Automated pipe uv-cured repair lining hose laying system and method

Abstract

The application discloses a kind of pipeline ultraviolet light curing repair lining hose automatic laying system and laying method, and automatic laying system includes automatic folding conveying equipment, pulling unit, drag reduction unit, control unit, the automatic folding conveying equipment includes support and first horizontal conveyor, second horizontal conveyor are set in the support along longitudinal front and back, the first horizontal conveyor top is equipped with elastic pressure roller, the second horizontal conveyor top, transverse middle part is equipped with folding plate part.The application utilizes automatic folding and conveying lining hose by automatic equipment, replaces the operation process of traditional manual folding, conveying;Meanwhile, tension gauge and speed measuring wheel are used to monitor the tension and installation speed of lining hose in real time, to ensure that lining hose installation is carried out within normal parameter range, to avoid lining hose damage, to improve lining hose installation construction efficiency, to ensure construction quality.

Description

Technical Field

[0001] This invention relates to the field of municipal drainage pipeline repair technology, specifically to an automated system and method for laying flexible linings for trenchless repair of municipal drainage pipelines using ultraviolet light curing. Background Technology

[0002] Drainage pipes are responsible for collecting and transmitting rainwater and sewage throughout the urban area, significantly impacting the urban environment and residents' lives. In recent years, the country has increasingly emphasized the construction of urban drainage pipe networks. The use of trenchless repair technology to repair old urban pipes can quickly restore their normal function, reduce the impact on urban traffic and residents' lives, and yield significant economic and social benefits.

[0003] UV-CIPP (Ultraviolet In-Situ Curing) repair technology involves inserting a flexible tube impregnated with photoinitiating resin into the pipe section to be repaired using a pulling method. Compressed air is then used to open the flexible tube, ensuring it adheres tightly to the inner wall of the old pipe. An ultraviolet lamp is then placed inside the flexible tube, and the UV light induces the resin within the tube to cure, forming a new pipe lining. This repairs defects such as cracks and disconnections in the original pipe. This technology offers advantages such as short construction time, good repair results, and a continuous and smooth lining, making it widely used in pipeline repair projects.

[0004] The installation of the inner lining hose is a crucial step in the UV curing repair of pipelines. This process requires smoothly and evenly pulling the inner lining hose, 50-100m in length and 1-2m in width, into the pipeline to be repaired. Currently, a common method is to first lay a plastic base film within the pipe section to be repaired. At the upstream manhole opening, 2-4 people are positioned to fold the inner lining hose in thirds along its width (i.e., folding both sides towards the center, with one side tucking the other underneath, reducing the overall width to one-third of the original). This ensures the inner lining hose is narrower than the manhole diameter (typically 60-100cm). Then, at the downstream manhole opening, 2 people use a winch and steel cable to pull the inner lining hose into the pipeline. During this process, 6-8 people at the upstream manhole lift the inner lining hose and guide it into the manhole to prevent it from tearing or being scratched. Therefore, the installation of the inner lining hose requires 10-14 workers, consuming significant manpower, and often suffers from slow installation due to poor worker coordination. Meanwhile, according to relevant standards, the pulling speed during pipeline lining installation must not exceed 5 m / min, and the pulling force must not exceed the maximum tensile force that the lining hose can withstand. Current construction techniques use a winch to pull the entire lining pipe through the pipeline to be repaired. This pulling process is manually controlled, without monitoring the pulling speed and pulling force, which can easily lead to excessively fast pulling speeds and excessive pulling force, damaging the lining pipe and causing losses to the pipeline repair work.

[0005] Therefore, it is necessary to develop an automated laying system and method for pipeline UV curing repair lining hoses, which can realize the automatic folding and transportation of lining hoses, and monitor the pulling speed and tension of lining hoses during transportation, reduce quality problems caused by improper human operation during lining hose installation, improve the efficiency of lining hose installation, and reduce the cost of trenchless pipeline repair. Summary of the Invention

[0006] The purpose of this invention is to address the shortcomings of the aforementioned background technology and provide an automated laying system and method for pipeline ultraviolet light curing repair lining hoses. This system enables automatic folding and transport of the lining hoses, and monitors the pulling speed and tension of the lining hoses during transport. This reduces quality problems caused by improper human operation during lining hose installation, improves the efficiency of lining hose installation, and reduces the cost of trenchless pipeline repair.

[0007] The technical solution of this invention is: an automated laying system for pipeline ultraviolet light curing repair lining hoses, characterized in that it includes an automatic folding and conveying device, a pulling unit, a drag reduction unit, and a control unit.

[0008] The automatic folding conveying equipment includes a support frame located near the wellhead of the upstream inspection well, and a first horizontal conveyor belt and a second horizontal conveyor belt arranged longitudinally on the support frame. Elastic pressing rollers are provided above the first horizontal conveyor belt to elastically press the inner lining hose and convey it backwards. A folding plate is provided above the second horizontal conveyor belt at its transverse center. A guide wheel assembly is provided at the front end of the folding plate to guide the inner lining hose onto the second horizontal conveyor belt. The support frame is equipped with cantilever guide wheel assemblies on both sides of the folding plate to press down and fold the sides of the inner lining hose. A speed measuring device is provided above the rear end of the second horizontal conveyor belt to monitor the conveying speed of the inner lining hose in real time.

[0009] The traction unit includes a traction trolley with adjustable width located inside the pipeline and a winch located at the wellhead of the downstream inspection well. The winch is equipped with a steel wire rope for pulling the traction trolley, and the traction trolley is equipped with a force measuring device to monitor the traction force in real time.

[0010] The drag reduction unit includes a plastic base film laid inside the pipeline to be repaired, an upstream long-shaft roller set at the bottom pipe opening of the upstream inspection well chamber, and a downstream long-shaft roller set at the bottom pipe opening of the downstream inspection well chamber.

[0011] The control unit is signal-connected to the automatic folding conveyor and the pulling unit.

[0012] Preferably, the support is provided with roller connecting rods along the longitudinal direction on both sides of the first horizontal conveyor belt, and multiple elastic pressing rollers are arranged at intervals along the longitudinal direction. Both ends of each elastic pressing roller are rotatably connected to the two roller connecting rods, and the top of each roller connecting rod is vertically elastically connected to the support through a first spring.

[0013] Preferably, the folding plate includes an upper and lower connected vertical plate and a horizontal plate. The horizontal plate is an isosceles triangular plate arranged parallel above the second horizontal conveyor belt. The two sides of the horizontal plate are symmetrically arranged on both sides of the longitudinal center line of the second horizontal conveyor belt and are connected to each other backward. The vertical plate is arranged along the longitudinal center line of the horizontal plate and the top is inclined backward and downward. The vertical plate is fixedly connected to the bracket.

[0014] Furthermore, the first horizontal conveyor belt is positioned higher than the second horizontal conveyor belt, and the lateral width of the first horizontal conveyor belt is greater than that of the second horizontal conveyor belt.

[0015] The guide wheel assembly includes a first guide wheel for guiding the inner lining hose downwards and a second guide wheel located below and behind the first guide wheel for guiding the inner lining hose onto the second horizontal conveyor belt. The first guide wheel and the second guide wheel are arranged in pairs on both sides of the vertical plate and can rotate around the horizontal axis. The first guide wheel and the second guide wheel are located in front of the horizontal plate. The outer ends of the first guide wheel, the outer ends of the second guide wheel, and the bottom edge of the horizontal plate are arranged inwards in sequence along the horizontal direction on the same side above the second horizontal conveyor belt.

[0016] Preferably, the cantilever guide wheel assembly includes a first cantilever guide wheel and a second cantilever guide wheel disposed on one side of the folding plate, wherein the second cantilever guide wheel is located on the rear inner side of the first cantilever guide wheel;

[0017] The cantilever guide wheel assembly also includes a third cantilever guide wheel and a fourth cantilever guide wheel arranged on the other side of the flow guiding folding plate. The fourth cantilever guide wheel is located behind and inside the third cantilever guide wheel. The second cantilever guide wheel and the third cantilever guide wheel are arranged laterally in correspondence.

[0018] The first, second, third, and fourth cantilever guide wheels are each connected to the bracket via mounting bases and can be adjusted laterally and longitudinally.

[0019] Furthermore, the bracket is provided with longitudinal tracks on both sides of the second horizontal conveyor belt, and each mounting seat is longitudinally adjustable and installed on the corresponding longitudinal track. Each mounting seat is provided with a laterally adjustable extension rod. The first cantilever guide wheel, the second cantilever guide wheel, the third cantilever guide wheel, and the fourth cantilever guide wheel are all rotatably connected to the inner end of the extension rod on the corresponding mounting seat.

[0020] Preferably, the traction trolley includes two half-shells and a socket-type connector that connects the two half-shells into a whole. The socket-type connector includes a connecting rod extending laterally along the bottom of one half-shell and multiple connecting rods arranged at intervals along the longitudinal direction of the trolley. The bottom of the other half-shell is provided with a socket and each connecting rod is installed in the socket with adjustable depth. A telescopic cylindrical crossbar is also provided between the upper parts of the two half-shells for binding the starting end of the inner lining hose.

[0021] Furthermore, the traction trolley also includes a traction joint, and the force measuring device is disposed on the traction joint. One end of the traction joint is hinged to the two half-shells one-to-one through two hinge rods, and the other end is connected to the wire rope on the winch. The force measuring device is signal-connected to the control unit.

[0022] Furthermore, the control unit is signal-connected to the automatic folding conveyor, speed measuring device, winch, and force measuring device.

[0023] This invention also provides a method for laying the automated laying system of ultraviolet light curing repair lining hose for pipelines as described above, comprising the following steps:

[0024] S1. Pre-treatment of the pipeline to be repaired, including sealing, water diversion and cleaning;

[0025] S2. Place the starting end of the inner lining hose in the automatic folding conveyor and manually fold it into shape. Adjust and fix the folded starting end of the inner lining hose on the traction trolley. Place the traction trolley into the bottom of the upstream inspection well chamber and install the plastic bottom film of the drag reduction unit. Fix the wire rope of the winch to the front end of the traction trolley. Install the upstream long shaft roller and the downstream long shaft roller at the bottom pipe opening of the upstream inspection well chamber and the bottom pipe opening of the downstream inspection well chamber, respectively.

[0026] S3. Control the automatic folding conveyor and winch to simultaneously convey the inner lining hose and the traction trolley at the same speed. The conveying speed of the inner lining hose is monitored in real time by a speed measuring device and the traction force of the winch is monitored in real time by a force measuring device. After the traction trolley moves from the upstream manhole to the downstream manhole, the starting end of the inner lining hose is unloaded from the traction trolley and the traction trolley is taken out from the manhole. The upstream long shaft roller and the downstream long shaft roller are removed, and the plastic bottom film is pulled out. The laying of the inner lining hose is completed.

[0027] Preferably, in step S3, when the conveying speed of the inner lining hose is detected to be greater than the preset speed or the traction force of the winch is detected to be greater than the preset traction force, the control unit alarms and shuts down the entire system.

[0028] Beneficial effects of the present invention

[0029] (1) Automated equipment is used to automatically fold and transport the inner lining hose, replacing the traditional manual folding and transport process, reducing labor costs and improving construction efficiency;

[0030] (2) Due to the use of automatic folding conveying equipment, traction trolley and long shaft roller for inner lining hose, the frictional resistance during the installation of inner lining hose is significantly reduced, and the wear during the installation of inner lining hose is greatly reduced.

[0031] (3) Use a speed measuring device (speed measuring wheel) and a force measuring device (tension gauge) to monitor the installation speed and tension of the inner lining hose, so as to ensure that the inner lining hose is installed within the normal parameter range, avoid damage to the inner lining hose, and improve the construction quality.

[0032] (4) The entire system is highly integrated and wirelessly interconnected. It can be centrally controlled through the control system. Equipment at upstream and downstream wellheads that are hundreds of meters apart can be linked to operate, avoiding construction accidents caused by excessive distance and poor communication.

[0033] (5) When the inner lining hose is in the automatic folding conveyor, it is first pressed and conveyed on the first horizontal conveyor belt, and the starting end is manually folded. Then, the edge of the inner lining hose is stably folded by the cantilever guide wheel group. The horizontal and vertical positions of each guide wheel in the cantilever guide wheel group can be adjusted. Therefore, the present invention can be applied to inner lining hoses of different widths and has a wide range of applications.

[0034] (6) The traction trolley connects the two half-shells into a whole through a socket connector. By adjusting the socket depth, the width of the traction trolley can be adjusted to accommodate folded inner tubing of different widths. Attached Figure Description

[0035] Figure 1 Schematic diagram of an automated laying system for UV-cured repair hose linings in pipelines.

[0036] Figure 2 3D diagram of an automatic folding conveyor

[0037] Figure 3 Side view (longitudinal) of an automated folding conveyor.

[0038] Figure 4 Top view of an automated folding conveyor

[0039] Figure 5 3D diagram of the traction trolley

[0040] Figure 6The diagram shows the bottom of the traction trolley, where: 1-Automatic folding conveyor, 2-Inner liner hose, 3-Trolley, 4-Plastic bottom film, 5-Winder, 7-Upstream long-shaft roller, 6-Downstream long-shaft roller, 8-Upstream airbag, 9-Downstream airbag, 10-Control unit, 11-First horizontal conveyor belt, 12-Pressure roller, 13-Second horizontal conveyor belt, 14-Folding plates (141-Upright plate, 142-Horizontal plate, 143-First mounting plate, 144-Second mounting plate), 15-First guide wheel, 16-Second guide wheel. 17-First cantilever guide wheel, 18-Second cantilever guide wheel, 19-Third cantilever guide wheel, 20-Fourth cantilever guide wheel, 21-Speed ​​measuring wheel, 22-First stepper motor, 23-Second stepper motor, 31-Half-shell, 32-Connecting rod, 33-Socket, 34-Fixing bolt, 35-Telescopic cylindrical crossbar, 36-Hinged rod, 37-Roller, 38-Force gauge, 39-Tension joint, 101-Bracket, 102-Roller connecting rod, 103-First spring, 104-Longitudinal rail, 105-Mounting base, 106-Extension rod. Detailed Implementation

[0041] To provide a clearer understanding of the technical features and effects of the present invention, the following detailed description of the present invention will be given in conjunction with the accompanying drawings, using the installation of the inner lining hose during the ultraviolet light curing repair construction of a rainwater pipe as an example.

[0042] The rainwater pipe has a diameter of 1.2m and a length of 60m, with an inspection well opening diameter of 80cm. The pipe repair lining hose is 1.9m wide and 2cm thick. To reduce the number of construction workers required during the installation of the lining hose and to ensure proper installation, the automated laying system for the pipe ultraviolet curing repair lining hose described in this patent was used on-site.

[0043] like Figure 1-6 As shown, the automated laying system for pipe UV curing repair lining hoses provided by this invention mainly includes the following parts: an automatic folding and conveying device 1, a pulling unit, a drag reduction unit, and a control unit 10.

[0044] The automatic folding conveyor 1 includes a support 101 located near the wellhead of an upstream inspection well, and a first horizontal conveyor belt 11 and a second horizontal conveyor belt 13 arranged longitudinally on the support 101. Elastic pressing rollers 12 are provided above the first horizontal conveyor belt 11 to elastically press the inner lining hose backwards for conveying. A folding plate 14 is provided above the second horizontal conveyor belt 13 at its transverse center. A guide wheel assembly is provided at the front end of the folding plate 14 to guide the inner lining hose onto the second horizontal conveyor belt 13. Cantilever guide wheel assemblies are provided on both sides of the folding plate 14 on the support 101 to press down and fold the sides of the inner lining hose. A speed measuring device is provided above the rear end of the second horizontal conveyor belt 13 to monitor the conveying speed of the inner lining hose in real time. In this embodiment, the longitudinal direction is the transmission direction of the inner lining hose; the inner lining hose 2 is conveyed longitudinally from front to back. Figure 3 From left to right, horizontally the same Figure 3 From top to bottom.

[0045] The inner lining hose 2 is made of a standard product manufactured by a commercially available inner lining hose manufacturer. It is stacked after being repeatedly folded in an S-shape in sections of 2-3 meters in length, which saves storage space. It is stored in a wooden box away from light. The inlet of the first horizontal conveyor belt 11 of the automatic folding conveyor 1 faces the S-shaped stacked inner lining hose 2, while the outlet of the second horizontal conveyor belt 13 faces the manhole opening.

[0046] In the automatic folding conveyor 1, the first horizontal conveyor belt 11 is powered by the first stepper motor 22 on the support 101 to convey the inner lining hose 2 backward, and the second horizontal conveyor belt 13 is powered by the second stepper motor 23 on the support 101 to convey the inner lining hose 2 backward. The first horizontal conveyor belt 11 is positioned higher than the second horizontal conveyor belt 13, and the lateral width of the first horizontal conveyor belt 11 is greater than that of the second horizontal conveyor belt 13. The longitudinal centerline of the first horizontal conveyor belt 11 and the longitudinal centerline of the second horizontal conveyor belt 13 are vertically aligned. In this embodiment, the first horizontal conveyor belt 11 has a lateral width of 2m and a longitudinal length of 1m; the second horizontal conveyor belt 13 has a lateral width of 1m and a longitudinal length of 2m.

[0047] In the automatic folding conveyor 1, the elastic pressing rollers 12 are specifically configured as follows: The support 101 has roller connecting rods 102 on both sides of the first horizontal conveyor belt 11. The roller connecting rods 102 are horizontal rods arranged longitudinally. Multiple elastic pressing rollers 12 are evenly spaced longitudinally (three in this embodiment). Each elastic pressing roller 12 is axially arranged laterally and rotatable at both ends, correspondingly connected to the two roller connecting rods 102. The top of each roller connecting rod 102 is vertically elastically connected to the support 101 via a first spring 103. In this embodiment, there are multiple first springs 103 on each roller connecting rod 102, evenly spaced along the rod length. The two roller connecting rods 102 connect all the elastic pressing rollers 12 into a whole, evenly pressing the inner lining hose 2 onto the first horizontal conveyor belt 11, facilitating the flat conveying of the originally wider inner lining hose 2.

[0048] In the automatic folding conveyor 1, the specific structure of the folding plate 14 is as follows: The folding plate 14 includes a vertical plate 141 and a horizontal plate 142 connected vertically. The horizontal plate 142 is an isosceles triangular plate parallel to the second horizontal conveyor belt 13 (the horizontal plate 142 is 2-3 cm vertically spaced from the second horizontal conveyor belt 13). The two sides of the horizontal plate 142 are symmetrically arranged on both sides of the longitudinal center line of the second horizontal conveyor belt 13 and are connected to each other backward (i.e., the longitudinal center line of the horizontal plate 142 corresponds vertically to the longitudinal center line of the second horizontal conveyor belt 13). The vertical plate 141 is a vertical plate arranged along the longitudinal center line of the horizontal plate 142, with its top tilted backward and downward. The apex of the horizontal plate 142 extends backward beyond the rear end of the vertical plate 141. The top of the vertical plate 141 has an L-shaped first mounting plate 143 facing forward for fixed connection with the top of the bracket 101. When the inner lining hose 2 is conveyed by the second horizontal conveyor belt 13, it passes under the horizontal plate 142 and the two sides are folded towards the vertical plate 141 respectively. The top of the vertical plate 141 is tilted backward and downward to facilitate the folding of the side side, which gradually falls close to the folded part of the inner lining hose 2.

[0049] In the automatic folding conveyor 1, the guide wheel assembly has the following structure: The guide wheel assembly includes a first guide wheel 15 for guiding the inner lining hose downwards, and a second guide wheel 16 located below and behind the first guide wheel 15, guiding the inner lining hose onto the second horizontal conveyor belt 13. The first guide wheel 15 and the second guide wheel 16 are paired on both sides of the upright plate 141 and can rotate around the transverse axis. Both the first guide wheel 15 and the second guide wheel 16 are located in front of the horizontal plate 142. The outer ends of the first guide wheel 15, the outer ends of the second guide wheel 16, and the bottom edge of the horizontal plate 142 are sequentially arranged inwards along the transverse direction on the same side above the second horizontal conveyor belt 13. In this embodiment, the upright plate 141 extends forward beyond the bottom edge of the horizontal plate 142. The second guide wheel 16 is rotatably connected to the bottom front end of the upright plate 141, and the middle of the upright plate 141 extends forward to form a second mounting plate 144. The first guide wheel 15 is rotatably connected to the second mounting plate 144. The first guide wheel 15 and the second guide wheel 16 together guide the inner lining hose 2 to the front end of the second horizontal conveyor belt 13. The inner lining hose 2 passes under the horizontal plate 142 via the second horizontal conveyor belt 13. The outer end of the first guide wheel 15 corresponds to both sides of the second horizontal conveyor belt 13. The outer ends of the first guide wheel 15, the second guide wheel 16, and the bottom edge of the horizontal plate 142 are arranged inward in sequence along the horizontal direction, so that the two side edges of the inner lining hose 2 gradually fold inward when conveyed backward.

[0050] In the automatic folding conveyor 1, the specific structure of the cantilever guide wheel assembly is as follows: it includes one side of the folding plate 14 in the transverse direction ( Figure 4 The first cantilever guide wheel 17 and the second cantilever guide wheel 18 are arranged on the upper side. The second cantilever guide wheel 18 is located inside the rear of the first cantilever guide wheel 17 (i.e., with the lateral proximity to the second horizontal conveyor belt 13 as the inside). The second cantilever guide wheel 18 does not extend beyond the longitudinal centerline of the second horizontal conveyor belt 13 in the lateral direction. The cantilever guide wheel assembly also includes a guide folding plate 14 on the other side in the lateral direction. Figure 4 The third cantilever guide wheel 19 and the fourth cantilever guide wheel 20 are arranged on the lower side. The fourth cantilever guide wheel 20 is located inside the rear of the third cantilever guide wheel 19. The second cantilever guide wheel 18 is arranged laterally corresponding to the third cantilever guide wheel 19, and both the second cantilever guide wheel 18 and the third cantilever guide wheel 19 are located behind the upright plate 141 of the folding plate 14. In this embodiment, the first cantilever guide wheel 17 guides the right edge of the inner lining hose 2 ( Figure 4 The upper side) is pressed down and folded towards the upright plate 141. The second cantilever guide wheel 18 further positions the right edge of the inner lining hose 2, and the third cantilever guide wheel 19 positions the left edge of the inner lining hose 2. Figure 4 The lower side is pressed above the right edge for folding, and the fourth cantilever guide wheel 20 further positions the left edge of the inner lining hose 2, so the rear end of the second horizontal conveyor belt 13 outputs a stable folded three-part inner lining hose 2.

[0051] The first cantilever guide wheel 17, the second cantilever guide wheel 18, the third cantilever guide wheel 19, and the fourth cantilever guide wheel 20 are each connected to the bracket 101 via mounting bases 105 and are adjustable laterally and longitudinally. The bracket 101 has longitudinal tracks 104 on both sides of the second horizontal conveyor belt 13. Each mounting base 105 is longitudinally adjustable and mounted on the longitudinal track 104 on the same side. Each mounting base 105 has a laterally adjustable extension rod 106. The first cantilever guide wheel 17, the second cantilever guide wheel 18, the third cantilever guide wheel 19, and the fourth cantilever guide wheel 20 are rotatably connected to the inner end of the extension rod 106 on the corresponding mounting base 105 around a transverse axis. The main function of the cantilever guide wheel assembly is to position and guide the folded inner lining hose, ensuring stable folding of the inner lining hose.

[0052] In the automatic folding conveyor 1, the speed measuring device is a speed measuring wheel 21, which is set at the middle of the horizontal direction above the rear end of the second horizontal conveyor belt 13. The upper end of the speed measuring wheel 21 is mounted on the bracket. The speed measuring wheel 21 vertically and elastically presses the inner lining hose 2 so as to measure the conveying speed of the inner lining hose 2. The speed measuring wheel 21 is connected to the control unit 10 by signal.

[0053] The traction unit includes a traction trolley 3 with adjustable width located inside the pipeline and a winch 5 located at the downstream inspection well opening. The winch 5 is equipped with a steel wire rope for traction of the traction trolley 3, and a force measuring device is equipped on the traction trolley 3 to monitor the traction force in real time.

[0054] The specific structure of the traction trolley 3 is as follows: The traction trolley 3 includes two side-by-side semi-shells 31 and a socket-type connector that connects the two semi-shells 31 into a whole. Each semi-shell 31 has two rollers 37 at its bottom along the vehicle's forward direction. The socket-type connector includes a connecting rod 32 extending laterally from the bottom of one semi-shell 31 along the vehicle's transverse direction. Multiple connecting rods 32 are spaced apart along the vehicle's longitudinal direction. The bottom of the other semi-shell 31 has a socket 33, and each connecting rod 32 is installed in the socket 33 with adjustable depth. In this embodiment, each socket 33 has a fixing bolt 34 near the slot opening for fixing the connecting rod 32. Preferably, the fixing bolt 34 can directly press the connecting rod 32 into the socket 33 with its head facing upwards, or it can have threaded holes spaced apart on the connecting rod 32, with the fixing bolt 34 threadedly connected to the threaded holes. The overall width of the traction trolley 3 can be adjusted by adjusting the insertion depth of the connecting rod 32 between the two semi-shells 31.

[0055] In this embodiment, a telescopic cylindrical crossbar 35 is also provided between the upper parts of the two semi-shells 31 for binding the starting end of the inner lining hose. As a preferred embodiment, the telescopic cylindrical crossbar 35 can be an inner tube and an outer tube that are laterally movably connected. The outer ends of the inner tube and the outer tube are respectively fixed to the two semi-shells 31. When the traction trolley 3 adjusts the width through the connecting rod 32, it is only necessary to ensure that the inner ends of the inner and outer tubes are always connected. The telescopic cylindrical crossbar 35 can adapt to various widths after the traction trolley 3 is adjusted.

[0056] The traction trolley 3 also includes a traction joint 39. The upstream end of the traction joint 39 is hinged to two corresponding half-shells 31 via two hinged rods 36, and the downstream end is connected to the wire rope on the winch 5. Both ends of the hinged rods 36 are hinged to the traction joint 39 and the half-shells 31. The force measuring device is a force gauge 38, which is mounted on the traction joint 39 and is signal-connected to the control unit 10. The winch 5 is an adjustable-speed winch, and its start / stop and traction speed can be remotely controlled by the control unit 10. The wire rope on the winch 5 is connected to the traction joint 39 of the traction trolley 3 to pull the traction trolley 3. The force gauge 38 can monitor the tension on the traction joint 39 in real time and transmit the data to the control unit 10.

[0057] When using the trolley 3, first adjust the width of the trolley according to the width of the folded inner lining hose and the diameter of the inspection well opening. Then, put the starting end of the folded inner lining hose 2 into the trolley 3, pass it around the middle telescopic cylindrical crossbar 35, and fold it in half lengthwise by 20-30cm. Then, use ropes to tie and fix the folded inner lining hose, thereby fixing the starting end of the inner lining hose 2 onto the trolley 3.

[0058] The drag reduction unit includes a plastic base membrane 4 laid inside the pipe to be repaired, an upstream long-shaft roller 7 placed at the bottom of the upstream inspection well chamber, and a downstream long-shaft roller 6 placed at the bottom of the downstream inspection well chamber. The plastic base membrane 4 is a PE plastic film with a thickness of 0.5-1mm, a width of 1m, and a length the same as the pipe section to be repaired. During use, the plastic base membrane 4 is laid flat inside the cleaned pipe to be repaired, and the inner lining hose is placed on the plastic base membrane for pulling, preventing wear and scratches on the surface of the inner lining hose. The upstream long-shaft roller 7 and the downstream long-shaft roller 6 are long-shaft rollers with a length of 0.6-1m and a diameter of 10cm, respectively placed horizontally at the bottom of the upstream and downstream inspection well chambers to guide the flow of the inner lining hose and reduce friction.

[0059] The control unit 10 is a handheld control device that establishes a communication connection with the automatic folding conveyor of inner lining hose, the traction trolley and the winch 5 via wireless transmission. That is, the control unit 10 is connected to the first stepper motor 22, the second stepper motor 23 and the speed measuring device (speed measuring wheel 21) on the automatic folding conveyor 1, as well as the force measuring device (force gauge 38) on the winch 5 and the traction trolley 3.

[0060] The laying method of the above-mentioned pipeline ultraviolet light curing repair inner lining hose automated laying system is as follows.

[0061] S1. Pre-treatment of the pipeline to be repaired, including sealing, diverting water, and cleaning, is as follows:

[0062] First, the rainwater pipes in the upstream and downstream inspection wells of the section to be repaired are sealed off using upstream airbag 8 and downstream airbag 9 to isolate the section to be repaired. At the same time, the water coming from the upstream pipe is diverted by a water pump. Then, a cleaning and vacuum truck is used to pre-treat the pipe to be repaired, cleaning out the accumulated sludge and sewage inside the pipe, and washing the inner wall of the pipe with clean water. After pre-treatment, a CCTV pipe inspection robot is used to inspect the inner wall of the pipe to ensure that the inner wall of the pipe is clean and free of any attached substances.

[0063] S2. Preparation for laying the inner lining flexible hose, the specific operation is as follows:

[0064] First, place the automatic folding and conveying device 1 for the inner lining hose and the traction trolley 3 on the ground at the upstream inspection well opening, and place the winch 5 near the downstream inspection well opening. The starting end of the inner lining hose 2 is placed inside the automatic folding and conveying device 1 and manually folded. Specifically, in this embodiment, the starting end of the inner lining hose is placed into the first horizontal conveyor belt 11 in the front half of the automatic folding and conveying device 1 and pressed down with the pressing roller 12. The first horizontal conveyor belt 11 of the automatic folding and conveying device 1 is slowly conveyed using a handheld control device, allowing the inner lining hose 2 to pass through the front horizontal conveyor belt 11 and enter between the folding plate 14 and the second horizontal conveyor belt 13. At this time, the starting end of the inner lining hose 2 is manually folded—both sides are manually flipped up towards the folding plate 14, and the positions of the first cantilever guide wheel 17, the second cantilever guide wheel 18, the third cantilever guide wheel 19, and the fourth cantilever guide wheel 20 are adjusted to press down and position the folded edge of the inner lining hose 2, ensuring that the subsequently input inner lining hose 2 is automatically folded in a three-part shape according to the set folding shape. The folded inner lining hose 2 is conveyed from the second horizontal conveyor belt 13 in the rear half, and contacts the speed measuring wheel 21 at the outlet to measure the conveying speed of the inner lining hose.

[0065] Adjust the width of the traction trolley 3, put the folded inner lining hose 2 into the traction trolley 3, and let the starting end of the inner lining hose 2 pass around the telescopic cylindrical crossbar 35 inside the traction trolley and tie it with a rope to fix the inner lining hose 2 on the traction trolley 3. Then, put the traction trolley 3 into the bottom of the upstream inspection well chamber.

[0066] The plastic base membrane 4 is first tied to the CCTV pipeline inspection robot at its starting end. The CCTV pipeline inspection robot then pulls the plastic base membrane 4 from the upstream manhole opening to the downstream manhole opening, completing the laying of the plastic base membrane 4. Next, the wire rope hook of the winch 5 is tied to the CCTV pipeline inspection robot. The CCTV pipeline inspection robot pulls the wire rope from the downstream manhole to the upstream manhole. The wire rope hook is then removed and connected to the pulling joint 39 of the pulling trolley 3, and the CCTV pipeline inspection robot is taken out. Subsequently, the upstream long-shaft roller 7 and the downstream long-shaft roller 6 are installed at the bottom pipe openings of the upstream and downstream manhole chambers, respectively. The winch 5 tightens the rope, ensuring the inner lining hose 2, the pulling trolley 3, and the wire rope are tensioned. After ensuring all steps are correct, the preparation work is complete.

[0067] S3. Automatic installation of inner lining flexible hose, the specific operation is as follows:

[0068] A handheld control device controls the automatic folding conveyor 1 (first stepper motor 22, second stepper motor 23) and the winch 5 to simultaneously convey and pull the traction trolley 3 at the same speed. The speed measuring wheel 21 on the automatic folding conveyor 1 monitors the conveying speed of the inner lining hose 2 in real time. When the monitored conveying speed is greater than the preset speed (e.g., 5 m / s), the handheld control device will alarm and request the system to stop. The tension gauge 38 on the traction trolley 3 monitors the traction force of the winch 5 in real time. When the monitored traction force is greater than the preset traction force (generally the maximum allowable value of the inner lining hose), the handheld control device will alarm and request the system to stop.

[0069] After the traction trolley 3 moves from the upstream manhole to the downstream manhole, the starting end of the inner lining hose is removed from the traction trolley, and the traction trolley is taken out of the manhole. Finally, the upstream long-shaft roller 7 and the downstream long-shaft roller 6 are removed, and the plastic bottom membrane 4 is pulled out, completing the laying of the inner lining hose.

Claims

1. An automated laying system for pipe lining hose repair using ultraviolet light curing, characterized in that, It includes an automatic folding conveyor (1), a pulling unit, a drag reduction unit, and a control unit (10). The automatic folding conveyor (1) includes a support (101) set near the wellhead of the upstream inspection well and a first horizontal conveyor belt (11) and a second horizontal conveyor belt (13) set longitudinally on the support (101). The first horizontal conveyor belt (11) is provided with an elastic pressing roller (12) for elastically pressing the inner lining hose and conveying it backward. The second horizontal conveyor belt (13) is provided with a folding plate (14) above and in the middle of the transverse direction. The front end of the folding plate (14) is provided with a guide wheel group to guide the inner lining hose to the second horizontal conveyor belt (13). The support (101) is provided with a cantilever guide wheel group on both sides of the folding plate (14) for pressing down and folding the sides of the inner lining hose. The rear end of the second horizontal conveyor belt (13) is provided with a speed measuring device to monitor the conveying speed of the inner lining hose in real time. The traction unit includes a traction trolley (3) with adjustable width located inside the pipeline and a winch (5) located at the wellhead of the downstream inspection well. The winch (5) is equipped with a steel wire rope for traction of the traction trolley (3). The traction trolley (3) is equipped with a force measuring device to monitor the traction force in real time. The drag reduction unit includes a plastic base film (4) laid in the pipeline to be repaired, an upstream long shaft roller (7) set at the bottom pipe opening of the upstream inspection well chamber, and a downstream long shaft roller (6) set at the bottom pipe opening of the downstream inspection well chamber. The control unit (10) is signal-connected to the automatic folding conveyor (1) and the pulling unit; The folding plate (14) includes an upper and lower connected vertical plate (141) and a horizontal plate (142). The horizontal plate (142) is an isosceles triangular plate arranged parallel above the second horizontal conveyor belt (13). The two sides of the horizontal plate (142) are symmetrically arranged on both sides of the longitudinal center line of the second horizontal conveyor belt (13) and connected to each other backward. The vertical plate (141) is arranged along the longitudinal center line of the horizontal plate (142) and the top is inclined backward and downward. The vertical plate (141) is fixedly connected to the bracket (101). The cantilever guide wheel assembly includes a first cantilever guide wheel (17) and a second cantilever guide wheel (18) disposed on one side of the folding plate (14), the second cantilever guide wheel (18) being located on the inner rear side of the first cantilever guide wheel (17); the cantilever guide wheel assembly also includes a third cantilever guide wheel (19) and a fourth cantilever guide wheel (20) disposed on the other side of the folding plate (14), the fourth cantilever guide wheel (20) being located on the inner rear side of the third cantilever guide wheel (19), the second cantilever guide wheel (18) and the third cantilever guide wheel (19) being arranged laterally corresponding to each other; the first cantilever guide wheel (17), the second cantilever guide wheel (18), the third cantilever guide wheel (19) and the fourth cantilever guide wheel (20) are each connected to the bracket (101) through the mounting base (105) and can be adjusted laterally and longitudinally.

2. The automated laying system for pipe UV curing repair lining hoses as described in claim 1, characterized in that, The bracket (101) has roller connecting rods (102) on both sides of the first horizontal conveyor belt (11) along the longitudinal direction. Multiple elastic pressing rollers (12) are arranged at intervals along the longitudinal direction. Both ends of each elastic pressing roller (12) are rotatably connected to the two roller connecting rods (102). The top of each roller connecting rod (102) is vertically elastically connected to the bracket (101) through a first spring (103).

3. The automated laying system for pipe UV curing repair lining hoses as described in claim 1, characterized in that, The first horizontal conveyor belt (11) is set higher than the second horizontal conveyor belt (13), and the lateral width of the first horizontal conveyor belt (11) is greater than the lateral width of the second horizontal conveyor belt (13); The guide wheel assembly includes a first guide wheel (15) for guiding the inner lining hose downwards and a second guide wheel (16) below and behind the first guide wheel (15) for guiding the inner lining hose onto the second horizontal conveyor belt (13). The first guide wheel (15) and the second guide wheel (16) are both arranged in pairs on both sides of the upright plate (141) and can rotate around the transverse axis. The first guide wheel (15) and the second guide wheel (16) are both located in front of the horizontal plate (142). The outer ends of the first guide wheel (15), the outer ends of the second guide wheel (16), and the bottom edge of the horizontal plate (142) on the same side above the second horizontal conveyor belt (13) are arranged inwards in sequence along the transverse direction.

4. The automated laying system for pipe UV curing repair lining hoses as described in claim 1, characterized in that, The bracket (101) is provided with longitudinal rails (104) on both sides of the second horizontal conveyor belt (13). Each mounting seat (105) is longitudinally adjustable and installed on the corresponding longitudinal rail (104). Each mounting seat (105) is provided with a horizontally adjustable extension rod (106). The first cantilever guide wheel (17), the second cantilever guide wheel (18), the third cantilever guide wheel (19), and the fourth cantilever guide wheel (20) are all rotatably connected to the inner end of the extension rod (106) on the corresponding mounting seat (105).

5. The automated laying system for pipe UV curing repair lining hoses as described in claim 1, characterized in that, The traction trolley (3) includes two half-shells (31) and a socket-type connector that connects the two half-shells (31) into a whole. The socket-type connector includes a connecting rod (32) extending laterally along the vehicle from the bottom of one half-shell (31). Multiple connecting rods (32) are arranged at intervals along the vehicle's longitudinal direction. The bottom of the other half-shell (31) is provided with a socket (33) and each connecting rod (32) is installed in the socket (33) with adjustable depth. A telescopic cylindrical crossbar (35) is also provided between the upper parts of the two half-shells (31) for binding the starting end of the inner lining hose.

6. The automated laying system for pipe UV curing repair lining hoses as described in claim 5, characterized in that, The traction trolley (3) also includes a traction joint (39), and the force measuring device is set on the traction joint (39). One end of the traction joint (39) is hinged to the two half-shells (31) one by one through two hinge rods (36), and the other end is connected to the wire rope on the winch (5). The force measuring device is signal connected to the control unit (10).

7. A method for laying an automated laying system for pipe UV curing repair lining hoses as described in any one of claims 1 to 6, characterized in that, Includes the following steps: S1. Pre-treatment of the pipeline to be repaired, including sealing, water diversion and cleaning; S2. Place the starting end of the inner lining hose (2) in the automatic folding conveyor (1) and manually fold it into shape. Adjust the width of the traction trolley (3). Fix the folded starting end of the inner lining hose (2) on the traction trolley (3). Place the traction trolley (3) into the bottom of the upstream inspection well chamber. Install the plastic bottom film (4) of the drag reduction unit. Fix the wire rope of the winch (5) to the traction trolley (3). Install the upstream long shaft roller (7) and the downstream long shaft roller (6) at the bottom pipe opening of the upstream inspection well chamber and the bottom pipe opening of the downstream inspection well chamber, respectively. S3. Control the automatic folding conveyor (1) and winch (5) to simultaneously convey the inner lining hose (2) and the traction trolley (3) at the same speed. The conveying speed of the inner lining hose (2) is monitored in real time by the speed measuring device and the traction force of the winch (5) is monitored in real time by the force measuring device. After the traction trolley (3) moves from the upstream inspection well opening to the downstream inspection well opening, the starting end of the inner lining hose (2) is unloaded from the traction trolley (3) and the traction trolley (3) is taken out from the downstream inspection well opening. The upstream long shaft roller (7) and the downstream long shaft roller (6) are removed and the plastic bottom film (4) is pulled out. The inner lining hose (2) is laid.

8. The laying method of the automated laying system for pipeline ultraviolet light curing repair lining hose as described in claim 7, characterized in that, In step S3, when the conveying speed of the inner lining hose (2) is detected to be greater than the preset speed or the traction force of the winch (5) is detected to be greater than the preset traction force, the control unit (10) will alarm and shut down the entire system.

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