Pipeline repairing device and method

Abstract

The invention discloses a pipeline repairing device and method.The pipeline repairing device comprises at least two supporting driving mechanisms and a repairing mechanism, each supporting driving mechanism comprises a plurality of supporting arms forming an angle, and the supporting arms are used for abutting against the inner wall of a pipeline so as to drive the pipeline repairing device to advance in the pipeline; the repairing mechanism is rotatably arranged on the supporting and driving mechanism. A plurality of supporting arms on the supporting driving mechanism ensure that the position of the supporting driving mechanism in the pipeline is stable, the supporting driving mechanism adapts to the shapes and sizes of various pipelines by adjusting the length, the supporting arms drive the pipeline repairing device to advance in the pipeline, and after the pipeline repairing device reaches a target position, the repairing mechanism rotates to the damaged position of the pipeline; therefore, dead-corner-free repair of the interior of the pipeline is achieved; according to the pipeline repairing device, the repairing efficiency of the small-diameter pipeline can be effectively improved, workers are prevented from entering the dangerous pipeline environment to conduct repairing operation, and the safety risk of the workers is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of pipeline repair, and in particular to a pipeline repair device and method. Background Art

[0002] During the working process of concrete pipes, due to external disturbance factors and the influence of the complex internal environment, concrete damage is easy to occur inside the pipes. If these defects are not maintained and repaired in time, on the one hand, the bearing capacity and deformation capacity of the pipes may be reduced, causing damage to the pipe structure; on the other hand, leakage is easy to occur at the damaged position, which may reduce the density of the soil around the pipe or cause loss to form cavities, causing the overall sinking of the pipe structure, and then causing ground collapse accidents. Therefore, it is very important to repair and reinforce damaged pipes.

[0003] The filling method is a common method for local pipeline repair, which is suitable for repairing wider cracks or larger depressions and defective areas. When the filling method is used for pipeline repair, the repair personnel enter the interior of the pipeline and can directly inject the repair material into the defective part of the pipeline "point to point", but the repair personnel cannot enter the small diameter pipeline, making the pipeline repair difficult to implement.

[0004] At present, pipeline robots used to repair pipelines mainly adopt wheel-type motion, but when they walk in the pipeline, the wheels only contact the bottom of the pipeline. The equipped robotic arm will cause the center of gravity to rise and the grip to be insufficient, so it is easy to have problems of flipping and rolling. Summary of the invention

[0005] The present application aims to solve at least one of the technical problems existing in the prior art. To this end, the present application proposes a pipeline repair device that can repair any position of the inner wall of the pipeline.

[0006] The present application also provides a pipeline repair method having the above-mentioned pipeline repair device.

[0007] According to the pipeline repair device of the first aspect embodiment of the present application, the pipeline repair device includes a support drive mechanism and a repair mechanism, at least two of the support drive mechanisms are provided, the support drive mechanism includes a plurality of support arms at angles to each other, each of the support arms is used to contact the inner wall of the pipeline to drive the pipeline repair device to move in the pipeline; the repair mechanism is rotatably arranged on the support drive mechanism.

[0008] The pipeline repair device according to the embodiment of the present application has at least the following beneficial effects: a plurality of support arms on the support driving mechanism ensure that the support driving mechanism is stably positioned in the pipeline, and can adapt to the shapes and sizes of various pipelines by adjusting the length; the support arms drive the pipeline repair device to move in the pipeline; when the pipeline repair device reaches the target position, the repair mechanism rotates to the damaged position of the pipeline, thereby realizing repair without dead ends inside the pipeline; the pipeline repair device can effectively improve the repair efficiency of small-diameter pipelines, avoid personnel from entering dangerous pipeline environments for repair operations, and reduce safety risks for staff.

[0009] According to some embodiments of the present application, the support drive mechanism also includes a support base, the support arm is arranged on the support base, the support arm includes a telescopic part and a rolling part, the rolling part is connected to the support base through the telescopic part, and the rolling part is used to resist the inner wall of the pipe.

[0010] According to some embodiments of the present application, the pipeline repair device further includes a rotating mechanism, which is rotatably disposed between adjacent supporting drive mechanisms, and the repair mechanism is fixedly disposed on the rotating mechanism.

[0011] According to some embodiments of the present application, the repair mechanism includes a position adjustment component and a grouting assembly, and the grouting assembly is connected to the rotating mechanism through the position adjustment component.

[0012] According to some embodiments of the present application, the grouting assembly includes a water inlet channel, a slurry inlet channel and a grouting head arranged on the position adjusting component, the water inlet channel and the slurry inlet channel are both connected to the grouting head, and the filler formed by a mixture of water and slurry is filled into the defective position of the pipeline through the grouting head.

[0013] According to some embodiments of the present application, the grouting assembly also includes a water inlet and a slurry inlet arranged on the position adjustment component, the water inlet is connected to the water inlet channel, the slurry inlet is connected to the slurry inlet channel, and the water inlet and the slurry inlet are both provided with a unidirectional conductive component.

[0014] According to some embodiments of the present application, the grouting assembly further includes an integrated channel, which connects the water inlet channel, the slurry inlet channel and the grouting head.

[0015] According to some embodiments of the present application, the repair mechanism further includes a formwork assembly, wherein the formwork assembly includes a plastic component made of a silicon-ceramic composite material, and the plastic component is used to support the defective position of the inner wall of the pipe.

[0016] According to some embodiments of the present application, the formwork assembly further includes an airbag and a fixing component, the fixing component is connected to the position adjustment component and is connected to the plastic component via the airbag, and the grouting head passes through the airbag and the plastic component.

[0017] According to the pipeline repair method of the second aspect of the present application, the pipeline repair method includes:

[0018] Inspect the inside of the pipeline to determine the specific location and scope of pipeline defects;

[0019] The pipeline repair device enters the pipeline and reaches the location of the defect;

[0020] The length of the support arm is raised to contact the inner wall of the pipe;

[0021] The repair mechanism rotates to the defect position facing the inner wall of the pipe to complete the repair work.

[0022] According to the pipeline repair method of the embodiment of the present application, there are at least the following beneficial effects: using the pipeline repair device of the first embodiment of the present application, a plurality of support arms on the support driving mechanism in the pipeline repair device ensure that the support driving mechanism is in a stable position in the pipeline, and adapts to the shapes and sizes of various pipelines by adjusting the length. The support arms drive the pipeline repair device to move in the pipeline. When the pipeline repair device reaches the target position, the repair mechanism rotates to the damaged position of the pipeline, thereby realizing repair without dead ends inside the pipeline; the pipeline repair device can effectively improve the repair efficiency of small-diameter pipelines, avoid personnel from entering a dangerous pipeline environment for repair operations, and reduce safety risks for staff.

[0023] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The accompanying drawings are used to provide a further understanding of the technical solution disclosed in the present application and constitute a part of the specification. Together with the embodiments disclosed in the present application, they are used to explain the technical solution disclosed in the present application and do not constitute a limitation on the technical solution disclosed in the present application.

[0025] Figure 1 is a schematic diagram of a pipeline repairing device according to an embodiment of the present application performing a repairing operation in a pipeline;

[0026] Figure 2 It is a schematic diagram of the structure of a pipeline repair device according to an embodiment of the present application;

[0027] Figure 3 It is a schematic diagram of the structure of the support arm in the pipeline repair device of the embodiment of the present application;

[0028] Figure 4 It is a structural schematic diagram of a repair mechanism in a pipeline repair device in an embodiment of the present application;

[0029] Figure 5 is a side view of a repair mechanism in a pipeline repair device according to an embodiment of the present application;

[0030] Figure 6 This is the pipeline repair device of the embodiment of the present application Figure 5 Sectional view in the AA direction;

[0031] Figure 7 is a cross-sectional view of the airbag in the pipeline repair device of the embodiment of the present application when a compressive load is applied;

[0032] Figure 8 is a schematic diagram of a pipeline repair device according to an embodiment of the present application in a first posture in a pipeline;

[0033] Fig. 9 is a schematic diagram of the pipeline repair device according to an embodiment of the present application in a second posture in the pipeline;

[0034] Fig.10 is a schematic diagram of the pipeline repair device according to the embodiment of the present application in a third posture in the pipeline;

[0035] Fig.11 It is a schematic diagram of the pipeline repair device of the embodiment of the present application performing formwork in the pipeline;

[0036] Fig.12 is a schematic diagram of a pipeline repair device according to an embodiment of the present application filling slurry in a pipeline;

[0037] Fig.13 It is a flow chart of the pipeline repair method of an embodiment of the present application.

[0038] Reference numerals:

[0039] Support driving mechanism 100; support base 101; telescopic component 102; rolling component 103;

[0040] Repair mechanism 200; position adjustment component 201; water inlet channel 202; slurry inlet channel 203; grouting head 204; water inlet 205; slurry inlet 206; integrated channel 207;

[0041] Plastic component 301; airbag 302; fixing component 303;

[0042] Rotating mechanism 400. DETAILED DESCRIPTION

[0043] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0044] In the description of the present application, it should be understood that descriptions involving orientation, such as up, down, front, back, left, right, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0045] In the description of this application, "several" means more than one, "more" means more than two, "greater than", "less than", "exceed", etc. are understood to exclude the number itself, and "above", "below", "within", etc. are understood to include the number itself. If there is a description of "first" or "second", it is only used for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0046] In the description of this application, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in this application based on the specific content of the technical solution.

[0047] In the description of the present application, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0048] like Figure 1 and Figure 2 As shown, an embodiment of the present application provides a pipeline repair device, which includes a support drive mechanism 100 and a repair mechanism 200. The support drive mechanism 100 ensures the stability of the position of the pipeline repair device by contacting the inner wall of the pipeline at multiple positions, thereby preventing the pipeline repair device from flipping and tilting, and under the driving action of the support arm, the pipeline repair device can reach any position in the axial direction of the pipeline. At the same time, the repair mechanism 200 can move toward the damaged area of ​​the pipeline, thereby repairing the damaged area.

[0049] In some examples, such as Figure 3 As shown, at least two support drive mechanisms 100 are provided, and each support drive mechanism 100 is arranged in parallel. Each support drive mechanism 100 forms multi-position interference with the inner wall of the pipeline to ensure stability.

[0050] The support drive mechanism 100 includes a plurality of support arms, each of which is in contact with the inner wall of the pipe. Specifically, each support drive mechanism 100 includes three support arms, which are generally formed into a rod-shaped structure.

[0051] Further, one end of the three support arms is close to each other, while the other ends of the three support arms are far away from each other, and the ends of the support arms far away from each other are used to abut against the inner wall of the pipe. It can be understood that the three support arms are evenly distributed in a circle, that is, the angle between two adjacent support arms is about 120°, so that the three support arms form a stable triangular support form.

[0052] In some examples, the support driving mechanism 100 further includes a support base 101, and each support arm is connected to the support base 101, so that the support base 101 and the plurality of support arms form a whole.

[0053] The support arm includes a telescopic component 102 and a rolling component 103. The rolling component 103 is connected to the support base 101 through the telescopic component 102. Specifically, the rolling component 103 is a roller. Furthermore, the telescopic component 102 can be adjusted in length. When the length of the telescopic component 102 is small, it is convenient for the pipeline repair device to enter the pipeline. When the pipeline repair device enters the pipeline, the length of the telescopic component 102 gradually increases, so that the rolling component 103 gradually approaches and contacts the inner wall of the pipeline. The rolling component 103 forms rolling friction with the inner wall of the pipeline, which facilitates the pipeline repair device to move inside the pipeline.

[0054] Specifically, the roller of the rolling component 103 is a driving wheel, and the rolling component 103 drives the pipeline repair device to move in the pipeline by actively rotating, so that the pipeline repair device reaches the axial position of the pipeline corresponding to the pipeline defect.

[0055] It can be understood that, on the one hand, each support arm is supported on the inner wall of the pipeline, so that the pipeline repair device is radially positioned inside the pipeline to prevent the pipeline repair device from radially shaking inside the pipeline. On the other hand, each support arm moves in the pipeline through the rolling component 103, and each rolling component 103 always contacts the inner wall of the pipeline, so the pipeline repair device can move along the axial direction of the pipeline at any time during the repair work, without the need to frequently adjust the length of the support arm.

[0056] In addition, the telescopic component 102 is formed as a telescopic rod, and a driver is installed inside the supporting base 101, and the driver is used to drive the telescopic component 102 to extend or shorten.

[0057] In some examples, the repair mechanism 200 is rotatably disposed on the support drive mechanism 100, and the repair mechanism 200 is used to inject slurry into the pipeline, thereby achieving pipeline repair work.

[0058] The supporting driving mechanism 100 makes the repair mechanism 200 correspond to the damaged area of ​​the pipeline during the moving process. As the repair mechanism 200 rotates, the repair mechanism 200 further corresponds to the radial position of the damaged area of ​​the pipeline, thereby injecting slurry into the damaged area of ​​the pipeline. It can be understood that the repair mechanism 200 can achieve repair at any angle and has strong versatility.

[0059] Specifically, the repair mechanism 200 includes a position adjustment component 201 composed of five sections of cylindrical steel pipes. Each section of the cylindrical steel pipes is inserted into each other and connected by tenons. The length of the repair mechanism 200 can be adjusted as needed.

[0060] In some examples, such as Figure 2 As shown, the pipeline repairing device further includes a rotating mechanism 400 , which is rotatably disposed between adjacent supporting driving mechanisms 100 , that is, two ends of the rotating mechanism 400 are rotatably connected to two supporting bases 101 .

[0061] Furthermore, the repair mechanism 200 is fixedly connected to the rotating mechanism 400. When the supporting driving mechanism 100 reaches a preset position in the axial direction of the pipeline, the rotating mechanism 400 rotates, thereby driving the repair mechanism 200 to rotate together.

[0062] In some examples, such as Figure 4 As shown, the repair mechanism 200 further includes a grouting assembly. The position adjustment component 201 is formed as a hollow structure. The grouting assembly is located in the inner cavity of the position adjustment component 201 and is used to fill slurry into the defective area of ​​the pipeline.

[0063] In some examples, such as Figure 5 and Figure 6 As shown, the grouting assembly includes a water inlet channel 202 , a slurry inlet channel 203 and a grouting head 204 which are arranged on a position adjustment component 201 , wherein the water inlet channel 202 and the slurry inlet channel 203 are both connected to the grouting head 204 .

[0064] Furthermore, the water inlet channel 202 is used to introduce water into the grouting head 204, and the slurry inlet channel 203 is used to introduce slurry into the grouting head 204. The water inlet channel 202 and the slurry inlet channel 203 are both defined by corresponding pipes. Before entering the grouting head 204, the water and the slurry are first mixed to form the filler required for the defective area of ​​the pipe, and the filler is then injected into the defective area of ​​the pipe through the grouting head 204.

[0065] At the same time, the grouting head 204 is provided with a check valve to prevent the filler from entering the grouting head 204 from the defective area of ​​the pipeline in the reverse direction. In addition, the interior of the grouting head 204 also includes components such as a ring plate, a sealing ring, an internal thread, and a clip.

[0066] In some examples, the grouting assembly further includes an integrated channel 207, which is also defined by corresponding pipes, one end of which is connected to the water inlet channel 202 and the slurry inlet channel 203, and the other end is connected to the grouting head 204. Water and slurry are mixed in the integrated channel 207.

[0067] Wherein, the grouting head 204 is installed after the integrated channel 207, and the grouting liquid is poured into the defective part by the continuous pressure generated by the grouting machine until it is completely filled. In addition, when the grouting channel 203 is closed, the grouting head 204 can also be used for water spraying alone.

[0068] In some examples, the grouting assembly further includes a water inlet 205 and a slurry inlet 206, both of which are disposed on the position adjustment component 201. The water inlet 205 is connected to the water inlet channel 202 and is used to introduce water into the water inlet channel 202; the slurry inlet 206 is connected to the slurry inlet channel 203 and is used to introduce slurry into the slurry inlet channel 203.

[0069] In addition, the water inlet 205 and the slurry inlet 206 are both provided with one-way conducting components to prevent the backflow of water and slurry.

[0070] In some examples, the repair mechanism 200 further includes a formwork assembly, wherein the formwork assembly includes a plastic component 301, and the plastic component 301 is used to support the defective position of the inner wall of the pipe.

[0071] Among them, the plastic component 301 includes a silicon-ceramic composite support plate. The silicon-ceramic composite support plate is a new type of material composited from a variety of materials such as glass fiber mesh cloth, calcium silicate, perlite, cement, etc. It has flexibility that can be bent without rebounding when in contact with water, and has strong plasticity. When used for formwork, it can easily adapt to the curved surface requirements of pipes of various diameters to prevent the filling material from spilling or overflowing.

[0072] Furthermore, the water sprayed from the slurry inlet 206 will flow to the plastic component 301. As the plastic component 301 gradually approaches the inner wall of the pipe, the shape of the plastic component 301 changes and adapts to the inner wall of the pipe, so that the plastic component 301 can play a mold-supporting role.

[0073] In some examples, the formwork assembly further includes an air bag 302 and a fixing component 303, wherein the fixing component 303 is connected to the position adjustment component 201. Specifically, the fixing component 303 is formed into a plate-like structure. The fixing component 303 is made of a steel plate, and the fixing component 303 is snap-connected to the position adjustment component 201 and is bolted to the pipe fitting forming the integrated channel 207.

[0074] The distance between the fixed component 303 and the inner wall of the pipe is greater than the distance between the plastic component 301 and the inner wall of the pipe, and the airbag 302 is located between the fixed component 303 and the plastic component 301, and a structure for installing the airbag 302 is reserved on the fixed component 303. It is worth noting that when the airbag 302 is filled with gas, the thickness of the airbag 302 is greater than the length of the grouting head 204, so that the grouting head 204 is hidden within the range of the airbag 302, ensuring that the plastic component 301 can contact the inner wall of the pipe.

[0075] Furthermore, when the plastic component 301 contacts the pipe wall, the airbag 302 is used to provide a compressive load to the plastic component 301 and cause the plastic component 301 to deform. It is understandable that the airbag 302 can provide a buffer for the plastic component 301 and reduce the impact when the plastic component 301 contacts the inner wall of the pipe.

[0076] It is worth noting that in view of the problem that the repair material may spill or overflow during the filling and repair process of the traditional repair device, the present application adopts the method of filling and grouting after in-situ formwork, and adapts to the shapes and sizes of various pipe walls through the airbag 302 and the deformable silicon-ceramic composite support plate. The filling material can fill the space surrounded by the damaged area of ​​the inner wall of the pipe and the silicon-ceramic composite support arc plate, and the silicon-ceramic composite support arc plate can prevent the repair material from spilling or overflowing, thereby achieving a good local repair effect.

[0077] In some examples, the support drive mechanism 100 is provided with an integrated cable, and the device is powered and controlled by the cable.

[0078] like Fig.13 As shown, an embodiment of the present application provides a pipeline repair method, which is applied to the above-mentioned pipeline repair device. The pipeline repair method includes:

[0079] Inspect the inside of the pipeline to determine the specific location and scope of pipeline defects.

[0080] Among them, a pipeline closed-circuit television detection system or a pipeline detection robot is used to inspect the inside of the pipeline to determine the specific location and scope of the pipeline damage.

[0081] When the pipeline repair device is on the ground, a grouting head 204 of suitable size is selected according to the design requirements and installed in the integrated channel 207, a silicon-ceramic composite support plate of suitable size is selected according to the size of the defect position, a hole is opened in the middle of the plate, and a pipe fitting forming the integrated channel 207 is set through it, wherein the diameter of the grouting head 204 is 6 to 50 mm. The silicon-ceramic composite support plate has the flexibility of being able to bend and not rebound after encountering water, and has strong plasticity.

[0082] When the pipeline repair device is on the ground, the external water supply and external grouting equipment are connected to the water inlet 205 and the grout inlet 206 respectively through an extendable flexible conduit.

[0083] The pipeline repair device enters the pipeline and reaches the location of the defect.

[0084] The support arm length is raised to contact the inner wall of the pipe.

[0085] The repair mechanism 200 rotates to the defect position facing the inner wall of the pipeline to complete the repair work.

[0086] After the pipeline repair device enters the pipeline, the support arm of the support drive mechanism 100 is controlled to extend or retract, so that the support base 101 is raised or lowered to a suitable height, and then the support arm is controlled until the rolling component 103 contacts the inner wall of the pipeline, that is, a triangular support that can adapt to pipelines of different diameters is formed. At the same time, the length of the position adjustment component 201 is adjusted, and the rotating mechanism 400 is controlled to make the repair mechanism 200 rotate around the rotating mechanism 400 at an angle of 0° to 360°. For example, referring to Figure 8 , Fig. 9 and Fig.10 , the repair mechanism 200 can be in the first posture, the second posture and the third posture by rotating. After the above adjustment, the robot enters the pipeline at a suitable height and posture, and advances to the vicinity of the location of the damaged area of ​​the pipeline through the rolling component 103.

[0087] Furthermore, the rotating mechanism 400 is controlled to rotate so that the repair mechanism 200 rotates around the rotating mechanism 400 and is aligned with the damaged defect area, and the external water supply equipment is turned on. Water enters the water inlet channel 202, the integrated channel 207, and the grouting head 204 through the water inlet 205 and is then sprayed out to clean the damaged defect surface interface. During the cleaning process, the spilled water is used to fully wet the silicon-ceramic composite support plate.

[0088] like Fig.11 and Figure 7As shown, the pipeline repairing device adjusts the grouting head 204 to a suitable position by telescoping the position adjusting component 201, and after inflating and pressurizing the airbag 302 so that the silicon-ceramic composite support plate contacts the pipe wall, the airbag 302 applies a compressive load to the wet silicon-ceramic composite support plate, and the silicon-ceramic composite support plate is transformed from a flat plate into an arc-shaped plate that adapts to the inner wall of the pipe.

[0089] like Fig.12 As shown, the external grouting equipment is turned on, and the filling material is injected according to the pressure required by the design. The filling material enters the grouting channel 203, the integrated channel 207, and the grouting head 204 through the grouting port 206, and then is ejected into the damaged defect area, and then fills the space formed by the damaged defect and the silicon-ceramic composite supporting arc plate. The filling material includes epoxy resin grouting material, sodium silicate grouting material, acrylamide grouting material, methyl methacrylate grouting material, polyurethane resin grouting material, etc.

[0090] After the filling slurry is completed, the filling material is gradually solidified, the gas in the airbag 302 is released, and the silicon-ceramic composite support plate is separated from the airbag 302, and the entire repair work is completed.

[0091] In some selectable embodiments, the function / operation mentioned in the block diagram may not occur in the order mentioned in the operation diagram. For example, depending on the function / operation involved, the two boxes shown in succession can actually be executed substantially simultaneously or the boxes can sometimes be executed in reverse order. In addition, the embodiment presented and described in the flow chart of the application is provided by way of example, for the purpose of providing a more comprehensive understanding of technology. The disclosed method is not limited to the operation and logic flow presented herein. Selectable embodiments are expected, wherein the order of various operations is changed and the sub-operation of a part described as a larger operation is performed independently.

[0092] The embodiments of the present application are described in detail above in conjunction with the accompanying drawings, but the present application is not limited to the above embodiments. Various changes can be made within the knowledge of ordinary technicians in the relevant technical field without departing from the purpose of the present application. In addition, the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

Claims

1. A pipeline repair device, characterized in that: include: A support driving mechanism, wherein at least two support driving mechanisms are provided, and the support driving mechanism comprises a plurality of support arms which are angled with each other, and each of the support arms is used to abut against the inner wall of the pipeline to drive the pipeline repair device to move in the pipeline; A repair mechanism is rotatably arranged on the supporting drive mechanism.

2. The pipeline repair device according to claim 1, characterized in that: The support drive mechanism also includes a support base, the support arm is arranged on the support base, the support arm includes a telescopic component and a rolling component, the rolling component is connected to the support base through the telescopic component, and the rolling component is used to abut against the inner wall of the pipeline.

3. The pipeline repair device according to claim 1, characterized in that: The pipeline repairing device further comprises a rotating mechanism, which is rotatably arranged between adjacent supporting driving mechanisms, and the repairing mechanism is fixedly arranged on the rotating mechanism.

4. The pipeline repair device according to claim 3, characterized in that: The repair mechanism comprises a position adjustment component and a grouting assembly, and the grouting assembly is connected to the rotating mechanism through the position adjustment component.

5. The pipeline repair device according to claim 4, characterized in that: The grouting assembly includes a water inlet channel, a slurry inlet channel and a grouting head which are arranged on the position adjustment component. The water inlet channel and the slurry inlet channel are both connected to the grouting head. The filler formed by mixing water and slurry is filled into the defective position of the pipeline through the grouting head.

6. The pipeline repair device according to claim 5, characterized in that: The grouting assembly also includes a water inlet and a slurry inlet arranged on the position adjustment component, the water inlet is connected to the water inlet channel, the slurry inlet is connected to the slurry inlet channel, and the water inlet and the slurry inlet are both provided with a unidirectional conductive component.

7. The pipeline repair device according to claim 6, characterized in that: The grouting assembly further comprises an integrated channel, wherein the integrated channel connects the water inlet channel, the slurry inlet channel and the grouting head.

8. The pipeline repair device according to claim 5, characterized in that: The repair mechanism also includes a formwork assembly, which includes a plastic component made of a silicon-ceramic composite material, and the plastic component is used to support the defective position of the inner wall of the pipeline.

9. The pipeline repair device according to claim 8, characterized in that: The formwork assembly also includes an air bag and a fixing component, wherein the fixing component is connected to the position adjustment component and is connected to the plastic component via the air bag, and the grouting head passes through the air bag and the plastic component.

10. A pipeline repair method, applied to the pipeline repair device according to any one of claims 1 to 9, characterized in that: include: Inspect the inside of the pipeline to determine the specific location and scope of pipeline defects; The pipeline repair device enters the pipeline and reaches the location of the defect; The length of the support arm is raised to contact the inner wall of the pipe; The repair mechanism rotates to the defect position facing the inner wall of the pipe to complete the repair work.

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