod (20) forms a rotating pair with the bottom end of the lifting rod (14); the fifth motor is fixed to the bottom end of the lifting rod (14), and its output shaft is fixed to the inner end of the flipping rod (20).

10. An automatic pipeline repair method, characterized in that: Use the automatic pipeline repair device described in claim 5; the method includes the following steps: Step 1: Manually or by a robot, move the automatic pipeline repair device to the damaged part of the pipeline (4); the propulsion component, the lifting component, and the flipping component drive the suction component to move directly above the repair patch storage box (6) and suck a piece of automatic repair patch; Step 3: The lifting component drives the sucked automatic repair patch to rise; the flipping component drives the sucked automatic repair patch to flip; so that the convex side of the automatic repair patch faces the damaged part of the pipeline (4); Step 4: The control module applies a voltage to the two contacts in the power supply plug (24) corresponding to the electroactive layer (3) on the convex side of the automatic repair patch; the propulsion component drives the sucked automatic repair patch to move towards the damaged part of the pipeline (4); when the automatic repair patch abuts against the damaged part of the pipeline (4), the suction claws (21) remain stationary, while the power supply plug (24) continues to move until the power supply plug (24) is inserted into the upper electrode interface (1) of the automatic repair patch, causing a steady-state change in the automatic repair patch to wrap around the damaged part of the pipeline (4); Step 5: The negative pressure suction cup stops sucking, and the repair feeding mechanism resets.

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