A pipeline leak repair robot

Abstract

This invention discloses a leak repair robot for pipelines. This solution combines a working mechanism with a drill assembly and a repair assembly, along with a walking mechanism and a rotating mechanism. This combination of the rotating and working mechanisms enables the leak repair robot to continuously perform pipeline maintenance and repair work, improving work efficiency and quality. The solution uses a drill assembly to drill holes in the pipeline to be repaired, and a repair assembly with a delivery pin (injection end) to perform the work. The drill assembly can create holes inside the pipeline to reshape the damaged area, while the pin (injection end) of the repair assembly can deliver repair material into the gaps. The two components work together to conveniently and flexibly complete leak repair work inside the pipeline.

Description

Technical Field

[0001] This invention relates to the field of pipeline repair technology and equipment, and in particular to a pipeline repair robot for leak repair. Background Technology

[0002] Pipelines, as crucial transmission media for fluids and gases, are widely used in industry and daily life. However, due to their susceptibility to leaks and damage during use, failure to maintain and repair them promptly can affect their lifespan and safety. Traditional pipeline maintenance and repair methods primarily rely on manual labor, resulting in low efficiency and poor safety. Furthermore, manual labor is limited by environmental constraints; it cannot be performed in confined, hazardous, or high-temperature / high-pressure environments. However, with the development and application of robotics technology, robots have gradually become a new option for pipeline maintenance and repair. Robots offer advantages such as high efficiency, precision, and safety, and can operate in confined spaces, providing a new solution for pipeline maintenance and repair. Robots can perform different tasks based on the specific conditions and needs of the pipeline.

[0003] Addressing the shortcomings of existing technologies, this invention introduces visualization technology to design a pipeline repair robot, aiming to solve the problems of traditional maintenance and repair methods and extend the service life of pipelines. This robot, used in conjunction with a powered vehicle, autonomously navigates and positions itself to repair leaks and defects inside the pipeline. Summary of the Invention

[0004] In view of this, the purpose of this invention is to provide a compact, reliable, and flexible leak repair pipeline robot.

[0005] To achieve the above-mentioned technical objectives, the technical solution adopted by this invention is as follows:

[0006] A leak repair robot for pipelines, comprising:

[0007] A traveling mechanism for moving within the pipe;

[0008] The rotating mechanism is connected to the front end of the traveling mechanism;

[0009] The working mechanism is connected to the rotating mechanism and is driven to rotate by the rotating assembly. It includes an electric drill assembly and a repair assembly, which are used to drill holes and repair the inside of the pipe to be repaired, respectively.

[0010] An image acquisition mechanism is connected to the traveling mechanism and is used to acquire images of the inside of the pipe.

[0011] The controller is connected to the walking mechanism, the working mechanism, the rotating mechanism, and the image acquisition mechanism, respectively.

[0012] As one possible implementation, the walking mechanism described in this solution further includes:

[0013] The carriage is a box-shaped shell structure with an internal cavity. The upper part of the carriage is detachably equipped with a carriage cover that can open and close the cavity.

[0014] The traveling assembly is attached to the bottom of the carriage and is used to move the carriage within the pipe.

[0015] As a preferred embodiment, the rotating mechanism of this solution preferably includes:

[0016] A stepper motor has one end inserted through the front end of the carriage and fixedly connected to the carriage via a motor mount, and the other end of the stepper motor extends out of the carriage and has a drive end. The stepper motor is connected to a controller.

[0017] The rotating assembly includes a turntable and a mounting frame. The mounting frame is a ring structure and is fixedly connected to the end of the carriage connected to a stepper motor. The turntable is a circular structure and is rotatably connected within the ring structure of the mounting frame. One side of the turntable is connected to the drive end of the stepper motor, and the other end of the turntable is connected to the working mechanism. The stepper motor drives the turntable to rotate the working mechanism.

[0018] As a preferred implementation method, the working mechanism described in this solution preferably includes:

[0019] Connector,

[0020] The electric drill assembly is connected to one side of the connector and is used to drill holes inside the pipe to be repaired.

[0021] The repair assembly connects to the other side of the connector and is used to repair the pipe after drilling.

[0022] The switching component is connected to the turntable and the connecting frame respectively. The switching component switches the electric drill component and the repair component to contact the inside of the pipe to be repaired in order to carry out the work.

[0023] The electric drill assembly, repair assembly, and switching assembly are all connected to the controller.

[0024] As a preferred implementation method, the repair component of this solution preferably includes:

[0025] A liquid storage tank is installed inside the compartment of the carriage and is used to store pipeline repair fluid;

[0026] The delivery pipe is made of flexible material, with one end connected to the lower part of the storage tank and the other end extending out of the carriage.

[0027] The conveying force generating mechanism is located inside the accommodating cavity and connected to the upper part of the storage tank. The conveying force generating mechanism generates pressure on the upper part of the storage tank, so that the pipeline repair fluid in the storage tank is sent into the conveying pipe for transportation.

[0028] A syringe is movably connected to a connecting frame and also connected to a switching component. One end of the syringe is provided with an injection end, and the other end of the syringe is connected to the other end of a delivery tube. The injection end is used to deliver the pipe repair fluid in the delivery tube to the pipe to be repaired after drilling for repair treatment.

[0029] As a preferred embodiment, the connecting frame in this solution is preferably an I-shaped structure, with a first guide hole and a second guide hole penetrating its upper and lower end faces on both sides.

[0030] The electric drill assembly is a cylindrical mechanism that is vertically and slidably inserted into the first guide hole. Its upper end has a drill bit for drilling the pipe to be repaired, and the lower end of the electric drill assembly is connected to the switching assembly.

[0031] The syringe is slidably inserted into the second guide hole, with its injection end facing upwards and its lower end connected to the switching assembly; the switching assembly controls the syringe of the electric drill assembly or repair assembly to slide up and down on the connecting frame, so that the drill bit or injection end contacts the inner wall of the pipe to be repaired.

[0032] As a preferred implementation method, the switching component of this solution preferably includes:

[0033] The servo mount is fixedly connected to the connecting frame and the turntable, respectively.

[0034] The servo motor is fixed on a servo motor mount.

[0035] The first connecting rod is fixedly connected to the drive end of the servo motor in the middle.

[0036] The second connecting rod has one end rotatably connected to one end of the first connecting rod, and the other end rotatably connected to the lower end of the electric drill assembly;

[0037] The third connecting rod has one end rotatably connected to the other end of the first connecting rod, and the other end rotatably connected to the lower end of the syringe.

[0038] When the drive end of the servo motor rotates at a preset angle in the first direction, one end of the first connecting rod moves in a direction close to the lower end of the electric drill assembly, causing the electric drill assembly to slide upward in the first guide hole of the connecting frame. This causes the drill bit of the electric drill assembly to move in a direction close to the inner wall of the pipe to be repaired, and the syringe to move in a direction away from the inner wall of the pipe to be repaired. When the drive end of the servo motor rotates at a preset angle in the second direction, the other end of the first connecting rod moves in a direction close to the lower end of the syringe, causing the syringe to slide upward in the second guide hole of the connecting frame. This causes the injection end connected to the syringe to move in a direction close to the inner wall of the pipe to be repaired, and the drilling assembly to move in a direction away from the inner wall of the pipe to be repaired.

[0039] As a preferred implementation method, the front end of the walking mechanism described in this solution is preferably connected to a barrier cover that encloses the rotating component portion therein.

[0040] As a preferred implementation method, the image acquisition mechanism described in this solution preferably includes:

[0041] At least one gimbal is mounted on the traveling mechanism and / or the working mechanism.

[0042] The number of camera components corresponds one-to-one with the number of gimbals and is connected to the gimbal.

[0043] Based on the above, the present invention also provides a leak repair pipeline system, which includes the leak repair pipeline robot described above.

[0044] By adopting the above technical solution, the present invention has the following beneficial effects compared with the prior art:

[0045] 1) This solution uses a combination of a working mechanism with an electric drill and a repair component and a walking mechanism to perform operations. The walking mechanism takes the form of a powered trolley, which is an important walking auxiliary component of the robot in this solution. It can provide the robot with the walking power required, and can also provide energy supply by loading a power module. By combining with the rotating mechanism and the working mechanism, the leak repair pipe robot in this solution can continuously carry out pipe maintenance and repair work, improving work efficiency and quality.

[0046] 2) The conveying force generating mechanism of the repair component in this solution can adopt hydraulic control technology, which can realize precise control and operation of the repair fluid output by the robot, and has the advantages of fast response speed, large force and high reliability, which can ensure the effectiveness and safety of leak repair.

[0047] 3) This solution uses an electric drill assembly to drill holes in the pipe to be repaired and a repair assembly with a delivery pin (injection end) to perform the operation. The drilling assembly can open holes in the pipe to reshape the damaged area inside the leaking pipe, and the pin (injection end) of the repair assembly can deliver the repair material into the gap. The two components work together to complete the leak repair work in the pipe conveniently and flexibly. Attached Figure Description

[0048] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0049] Figure 1 This is one of the simplified three-dimensional perspective schematic diagrams of the implementation structure of the present invention;

[0050] Figure 2 This is the second simplified three-dimensional perspective schematic diagram of the implementation structure of the present invention, in which the carriage cover is hidden.

[0051] Figure 3 This is the third three-dimensional schematic diagram of a simplified implementation structure of the present invention.

[0052] Figure 4 This is an exploded schematic diagram of some components of the working mechanism and rotating mechanism of the present invention.

[0053] Figure 5 This is an exploded view of a portion of the structure of the present invention.

[0054] Figure 6 This is a simplified schematic diagram illustrating the principle by which the liquid storage pipe of the present invention outputs pipeline repair fluid under the action of the conveying force generating mechanism. Detailed Implementation

[0055] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be particularly noted that the following embodiments are for illustrative purposes only and do not limit the scope of the invention. Similarly, the following embodiments are only some, not all, embodiments of the present invention, and all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0056] like Figures 1 to 5 As shown in one embodiment, this solution provides a leak repair pipeline robot, which includes:

[0057] Traveling mechanism 1, used for moving within the pipe;

[0058] Rotating mechanism 2 is connected to the front end of walking mechanism 1;

[0059] The working mechanism 3 is connected to the rotating mechanism 2 and is driven to rotate by the rotating component 2. It includes an electric drill component 31 and a repair component 32, which are used to drill holes and repair the inside of the pipe to be repaired, respectively.

[0060] Image acquisition mechanism 4 is connected to the traveling mechanism 1 and is used to acquire images of the inside of the pipe;

[0061] The controller is connected to the walking mechanism 1, the working mechanism 3, the rotating mechanism 2 and the image acquisition mechanism 4 respectively.

[0062] Among them, the walking mechanism 1 is an important component that drives the device of this solution to move. The walking mechanism 1 of this solution includes:

[0063] The carriage 11 is a box-shaped shell structure with an internal cavity 111. The upper end of the carriage 11 is detachably provided with a carriage cover 112 that can open and close the cavity.

[0064] The traveling component 12 is connected to the bottom of the carriage 11 and is used to move the carriage 11 within the pipe.

[0065] In the above manner, the device can move within the pipeline by controlling the walking component 12 to move forward or backward. As an example of a powered walking component, the walking component 12 can consist of a pair of wheels and a motor connected to the wheels to drive their movement. The movement of the walking component 12 is achieved by the operation of the motor. The movement of the wheels driven by the motor is existing technology and will not be described in detail here. When the walking component 12 is a non-powered walking component (i.e., without its own walking power), a connecting structure (such as a connecting block, a connecting hole, or a hexagonal hole at the rear end of the carriage 11) can be set at the rear end of the carriage to allow the device to be connected to other external powered walking devices, thereby enabling the device to be dragged and moved to the preset area of ​​the pipeline to be repaired. That is, when the walking mechanism is a non-powered trolley, other powered trolleys can be used as power sources for connection, thereby enabling the device to move forward and backward within the pipe.

[0066] In addition, the wheels in this design can be conical half-wheels, which can adapt to the curved environment inside the tube, thereby improving walking stability and flexibility.

[0067] The rotating mechanism 2 described in this solution includes:

[0068] A stepper motor 21 has one end inserted through the front end of the carriage 11 and is fixedly connected to the carriage 11 through a motor mount 212. The other end of the stepper motor 21 extends out of the carriage 11 and has a drive end 211. The stepper motor 21 is connected to a controller.

[0069] The rotating assembly 22 includes a turntable 221 and a mounting frame 222. The mounting frame 222 is an annular structure and is fixedly connected to the end of the carriage 11 connected to the stepper motor 21. The turntable 221 is a circular structure and is rotatably connected within the annular structure of the mounting frame 222 (for example, a cylindrical roller bearing is provided between the circumference of the turntable 221 and the annular structure of the mounting frame 222). One side of the turntable 221 is connected to the drive end 211 of the stepper motor 21, and the other end of the turntable 221 is connected to the working mechanism 3. The turntable 221 is driven by the stepper motor 21 to drive the working mechanism 3 to rotate. That is, when the stepper motor is working, the turntable 221 rotates, causing the working mechanism 3 to rotate 360° to adapt to pipeline operations in different positions.

[0070] The operating mechanism 3 described in this plan includes:

[0071] Connector 33,

[0072] The electric drill assembly 31 is connected to one side of the connecting bracket 33 and is used to drill holes inside the pipe to be repaired;

[0073] Repair component 32 is connected to the other side of connecting bracket 33 and is used to repair the pipe to be repaired after drilling;

[0074] The switching component 34 is connected to the turntable 221 and the connecting frame 33 respectively. The switching component 34 switches the electric drill component 31 and the repair component 32 to contact the inside of the pipe to be repaired in order to carry out the work.

[0075] The electric drill assembly 31, the repair assembly 32, and the switching assembly 34 are all connected to the controller.

[0076] The repair component 32 described in this solution includes:

[0077] The liquid storage tank 321 is installed in the receiving cavity 111 of the carriage 11 and is used to store pipeline repair fluid;

[0078] The delivery pipe 323 is made of flexible material, with one end connected to the lower part of the liquid storage tank 321 and the other end extending out of the carriage 11.

[0079] The conveying force generating mechanism 322 is installed in the accommodating cavity 111 and connected to the upper part of the storage tank 321. The conveying force generating mechanism 322 generates pressure on the upper part of the storage tank 321, so that the pipeline repair fluid in the storage tank 321 is sent into the conveying pipe 323 for delivery.

[0080] The syringe 324 is movably connected to the connecting frame 33 and is also connected to the switching component. One end of the syringe 324 is provided with an injection end 3241, and the other end of the syringe 324 is connected to the other end of the delivery tube 323. The injection end 3241 is used to deliver the pipe repair fluid in the delivery tube 323 to the pipe to be repaired after drilling for repair treatment.

[0081] The connecting frame 33 described in this solution has an I-shaped structure, with a first guide hole 331 and a second guide hole 332 penetrating its upper and lower end faces on both sides respectively.

[0082] The electric drill assembly 31 is a cylindrical mechanism that is vertically and slidably inserted in the first guide hole 331. Its upper end has a drill bit 311 for drilling the pipe to be repaired. The lower end of the electric drill assembly 31 is connected to the switching assembly 34.

[0083] The syringe 324 is slidably inserted into the second guide hole 332, with the end with the injection end 3241 facing upwards and its lower end connected to the switching component 34; the switching component 34 controls the syringe 324 of the electric drill component 31 or the repair component 32 to slide up and down on the connecting frame 33, so that the drill bit 311 or the injection end 3241 contacts the inner wall of the pipe to be repaired.

[0084] Among them, the electric drill assembly 31 can be a straight-tube electric drill, which consists of a cylindrical shell and a control circuit board, power supply and motor arranged inside the cylindrical shell. The drive end of the motor is connected to the drill bit through a connecting component. Alternatively, a commercially available straight-tube electric drill can be used directly.

[0085] The switching component 34 described in this solution includes:

[0086] Servo mount 341 is fixedly connected to the connecting frame and the turntable respectively;

[0087] Servo motor 342 is fixed on servo motor mount 341;

[0088] The first connecting rod 343 is fixedly connected to the drive end of the servo motor 342 in the middle.

[0089] The second connecting rod 344 has one end rotatably connected to one end of the first connecting rod 343, and the other end rotatably connected to the lower end of the electric drill assembly 31.

[0090] The third connecting rod 345 has one end rotatably connected to the other end of the first connecting rod 343, and the other end rotatably connected to the lower end of the syringe 324;

[0091] When the drive end of the servo motor 342 rotates at a preset angle in the first direction, one end of the first connecting rod 342 moves in a direction close to the lower end of the electric drill assembly 31, causing the electric drill assembly 31 to slide upward in the first guide hole 331 of the connecting frame 33. This causes the drill bit 311 of the electric drill assembly 31 to move in a direction close to the inner wall of the pipe to be repaired, and the syringe 324 to move in a direction away from the inner wall of the pipe to be repaired. When the drive end of the servo motor 342 rotates at a preset angle in the second direction, the other end of the first connecting rod 343 moves in a direction close to the lower end of the syringe 324, causing the syringe 342 to slide upward in the second guide hole 332 of the connecting frame 33. This causes the injection end 3241 connected to the syringe 324 to move in a direction close to the inner wall of the pipe to be repaired, and the drilling assembly 31 to move in a direction away from the inner wall of the pipe to be repaired.

[0092] To prevent debris from getting stuck in the device's components and causing the rotating component 2 to jam when the device moves or operates inside the pipe, the front end of the walking mechanism 1 described in this solution is also connected to a barrier cover 346 that partially covers the rotating component 2. The barrier cover 346 can protect the stepper motor 21 and the rotating component 22. Both of them are equipped with barrier covers on their outer sides, which can effectively prevent debris from falling into the pipe and affecting the robot's operation.

[0093] As an example, the image acquisition mechanism 4 described in this solution includes:

[0094] At least one gimbal 41 is provided on the traveling mechanism 1 and / or the working mechanism 3. For example, it can be provided on the upper surface of the carriage cover 112 of the traveling mechanism 1, or on the upper end of the connecting frame 33.

[0095] Each camera component 42 corresponds to and is connected to a gimbal 41. The camera components 42 are used to capture images of the inside of the pipe to be repaired, providing intuitive visual feedback and facilitating remote control by maintenance personnel. The gimbal 41 records the robot's operation status simultaneously. This allows the operator to monitor the robot's progress in real time, adjust its direction and position accordingly, and improve efficiency. Furthermore, the gimbal 41 can be pre-set to focus on specific details, enabling more precise repair of leaks inside the pipe and enhancing the robot's operational accuracy.

[0096] In this embodiment, the pipeline robot can work collaboratively through the coordinated action of multiple components. By connecting, rotating, and moving these components, it can repair leaks in pipeline gaps. When the pipeline robot's walking mechanism 1 is non-powered, the robot needs to be connected to a trolley that provides propulsion. If it is powered, this is not necessary. In this case, the pipeline robot is moved to the area of ​​the pipeline to be repaired, and then the rotating mechanism 1 performs preliminary work. The stepper motor 21 is activated, causing the turntable 221 to rotate, which in turn drives the working mechanism 3 to rotate. The drilling assembly 31 and repair assembly 32 of the working mechanism 3 are moved to the location of the leak in the pipe. Then, the servo motor 342 is activated, driving the first connecting rod 343 to swing, causing the electric drill assembly 31 to be pulled up to the location of the pipe crack for drilling. After drilling is completed, the electric drill assembly 31 is driven down by the servo motor. During the descent of the electric drill assembly 31, the syringe 324 on its right side rises, inserting the ejector pin (injection end 3241) into the drilled location. Then, the working mechanism 3 can perform leak repair on the pipe crack, wherein, combined with Figure 6 As shown, the conveying force generating mechanism 322 of the repair mechanism 32 (e.g., a hydraulic device that converts mechanical energy into hydraulic energy by starting a motor. When the motor starts, the space in the right chamber of the oil pump decreases, causing the oil to be continuously brought above the cylinder, thereby squeezing out the repair fluid in the reservoir 321 and outputting it from the delivery pipe 323) functions by generating pressure inside the reservoir 321, causing the repair fluid to be squeezed out and output from the delivery pipe 323, and then into the syringe 324 and the injection end 3241 to fill the inner wall of the drilled pipe to be repaired.

[0097] The above descriptions are only some embodiments of the present invention and do not limit the scope of protection of the present invention. Any equivalent device or equivalent process transformation made by using the contents of the description and drawings of the present invention, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A leak repair robot for pipelines, characterized in that, It includes: The traveling mechanism is used to move within the pipeline. It includes a carriage and a traveling assembly. The carriage has a box-shaped shell structure with an internal cavity. The upper end of the carriage is detachably equipped with a carriage cover that can open and close the cavity. The traveling assembly is connected to the bottom of the carriage and is used to drive the carriage to move within the pipeline. A rotating mechanism, connected to the front end of the traveling mechanism, includes a stepper motor and a rotating assembly. One end of the stepper motor passes through the front end of the carriage and is fixedly connected to the carriage via a motor mount. The other end of the stepper motor extends out of the carriage and has a drive end. The stepper motor is connected to a controller. The rotating assembly includes a turntable and a mounting frame. The mounting frame is a ring structure and is fixedly connected to the end of the carriage connected to the stepper motor. The turntable is a circular structure and is rotatably connected within the ring structure of the mounting frame. One side of the turntable is connected to the drive end of the stepper motor, and the other end of the turntable is connected to the working mechanism. The stepper motor drives the turntable to rotate the working mechanism. The working mechanism, connected to the rotating mechanism and driven to rotate by the rotating assembly, includes a connecting frame, an electric drill assembly, and a repair assembly. The electric drill assembly is connected to one side of the connecting frame and is used to drill a hole inside the pipe to be repaired. The repair assembly is connected to the other side of the connecting frame and is used to repair the pipe after drilling. The switching assembly is connected to the turntable and the connecting frame respectively, and the switching assembly switches the electric drill assembly and the repair assembly to contact the inside of the pipe to be repaired to achieve the work. An image acquisition mechanism is connected to the traveling mechanism and is used to acquire images of the inside of the pipe. The controller is connected to the walking mechanism, the working mechanism, the rotating mechanism, and the image acquisition mechanism, respectively. The repair component includes: A liquid storage tank is installed inside the compartment of the carriage and is used to store pipeline repair fluid; The delivery pipe is made of flexible material, with one end connected to the lower part of the storage tank and the other end extending out of the carriage. The conveying force generating mechanism is located inside the accommodating cavity and connected to the upper part of the storage tank. The conveying force generating mechanism generates pressure on the upper part of the storage tank, so that the pipeline repair fluid in the storage tank is sent into the conveying pipe for transportation. A syringe is movably connected to a connecting frame and also connected to a switching component. One end of the syringe is provided with an injection end, and the other end of the syringe is connected to the other end of a delivery tube. The injection end is used to deliver the pipe repair fluid in the delivery tube to the pipe to be repaired after drilling for repair treatment. The connecting frame has an I-shaped structure, with a first guide hole and a second guide hole penetrating its upper and lower end faces on both sides. The electric drill assembly is a cylindrical mechanism that is vertically and slidably inserted into the first guide hole. Its upper end has a drill bit for drilling the pipe to be repaired, and the lower end of the electric drill assembly is connected to the switching assembly. The syringe is slidably inserted into the second guide hole, with its injection end facing upwards and its lower end connected to the switching assembly; the switching assembly controls the syringe of the electric drill assembly or repair assembly to slide up and down on the connecting frame, so that the drill bit or injection end contacts the inner wall of the pipe to be repaired. The switching component includes: The servo mount is fixedly connected to the connecting frame and the turntable, respectively. The servo motor is fixed on a servo motor mount. The first connecting rod is fixedly connected to the drive end of the servo motor in the middle. The second connecting rod has one end rotatably connected to one end of the first connecting rod, and the other end rotatably connected to the lower end of the electric drill assembly; The third connecting rod has one end rotatably connected to the other end of the first connecting rod, and the other end rotatably connected to the lower end of the syringe. When the drive end of the servo motor rotates at a preset angle in the first direction, one end of the first connecting rod moves in a direction close to the lower end of the electric drill assembly, causing the electric drill assembly to slide upward in the first guide hole of the connecting frame. This causes the drill bit of the electric drill assembly to move in a direction close to the inner wall of the pipe to be repaired, and the syringe to move in a direction away from the inner wall of the pipe to be repaired. When the drive end of the servo motor rotates at a preset angle in the second direction, the other end of the first connecting rod moves in a direction close to the lower end of the syringe, causing the syringe to slide upward in the second guide hole of the connecting frame. This causes the injection end connected to the syringe to move in a direction close to the inner wall of the pipe to be repaired, and the drilling assembly to move in a direction away from the inner wall of the pipe to be repaired.

2. The leak repair pipeline robot as described in claim 1, characterized in that, The front end of the walking mechanism is also connected to a barrier cover that encloses the rotating component.

3. The leak repair pipeline robot as described in claim 1, characterized in that, The image acquisition mechanism includes: At least one gimbal is mounted on the traveling mechanism and / or the working mechanism. The number of camera components corresponds one-to-one with the number of gimbals and is connected to the gimbal.

4. A leak repair pipeline system, characterized in that, It includes the leak repair pipeline robot as described in any one of claims 1 to 3.

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