A pipe repair device and method

Abstract

The application discloses a pipeline repairing device and method, the pipeline repairing device comprises a support driving mechanism and a repairing mechanism, the support driving mechanism is provided with at least two, the support driving mechanism comprises a plurality of support arms which are mutually angled, each support arm is used for abutting against the inner wall of the pipeline, so as to drive the pipeline repairing device to travel in the pipeline; the repairing mechanism is rotatably arranged on the support driving mechanism. The plurality of support arms on the support driving mechanism ensures that the position of the support driving mechanism is stable in the pipeline, and the length is adjusted to adapt to the shape and size of various pipelines; the support arm drives the pipeline repairing device to travel in the pipeline; when the pipeline repairing device reaches the target position, the repairing mechanism is rotated to the damaged position of the pipeline, so that the dead angle repairing in the pipeline is realized; the pipeline repairing device can effectively improve the repairing efficiency of the small-diameter pipeline, avoids personnel from entering the dangerous pipeline environment to perform the repairing operation, and reduces the safety risk of the workers.

Description

Technical Field

[0001] This application relates to the field of pipeline repair technology, and in particular to a pipeline repair device and method. Background Technology

[0002] During the operation of concrete pipes, external disturbances and the complex internal environment can easily cause concrete damage inside the pipes. If these defects are not maintained and repaired in a timely manner, they may reduce the pipe's load-bearing capacity and deformation capacity, leading to structural damage. Furthermore, leaks can easily occur at the damaged locations, potentially causing a decrease in the density of the surrounding soil or the formation of voids, resulting in overall pipe structural subsidence and ultimately, ground collapse. Therefore, repairing and reinforcing damaged pipes is crucial.

[0003] The filling method is a common approach for localized pipe repair, suitable for repairing wider cracks or larger dents and defects. When using the filling method, repair personnel enter the pipe and can directly inject repair material "point-to-point" into the defective area. However, this method is ineffective in small-diameter pipes, making repairs difficult.

[0004] Currently, pipeline robots used for pipeline repair mainly adopt wheel-type movement. However, when they walk in the pipeline, the wheels only contact the bottom of the pipeline. The addition of a robotic arm will cause the center of gravity to rise and the grip to be insufficient, so it is easy to overturn or tilt. Summary of the Invention

[0005] This application aims to address at least one of the technical problems existing in the prior art. To this end, this application proposes a pipe repair device capable of repairing pipes at any location on the inner wall.

[0006] This application also proposes a pipeline repair method having the above-mentioned pipeline repair device.

[0007] According to a first aspect embodiment of the present application, the pipeline repair device includes a support drive mechanism and a repair mechanism. At least two support drive mechanisms are provided, each support drive mechanism including a plurality of support arms at angles to each other. Each support arm is used to abut against the inner wall of the pipeline to drive the pipeline repair device to move inside the pipeline. The repair mechanism is rotatably disposed on the support drive mechanism.

[0008] The pipe repair device according to the embodiments of this application has at least the following beneficial effects: the several support arms on the support drive mechanism ensure the stability of the support drive mechanism in the pipe, and adapt to the shape and size of various pipes by adjusting the length. The support arms drive the pipe repair device to move in the pipe. When the pipe repair device reaches the target position, the repair mechanism rotates to the damaged position of the pipe, thereby achieving repair without dead angles inside the pipe. The pipe repair device can effectively improve the repair efficiency of small diameter pipes, avoid personnel entering the dangerous pipe environment to carry out repair work, and reduce the safety risks of workers.

[0009] According to some embodiments of this application, the support drive mechanism further includes a support base, the support arm is disposed 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 pipe.

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

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

[0012] According to some embodiments of this application, the grouting assembly includes a water inlet channel, a grout inlet channel, and a grouting head disposed on the position adjustment component. Both the water inlet channel and the grout inlet channel are connected to the grouting head, and the filler material after water and grout are mixed is filled into the defect location of the pipeline through the grouting head.

[0013] According to some embodiments of this application, the grouting assembly further includes a water inlet and a grout inlet disposed on the position adjusting component. The water inlet is connected to the water inlet channel, and the grout inlet is connected to the grout inlet channel. Both the water inlet and the grout inlet are provided with unidirectional guiding components.

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

[0015] According to some embodiments of this application, the repair mechanism further includes a formwork assembly comprising a plastic component made of a silica-ceramic composite material, the plastic component being used to support the defect location on the inner wall of the pipe.

[0016] According to some embodiments of this application, the formwork assembly further includes an air bladder and a fixing component, the fixing component being connected to the position adjusting component and connected to the plastic component through the air bladder, and the grouting head passing through the air bladder and the plastic component.

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

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

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

[0020] The support arm is extended to touch the inner wall of the pipe;

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

[0022] The pipeline repair method according to the embodiments of this application has at least the following beneficial effects: Using the pipeline repair device of the first embodiment of this application, several support arms on the support drive mechanism ensure the stability of the support drive mechanism within the pipeline. The length of these support arms is adjusted to adapt to various pipeline shapes and sizes. The support arms drive the pipeline repair device to move within the pipeline. When the pipeline repair device reaches the target position, the repair mechanism rotates to the damaged position of the pipeline, thereby achieving seamless repair inside the pipeline. The pipeline repair device can effectively improve the repair efficiency of small-diameter pipelines, avoid personnel entering dangerous pipeline environments for repair work, and reduce the safety risks for workers.

[0023] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0024] The accompanying drawings are used to provide a further understanding of the technical solutions disclosed in this application and form part of the specification. They are used together with the embodiments disclosed in this application to explain the technical solutions of this application and do not constitute a limitation on the technical solutions disclosed in this application.

[0025] Figure 1 This is a schematic diagram of the pipeline repair device according to an embodiment of this application performing repair work in a pipeline;

[0026] Figure 2 This is a schematic diagram of the pipe repair device according to an embodiment of this application;

[0027] Figure 3 This is a schematic diagram of the support arm in the pipeline repair device according to an embodiment of this application;

[0028] Figure 4 This is a schematic diagram of the repair mechanism in the pipeline repair device according to an embodiment of this application;

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

[0030] Figure 6 This is a pipeline repair device according to an embodiment of this application. Figure 5 A cross-sectional view along the AA direction;

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

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

[0033] Figure 9 This is a schematic diagram of the pipeline repair device in a second position in a pipeline according to an embodiment of this application;

[0034] Figure 10 This is a schematic diagram of the pipeline repair device in a third position in a pipeline according to an embodiment of this application;

[0035] Figure 11 This is a schematic diagram of the pipe repair device according to an embodiment of this application being used for formwork support in a pipe;

[0036] Figure 12 This is a schematic diagram of the pipe repair device according to an embodiment of this application filling slurry into the pipe;

[0037] Figure 13 This is a flowchart of a pipeline repair method according to an embodiment of this application.

[0038] Figure label:

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

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

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

[0042] Rotating mechanism 400. Detailed Implementation

[0043] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0044] In the description of this application, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0045] In the description of this application, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0046] In the description of this application, unless otherwise expressly defined, terms such as "setup," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this application in conjunction with the specific content of the technical solution.

[0047] In the description of this application, the terms "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0048] like Figure 1 and Figure 2 As shown in the illustration, this 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 pipeline repair device by contacting the inner wall of the pipeline at multiple locations, preventing the device from tipping over or tilting. Driven by the support arm, the pipeline repair device can reach any position along the pipeline's axial direction. Simultaneously, the repair mechanism 200 can move towards 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 multiple positions of contact with the inner wall of the pipe to ensure stability.

[0050] The support drive mechanism 100 includes several support arms, each of which abuts against the inner wall of the pipe. Specifically, each support drive mechanism 100 includes three support arms, which are generally formed into rod-shaped structures.

[0051] Furthermore, one end of each of the three support arms is close to the other, while the other ends are far apart. The ends of the support arms that are far apart 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 included angle between any two adjacent support arms is approximately 120°, so that the three support arms form a stable triangular support structure.

[0052] In some examples, the support drive mechanism 100 also includes a support base 101, with each support arm connected to the support base 101, so that the support base 101 and the 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 via the telescopic component 102. Specifically, the rolling component 103 is a roller. Furthermore, the telescopic component 102 is length-adjustable. When the length of the telescopic component 102 is short, it facilitates the entry of the pipe repair device into the pipe. After the pipe repair device enters the pipe, the length of the telescopic component 102 gradually increases, causing the rolling component 103 to gradually approach and contact the inner wall of the pipe. The rolling component 103 forms rolling friction with the inner wall of the pipe, facilitating the movement of the pipe repair device inside the pipe.

[0054] Specifically, the roller of the rolling component 103 is a drive wheel. The rolling component 103 drives the pipe repair device to move inside the pipe by actively rotating, so that the pipe repair device reaches the axial position of the pipe corresponding to the pipe defect.

[0055] Understandably, each support arm is supported by the inner wall of the pipe, enabling the pipe repair device to be radially positioned within the pipe and preventing radial swaying. Furthermore, each support arm moves within the pipe via a rolling component 103, which constantly contacts the inner wall of the pipe. This allows the pipe repair device to move axially along the pipe at any time during the repair process, eliminating the need for frequent adjustments to the support arm lengths.

[0056] Additionally, the telescopic member 102 is formed as a telescopic rod, and a driver is installed inside the support base 101. The driver is used to drive the telescopic member 102 to extend or retract.

[0057] In some examples, the repair mechanism 200 is rotatably mounted on the support drive mechanism 100, and the repair mechanism 200 is used to inject grout into the pipeline to perform pipeline repair work.

[0058] In this design, the support drive mechanism 100 aligns the repair mechanism 200 with the damaged area of ​​the pipeline during its movement. As the repair mechanism 200 rotates, it further aligns with the radial position of the damaged area, thereby injecting grout into the damaged area. It is understood that the repair mechanism 200 can achieve repair at any angle, demonstrating strong versatility.

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

[0060] In some examples, such as Figure 2 As shown, the pipe repair device also includes a rotating mechanism 400, which is rotatably disposed between adjacent support drive mechanisms 100, that is, the two ends of the rotating mechanism 400 are respectively rotatably connected to two support bases 101.

[0061] Furthermore, the repair mechanism 200 is fixedly connected to the rotating mechanism 400. When the support drive mechanism 100 reaches the preset position in the axial direction of the pipe, the rotating mechanism 400 rotates, which in turn drives the repair mechanism 200 to rotate together.

[0062] In some examples, such as Figure 4 As shown, the repair mechanism 200 also 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 the defect area of ​​the pipeline with grout.

[0063] In some examples, such as Figure 5 and Figure 6 As shown, the grouting assembly includes a water inlet channel 202, a grout inlet channel 203, and a grouting head 206 disposed on the position adjustment component 201, wherein the water inlet channel 202 and the grout inlet channel 203 are both connected to the grouting head 206.

[0064] Furthermore, the water inlet channel 202 is used to introduce water into the grouting head 206, and the grout inlet channel 203 is used to introduce grout into the grouting head 206. Both the water inlet channel 202 and the grout inlet channel 203 are defined by corresponding pipes. Before entering the grouting head 206, the water and grout are first mixed to form the filler required for the defect area of ​​the pipe. The filler is then injected into the defect area of ​​the pipe through the grouting head 206.

[0065] Meanwhile, the grouting head 206 is equipped with a check valve to prevent filler material from entering the grouting head 206 from the defective area of ​​the pipeline. In addition, the interior of the grouting head 206 also includes components such as a ring plate, a sealing ring, internal threads, and clamping plates.

[0066] In some examples, the grouting assembly also includes an integrated channel 207, which is specifically defined by a corresponding fitting, one end of which connects to the water inlet channel 202 and the grout inlet channel 203, and the other end of which connects to the grouting head 206. Water and grout are then mixed in the integrated channel 207.

[0067] The grouting head 206 is installed after the integrated channel 207, and uses the continuous pressure generated by the grouting machine to inject grout into the defective area until it is completely filled. In addition, when the grout inlet channel 203 is closed, the grouting head 206 can also be used for water spraying alone.

[0068] In some examples, the grouting assembly also includes a water inlet 205 and a grout inlet 204, 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 grout inlet 204 is connected to the grout inlet channel 203 and is used to introduce grout into the grout inlet channel 203.

[0069] In addition, both the water inlet 205 and the slurry inlet 204 are equipped with unidirectional guide components to prevent backflow of water and slurry.

[0070] In some examples, the repair mechanism 200 also includes a formwork assembly, which includes a plastic component 301 for supporting the defect location on 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 composed of a variety of materials such as glass fiber mesh, calcium silicate, perlite, and cement. It has the flexibility to bend without rebounding after being exposed to water, and has strong plasticity. When used for formwork, it can easily adapt to the curved surface requirements of pipes of various diameters and prevent the filling material from spilling or overflowing.

[0072] Furthermore, the water sprayed from the slurry inlet 204 flows 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, thereby enabling the plastic component 301 to play a supporting role.

[0073] In some examples, the formwork assembly also includes an airbag 302 and a fixing member 303, which is connected to the position adjustment member 201. Specifically, the fixing member 303 is formed as a plate structure. The fixing member 303 is made of steel plate, and it is snap-fitted to the position adjustment member 201 and bolted to the pipe forming the integrated channel 207.

[0074] The distance from the fixing component 303 to the inner wall of the pipe is greater than the distance from the plastic component 301 to the inner wall of the pipe. The air bladder 302 is located between the fixing component 303 and the plastic component 301. The fixing component 303 has a structure for installing the air bladder 302. It is worth noting that when the air bladder 302 is filled with gas, its thickness is greater than the length of the grouting head 206, allowing the grouting head 206 to be concealed within the air bladder 302, ensuring that the plastic component 301 can contact the inner wall of the pipe.

[0075] Furthermore, when the plastic component 301 comes into contact with the pipe wall, the airbag 302 provides a compressive load to the plastic component 301 and causes it to deform. Understandably, the airbag 302 can provide cushioning for the plastic component 301, reducing the impact when the plastic component 301 comes into contact with the inner wall of the pipe.

[0076] It is worth noting that, addressing the issue of repair material spillage or overflow during the filling and repair process of traditional repair devices, this application employs an in-situ formwork followed by grouting. The airbag 302 and the deformable silica-ceramic composite support plate adapt to various pipe wall shapes and sizes. The filling material completely fills the space enclosed by the damaged area of ​​the pipe inner wall and the silica-ceramic composite support arc plate. The silica-ceramic composite support arc plate prevents repair material spillage or overflow, achieving a good local repair effect.

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

[0078] like Figure 13 As shown in the figure, this application provides a pipeline repair method applied to the above-mentioned pipeline repair device. The pipeline repair method includes:

[0079] The inside of the pipeline is inspected to determine the specific location and extent of any defects.

[0080] Among these methods, closed-circuit television (CCTV) inspection systems or pipeline inspection robots are used to inspect the inside of the pipeline to determine the specific location and extent of the pipeline damage.

[0081] When the pipeline repair device is on the ground, a grouting head 206 of suitable size and specifications is selected according to design requirements and installed in the integrated channel 207. A silicon-ceramic composite support plate of suitable size and specifications is selected according to the location and size of the defect. After drilling a hole in the middle of the plate, a pipe fitting is installed through it to form the integrated channel 207. The diameter of the grouting head 206 is 6 to 50 mm. The silicon-ceramic composite support plate has the flexibility to bend when exposed to water without springing back, 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 204 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 is extended to touch the inner wall of the pipe.

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

[0086] In this process, after the pipe repair device enters the pipe, the support arm of the support drive mechanism 100 is extended or retracted, raising or lowering the support base 101 to a suitable height. The support arm is then continuously manipulated until the rolling component 103 contacts the inner wall of the pipe, thus forming a triangular support adaptable to pipes of different diameters. Simultaneously, the length of the position adjustment component 201 is adjusted, and the rotation mechanism 400 is manipulated, allowing the repair mechanism 200 to rotate from 0° to 360° around the rotation mechanism 400. For example, refer to... Figure 8 , Figure 9 and Figure 10 The repair mechanism 200 can rotate to assume a first, second, and third posture. After the above adjustments, the robot enters the pipe at a suitable height and posture, and advances to the vicinity of the damaged area of ​​the pipe via the rolling component 103.

[0087] Furthermore, the rotating mechanism 400 is rotated so that the repair mechanism 200 rotates around the rotating mechanism 400 and is aligned with the damaged area. The external water supply equipment is turned on, and water enters the water inlet channel 202, integrated channel 207 and grouting head 206 through the water inlet 205 and is then sprayed out to clean the surface interface of the damaged area. During the cleaning process, the sprinkled water is used to fully wet the silicon ceramic composite support plate.

[0088] like Figure 11 and Figure 7As shown, the pipeline repair device adjusts the grouting head 206 to a suitable position by extending and retracting the position adjustment component 201, and inflates and pressurizes the airbag 302 so that the silicon ceramic composite support plate comes into contact with the pipe wall. After that, the airbag 302 applies a compressive load to the wet silicon ceramic composite support plate, and the silicon ceramic composite support plate changes from a flat plate to an arc-shaped plate that adapts to the inner wall of the pipeline.

[0089] like Figure 12 As shown, the external grouting equipment is opened, and the filling material is injected at the design pressure. The filling material enters the grouting channel 203, the integrated channel 207, and the grouting head 206 through the grout inlet 204 and is then ejected into the damaged area, filling the space formed by the damaged area and the silicon-ceramic composite support arc plate. The filling materials include epoxy resin grout, sodium silicate grout, acrylamide grout, methyl methacrylate grout, polyurethane resin grout, etc.

[0090] After the filling slurry is completed, wait for the filling material to fully solidify, release the gas inside the airbag 302, and the silicon-ceramic composite support plate separates from the airbag 302, completing all repair work.

[0091] In some alternative embodiments, the functions / operations mentioned in the block diagrams may not occur in the order shown in the operation diagrams. For example, depending on the functions / operations involved, two consecutively shown blocks may actually be executed substantially simultaneously, or the blocks may sometimes be executed in reverse order. Furthermore, the embodiments presented and described in the flowcharts of this application are provided by way of example to provide a more comprehensive understanding of the technology. The disclosed methods are not limited to the operations and logic flows presented herein. Alternative embodiments are contemplated in which the order of various operations is changed and sub-operations described as part of a larger operation are executed independently.

[0092] The embodiments of this application have been described in detail above with reference to the accompanying drawings. However, this application is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of this application. Furthermore, unless otherwise specified, the embodiments and features described in the embodiments of this application can be combined with each other.

Claims

1. A pipe repair device, characterized in that, include: A support drive mechanism is provided, at least two of which include a plurality of support arms at angles to each other. Each support arm is used to abut against the inner wall of the pipe to drive the pipe repair device to move inside the pipe. A repair mechanism is rotatably mounted on the support drive mechanism. The repair mechanism includes a position adjustment component and a grouting assembly. The grouting assembly includes a water inlet channel, a grout inlet channel, and a grouting head, both located on the position adjustment component. The water inlet channel and the grout inlet channel are connected to the grouting head. A mixture of water and grout is used to fill the defect location in the pipe through the grouting head. When the grout inlet channel is closed, the grouting head can also be used independently for water spraying. The grouting assembly includes a water inlet and a grout inlet, both located on the position adjustment component. The water inlet is connected to the water inlet channel, and the grout inlet is connected to the grout inlet channel. Both the water inlet and the grout inlet are equipped with unidirectional guiding components. The repair mechanism also includes a formwork assembly, which includes a plastic component made of silica-ceramic composite material. This plastic component supports the defect location on the inner wall of the pipe. The formwork assembly also includes an airbag and a fixing component. The fixing component is connected to the position adjustment component and to the plastic component via the airbag.

2. The pipe rehabilitation device of claim 1, wherein, The support drive mechanism further includes a support base, and the support arm is disposed 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 is used to abut against the inner wall of the pipe.

3. The pipe rehabilitation device of claim 1, wherein, The pipeline repair device further includes a rotating mechanism, which is rotatably disposed between adjacent support drive mechanisms, and the repair mechanism is fixedly disposed on the rotating mechanism.

4. The pipe rehabilitation device of claim 3, wherein, The grouting assembly is connected to the rotating mechanism via the position adjustment component.

5. The pipe rehabilitation device of claim 1, wherein, The grouting assembly also includes an integrated channel that connects the water inlet channel, the grout inlet channel, and the grouting head.

6. The pipe rehabilitation device of claim 1, wherein, The grouting head passes through the air bladder and the plastic component.

7. A method of repairing a pipe using the pipe repairing apparatus according to any one of claims 1 to 6, characterized by, include: Inspect the inside of the pipeline to determine the specific location and extent of pipeline defects; The pipeline repair device enters the pipeline and reaches the location of the defect; The support arm is extended to touch the inner wall of the pipe; The repair mechanism rotates to the defect position facing the inner wall of the pipe. Water enters the water inlet channel and grouting head through the inlet and is sprayed out to clean the surface interface of the damaged defect. During the cleaning process, the sprinkled water is used to fully wet the silicon ceramic composite support plate. The pipeline repair device adjusts the grouting head to the appropriate position by extending and retracting the position adjustment component. After the airbag is inflated and pressurized, the silicon ceramic composite support plate comes into contact with the pipe wall. The airbag then applies a compressive load to the wet silicon ceramic composite support plate, which transforms from a flat plate into an arc-shaped plate that adapts to the inner wall of the pipeline. The filling material enters the grouting channel and grouting head through the grouting inlet and is then sprayed out into the damaged area, filling the space formed by the damaged area and the silicon-ceramic composite support arc plate to complete the repair work.

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