Full-automatic pipeline repairing system and method

Abstract

The invention discloses a full-automatic pipeline repairing system and method.The automatic repairing system comprises a pipe body, sealing devices, a drainage device and a plastering device, the pipe body is arranged in a pipeline, and the two sealing devices are arranged at the two ends of the outer wall of the pipe body respectively and have a first unfolded state and a second folded state; when the two sealing devices are in the first state at the same time, the space between the outer wall of the pipe body and the inner wall of the pipeline is sealed, and a closed repairing space is formed; when the two sealing devices are in the second state at the same time, the sealing devices are separated from the pipeline, so that the repairing space is opened to be communicated with the outside, the water inlet end of the drainage device is communicated with the repairing space, the water outlet end of the drainage device is arranged outside the pipeline, and the plastering device is arranged on the outer wall of the pipe body and located between the two sealing devices. The plastering device is provided with a plastering end making contact with the inner wall of the pipeline.

Description

Technical Field

[0001] The present invention relates to the technical field of water supply and drainage pipelines, and in particular to a fully automatic pipeline repair system and method. Background Art

[0002] At present, on the one hand, the existing sewage pipes in some urban areas are seriously aged, resulting in sewage leakage and pollution; on the other hand, the existing urban water supply pipes usually use concrete pipes or glass fiber concrete composite pipes, and these pipes are often sealed with cement slurry at the joints. As the soil settles or some cement slurry cracks, the water supply pipes are prone to leakage, resulting in tap water being wasted. The above signs show that it is necessary to repair the leaking pipes to improve drainage efficiency and reduce the risk of urban waterlogging. However, if all the pipes are removed and replaced, the cost is high, especially some pipes are located under busy streets, and the modification process will make it difficult for residents to pass.

[0003] In response to the above technical problems, Xin Jianxin et al. proposed in "Research and Application of Rainwater and Sewage Pipeline Network Repair Technology in the Central Old City" that pipeline repair includes the following steps: diver detection, sewage diversion, dredging, pipeline inspection, repairing the damaged position with ultraviolet light-cured resin mortar and glass fiber cloth, and then compressing with air bags and curing with ultraviolet light to repair the inner wall of the pipeline. The Chinese invention patent application with publication number CN118775673A records "a non-excavation repair method for pipelines under complex conditions", including blocking with air bags, and then squeezing the sealing ring outward with an extrusion rod to repair the inner wall of the pipeline. However, the above-mentioned prior art does not take into account the overall construction situation, and the implementation of the conversion is difficult, that is, the diameter of the pipeline is different, and the inner diameter of the pipeline will also change due to the influence of sediments, so it is difficult to use a set of equipment to achieve the repair of pipelines of different diameters, resulting in the actual construction difficulty and high construction cost of the prior art solution. Summary of the invention

[0004] In order to overcome the above-mentioned deficiencies in the prior art, the present invention proposes a fully automatic pipeline repair system and method to solve the technical problem that it is difficult to repair pipelines of different diameters with one set of equipment in the prior art.

[0005] In order to achieve the above technical objectives, the present invention adopts the following technical solutions: In a first aspect, the present invention provides a fully automatic pipeline repair system for repairing damaged parts of the inner wall of a pipeline, comprising: A pipe body, arranged inside the pipe; Two sealing devices are respectively arranged at both ends of the outer wall of the tube body, and have a first state of being unfolded and a second state of being retracted. When the two sealing devices are in the first state at the same time, the outer wall of the tube body is sealed and connected with the inner wall of the pipeline to enclose and form a closed repair space. When the two sealing devices are in the second state at the same time, the sealing devices are separated from the pipeline, so that the repair space is opened to communicate with the outside world. A drainage device, the water inlet of which is connected to the repair space and the water outlet of which is arranged outside the pipeline; A slurry spreading device, arranged on the outer wall of the pipe body and located between the two sealing devices, the slurry spreading device having a spreading end in contact with the inner wall of the pipe; In some embodiments, the two sealing devices are mirror-imaged, and each of the sealing devices includes a first push rod, a first rocker arm, an inflatable sealing ring and an air supply pipeline. The first push rod is an electric push rod or an air cylinder. Multiple first push rods are evenly distributed along the circumference of the tube body, one end of which is hinged to the outer wall of the tube body, and the other end is hinged to the first rocker arm. One end of the first rocker arm is hinged to the outer wall of the tube body, and the other end of the first rocker arm is connected to the inflatable sealing ring. The inflatable sealing ring is connected to one end of the air supply pipeline, and the other end of the air supply pipeline is connected to an external air source.

[0006] In some embodiments, each of the sealing devices further comprises a flexible water retaining membrane, which is disposed between the inflatable sealing ring and the outer wall of the tube body so that water can only flow through the inner cavity of the tube body.

[0007] In some embodiments, the drainage device includes a water collecting pipe, a drainage branch pipe, a submersible pump and a drainage main pipe. A plurality of drainage outlets are formed on the outer wall of the second inflatable sealing ring facing the slurry device. The drainage outlets are connected to the drainage branch pipe through the water collecting pipe, the outlet of the drainage branch pipe is connected to the inlet of the submersible pump, the outlet of the submersible pump is connected to the drainage main pipe, and the other end of the drainage main pipe is arranged outside the pipeline.

[0008] In some embodiments, the slurry spreading device includes a power supply component, a smearing component, and a slurry supply component; The power supply assembly includes a stator, a rotor, a power supply seat ring and a power supply slip ring, wherein the stator is fixedly arranged on the outer wall of the tube body, the rotor is rotatably connected to the outside of the stator, the power supply seat ring is arranged on the outer wall of the tube body and close to the stator and the rotor, the power supply seat ring is electrically connected to an external cable, the power supply slip ring is arranged on one side edge of the rotor, and the power supply slip ring is connected to the power supply seat ring through a multi-line conductive sliding connection; The coating assembly includes a second push rod, a second swing rod and a smearing plate, the second push rod is an electric push rod, a plurality of the second swing rods are evenly distributed along the outer circumferential direction of the rotor, and one end of the second swing rod is hinged to the outer wall of the rotor, and the other end is connected to the smearing plate, the smearing plate is formed with the coating end on one side close to the inner wall of the pipe, and the two ends of the second push rod are respectively hinged to the second swing rod and the power supply slip ring; The slurry supply assembly includes a grouting pipe, a slurry supply fixed ring, a slurry supply rotating ring and a slurry supply branch pipe. One end of the grouting pipe is connected to an external slurry supply device, and the other end is connected to the slurry supply fixed ring. The slurry supply fixed ring is arranged on the outer wall of the tube body, and the slurry supply rotating ring sealing sleeve is arranged outside the slurry supply fixed ring and the two are connected. The two ends of the slurry supply branch pipe are respectively connected to the slurry supply rotating ring and the slurry plate.

[0009] In some embodiments, a slurry containing groove is formed at the bottom of the slurry plate, and the slurry containing groove is connected to the slurry supply branch pipe.

[0010] In some embodiments, the coating assembly further includes a UV curing head, and the UV curing head is disposed on one side of the exterior of the trowel board.

[0011] In some embodiments, a traction device is also included, which includes a traction rope and a traction ring. The traction ring is fixed to one side of the tube body, one end of the traction rope is fixed to the traction ring, and the other end of the traction rope is arranged outside the pipe to pull the tube body by external force.

[0012] In some embodiments, the repair system further comprises a control device, which is electrically connected to the two sealing devices, the drainage device and the slurry device respectively to achieve automatic repair.

[0013] On the other hand, the present invention provides a pipeline automatic repair method, which is implemented based on the pipeline automatic repair system provided by the first aspect of the present invention, and includes the following steps: S1, placing the pipeline automatic repair system in the pipeline, and positioning the pipe body at the damaged part inside the pipeline; S2, controlling the two sealing devices to be in the first state of expansion at the same time, so that they are respectively sealed and connected to the outer wall of the tube body and the inner wall of the pipeline to enclose and form a closed repair space; S3, controlling the drainage device to drain the water in the repair space; S4, controlling the smearing end of the smearing device to repair the damaged inner wall of the pipe in the repair space.

[0014] Compared with the prior art, the effective effects of the present invention mainly include: The present invention provides a fully automatic pipeline repair system and method. First, a sealing device is used to seal the space between the outer wall of the pipe body and the inner wall of the pipe. Then, the water in the sealed space is drained through a drainage device to achieve dry water construction. Finally, a slurry device is used to repair the damaged part of the inner wall of the pipe. The original water flow can pass through the inner cavity of the pipe body normally without affecting normal drainage. In this way, the fully automatic pipeline repair system provided by the present invention can realize the repair of damaged inner walls of pipes with different diameters, reducing construction costs; at the same time, automatic control is realized by electrically connecting the control device with the electrical components of each device, greatly improving the efficiency and success rate of pipeline repair. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall structure of the fully automatic pipeline repair system of the present invention; Figure 2 yes Figure 1 Schematic diagram of the C-direction structure; Figure 3 is a structural schematic diagram of the gravity valve of the present invention; Figure 4 yes Figure 1 Schematic diagram of the B-direction structure; Figure 5 is an enlarged view of the slurry spreading device of the present invention; Figure 6 yes Figure 1 A-direction structural diagram in FIG. Figure 7 It is a process route diagram of the pipeline fully automatic repair method of the present invention; Figure 8 It is a control flow chart of the pipeline fully automatic repair method of the present invention.

[0016] The following are the descriptions of the reference numerals: 100. Pipe body: 200, sealing device, 210, first push rod, 220, first swing rod, 230, inflatable sealing ring, 231, drain port, 240, water retaining film, 250, air supply pipeline; 300, drainage device, 310, water collecting pipe, 320, drainage branch pipe, 330, submersible pump, 340, drainage main pipe, 350, gravity valve, 351, valve body, 352, mesh plate, 353, valve ball, 354, step hole; 400, slurry spreading device, 410, power supply assembly, 411, stator, 412, rotor, 413, power supply seat ring, 414, power supply slip ring, 420, smearing assembly, 421, second push rod, 422, second swing rod, 423, slurry spreading plate, 4231, slurry containing tank, 424, UV curing head, 430, slurry supply assembly, 431, grouting pipe, 432, slurry supply fixed ring, 433, slurry supply rotating ring, 434, slurry supply branch pipe; 500, traction device, 510, traction rope, 520, traction ring; 600, pipeline; 700. Cable. DETAILED DESCRIPTION

[0017] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0018] In view of the technical problem that the current pipeline repair technology is difficult to use a set of equipment to repair pipelines with different diameters, the present invention proposes a fully automatic pipeline repair system and method, which not only can realize that a set of equipment can be used to repair pipelines with different diameters, but also realizes automatic repair of pipelines without affecting water flow.

[0019] In a first aspect, the present invention provides a fully automatic pipeline repair system for repairing damaged parts of the inner wall of a pipeline 600, such as Figure 1 As shown, the pipeline automatic repair system includes a through pipe body 100, two sealing devices 200, a drainage device 300, a slurry device 400 and a control device. The pipe body 100 is arranged inside the pipe 600; the two sealing devices 200 are respectively arranged at both ends of the outer wall of the pipe body 100, and the two sealing devices 200 have a first state of expansion and a second state of retraction. When the two sealing devices 200 are in the first state at the same time, they are respectively sealed with the outer wall of the pipe body 100 and the inner wall of the pipe 600 to enclose and form a closed repair space. When the two sealing devices 200 are in the second state at the same time, they are respectively separated from the pipe 600 to connect the repair space to the outside; the water inlet end of the drainage device 300 is connected to the repair space, and the water outlet end of the drainage device 300 is arranged outside the pipe 600 to discharge the water in the repair space; the smearing device 400 is arranged on the outer wall of the pipe body 100 and is located between the two sealing devices 200. The smearing device 400 has a smearing end that contacts the inner wall of the pipe 600, and is used to smooth and repair the damaged part of the inner wall of the pipe 600.

[0020] The above technical solution of the present invention can seal the space between the outer wall of the pipe body 100 and the inner wall of the pipe 600 by setting the sealing device 200, and then drain the water in the sealed space by the drainage device 300 to achieve dry water construction, and finally repair the damaged part of the inner wall of the pipe 600 by the slurry device 400, while the original water flow can pass through the inner cavity of the pipe body 100 normally without affecting normal drainage. In this way, the pipeline automatic repair system provided by the present invention is not limited by the pipe diameter, and the inner wall damage of the pipe 600 with different pipe diameters can be repaired, which greatly reduces the construction cost; at the same time, the present invention also realizes automatic control by electrically connecting the control device with the electrical components of each device, which greatly improves the efficiency and success rate of pipeline repair.

[0021] The components and working principles of the pipeline automatic repair system of the present invention are described in detail below.

[0022] In one embodiment, two sealing devices 200 are arranged in a mirror image, and only one of the sealing devices 200 is shown in the present embodiment. Specifically, the sealing device 200 includes a first push rod 210, a first swing rod 220, an inflatable sealing ring 230 and an air supply pipeline 250. The first push rod 210 is an electric push rod or a cylinder. In the present embodiment, the cylinder is preferably used. The first push rod 210 is supplied with air through the air supply pipeline 250. The plurality of first push rods 210 are arranged along the outer circumference of the tube body 100. The first swing arm 220 is evenly distributed around the body, one end of which is hinged to the outer wall of the tube body 100, and the other end is hinged to the first swing arm 220. One end of the first swing arm 220 is hinged to the outer wall of the tube body 100, and the other end of the first swing arm 220 is connected to the inflatable sealing ring 230. The inflatable sealing ring 230 is connected to the air supply pipeline 250, and the air supply pipeline 250 is connected to an external air source. After the inflatable sealing ring 230 is inflated through the air supply pipeline 250, the sealing setting of the sealing device 200 and the pipeline 600 is realized.

[0023] In one embodiment, the sealing device 200 further includes a water retaining film 240 , which is disposed between the inflatable sealing ring 213 and the outer wall of the tube body 100 , so that water can only flow through the inner cavity of the tube body 100 .

[0024] In one embodiment, if Figure 1 As shown, the gas supply pipeline 250 includes a gas supply main pipe and a gas supply branch pipe. The gas supply main pipe is arranged along the length direction of the tube body 100, one end of which is connected to the external gas source, and the other end is respectively connected to a plurality of the gas supply branch pipes. The other ends of the plurality of the gas supply branch pipes are respectively connected to the corresponding inflatable sealing rings 230. The plurality of the gas supply branch pipes are provided with valve components, and the valve components are electrically connected to the control device.

[0025] In the above embodiment, the first push rod 210 is preferably a cylinder, and its air supply is provided by the air supply pipeline 250. Specifically, the air inlet of the cylinder is connected to the multiple air supply branches. In this way, when the cylinder (that is, the first push rod 210) is controlled to open by the control device, it can drive the multiple first rocker arms 220 arranged along the circumference of the tube body 100 to unfold. At the same time, the valve on the air supply branch is controlled to open by the control device, and the inflatable sealing ring 230 is inflated to contact and seal with the inner wall of the tube body 100, so that the space between the outer wall of the tube body 100 and the inner wall of the pipeline 600 is sealed to form a repair space, and the water retaining film 240 is a flexible water retaining film, which can allow water to flow only through the inner cavity of the tube body 100.

[0026] In one embodiment, in combination Figure 1 and Figure 2 As shown, the drainage device 300 includes a water collecting pipe 310, a drainage branch pipe 320, a submersible pump 330 and a drainage main pipe 340. A plurality of drainage ports 231 are formed on the outer wall of the inflatable sealing ring 230 facing the slurry device 400. The water collecting pipe 310 is provided with multiple sections along the circumferential direction of the inflatable sealing ring 230. The drainage ports 231 are connected with the drainage branch pipe 320 through the water collecting pipe 310. The outlet of the drainage branch pipe 320 is connected with the inlet of the submersible pump 330. The outlet of the submersible pump 330 is connected with the drainage main pipe 340. The other end of the drainage main pipe 340 is provided outside the pipeline 100. The submersible pump 330 is electrically connected with the control device.

[0027] In one preferred embodiment, a gravity valve 350 is provided on the drainage branch pipe 320. Figure 3 As shown, the gravity valve 350 includes a valve body 351, a mesh plate 352, a valve ball 353 and a step hole 354. The step hole 354 is disposed at one end of the valve body 351, and the mesh plate 352 is disposed at the other end. The valve ball 353 is located between the step hole 354 and the mesh plate 352. When the gravity valve 350 is located at a position close to the top of the second inflatable sealing ring 223, a seal is formed between the valve ball 353 and the step hole 354.

[0028] In the above embodiment, after the two sealing devices form a seal on the space between the tube body 100 and the pipeline 600, the submersible pump 330 is started by the control device, and the water in the sealed space can be discharged to the outside of the pipeline 600 to form a dry construction environment, and the water originally in the pipeline 600 can be discharged from the inner cavity of the tube body 100 without affecting normal drainage.

[0029] In one embodiment, if Figure 4 and Figure 5As shown, the slurry spreading device 400 includes a power supply component 410, a smearing component 420 and a slurry supply component 430. The power supply assembly 410 includes a stator 411, a rotor 412, a power supply seat ring 413 and a power supply slip ring 414. The stator 411 is fixedly arranged on the outer wall of the tube body 100, and the rotor 412 is rotatably connected to the outside of the stator 411. The power supply seat ring 413 is arranged on the outer wall of the tube body 100 and is close to the stator 411 and the rotor 412. The power supply seat ring 413 is electrically connected to an external cable. The power supply slip ring 414 is arranged on a side edge of the rotor 412, and the power supply slip ring 414 is connected to the power supply seat ring 413 through a multi-line conductive sliding connection.

[0030] The coating assembly 420 includes a second push rod 421, a second rocker arm 422 and a smear plate 423. The second push rod 421 is an electric push rod. Multiple second rocker arms 422 are evenly distributed along the outer circumference of the rotor 412, and one end of each second rocker arm 422 is hinged to the outer wall of the rotor 412, and the other end is connected to the smear plate 423. The smear plate 423 is formed with the coating end on one side close to the inner wall of the pipe 600. The two ends of the second push rod 421 are respectively hinged to the second rocker arm 422 and the power supply slip ring 414.

[0031] The slurry supply assembly 430 includes a grouting pipe 431, a slurry supply fixed ring 432, a slurry supply rotating ring 433 and a slurry supply branch pipe 434. One end of the grouting pipe 431 is connected to an external slurry supply device, and the other end is connected to the slurry supply fixed ring 432. The slurry supply fixed ring 432 is arranged on the outer wall of the pipe body 100. The sealing sleeve of the slurry supply rotating ring 433 is arranged on the outside of the slurry supply fixed ring 432 and the two are connected. The two ends of the slurry supply branch pipe 434 are respectively connected to the slurry supply rotating ring 433 and the slurry plate 423.

[0032] In the above embodiment, the slurry plate 423 is supplied with slurry through the slurry supply branch pipe 434, the slurry supply rotating ring 433, the slurry supply fixed ring 432 and the grouting pipe 431 in sequence. Furthermore, a valve is provided on the slurry supply branch pipe 434, and the valve is electrically connected to the control device. The control device can control the valve to open to supply slurry to the slurry plate 423.

[0033] At the same time, the power supply assembly 410 and the second push rod 421 are also electrically connected to the control device, and are turned on and operated by the control device issuing an execution command. In this embodiment, the second push rod 421 is preferably an electric push rod. When the second push rod 421 is turned on, it can drive the second swing rod 422 to move to find the damaged position, and repair it by aligning the screed plate 423 with the damaged position to smooth it.

[0034] It can be understood that the second push rod 421 is also a cylinder. When the second push rod 421 is a cylinder, it is connected to the air supply branch pipe 232 to supply air to it.

[0035] In one embodiment, a slurry containing groove is formed at the bottom of the slurry plate 423 , and the slurry containing groove is connected to the slurry supply branch pipe 434 .

[0036] In one embodiment, a mesh fiberglass cloth with adhesive backing is fixed on the slurry board 423, with the adhesive backing facing the inner wall of the pipe 600, and the swing of each second push rod 422 and the rotation of the rotor 412 are individually controlled to temporarily fix the mesh fiberglass cloth to the inner wall of the pipe 600.

[0037] In one embodiment, the coating assembly 420 further includes a UV curing head 424, and the UV curing head 424 is disposed on a side outside the slurry board 423, and the UV curing head 424 is electrically connected to the control device.

[0038] In one embodiment, if Figure 6 As shown, it also includes a traction device 500, which includes a traction rope 510 and a traction ring 520. The traction ring 520 is fixed to one side of the tube body 100, one end of the traction rope 510 is fixed to the traction ring 520, and the other end of the traction rope 510 is arranged outside the pipe 600 to pull the tube body 100 by external force.

[0039] In one embodiment, the control device includes a main control chip and a memory. The main control chip is electrically connected to the electrical components in each of the above devices to control their operation. The main control chip is electrically connected to the memory via a cable 700 or a wireless communication chip.

[0040] In one embodiment, a data acquisition device is also included, which includes a first camera group a and a second camera group b. The first camera group a includes 3 to 4 high-definition cameras. The first camera group a is arranged on the tube body 100 between the sealing device and the slurry device 400, and is arranged along the circumferential direction of the outer wall of the tube body 100. The second camera group b also includes 3 to 4 high-definition cameras. The second camera group b is arranged on the tube body 100 between the sealing device 200 and the slurry device 400, and is arranged along the circumferential direction of the outer wall of the tube body 100. The first camera group a and the second camera group b are electrically connected to the control device respectively.

[0041] In one of the embodiments, a pressure sensor and a flow sensor are further included to monitor the gas supply and slurry supply process, and the pressure sensor and the flow sensor are also electrically connected to the control device respectively.

[0042] Second, as Figure 7 As shown, the present invention also provides a pipeline automatic repair method, which is implemented based on the pipeline automatic repair system provided by the first aspect of the present invention, and includes the following steps: S1, placing the pipeline automatic repair system in the pipeline 600, so that the pipe body 100 is arranged at the damaged part inside the pipeline 600; S2, placing the two sealing devices 200 in the first unfolded state at the same time, so that they are respectively sealed and connected to the outer wall of the tube body 100 and the inner wall of the pipe 600 to enclose and form a closed repair space; S3, controlling the drainage device 300 to drain the water from the repair space; S4, controlling the coating end of the slurry coating device 400 to coat the inner wall of the pipe 600 to repair the damaged inner wall of the pipe.

[0043] like Figure 8 As shown, the specific workflow of a pipeline automatic repair method provided by the present invention is: The pipe body 100 is arranged inside the pipe 600, and the pipe body 100 is pulled by the traction device 500. At the same time, the first camera group a collects images of the inner wall of the pipe 600 and identifies whether the collected images are damaged. Then, a repair plan is selected according to the damage condition and damage position, including whether to start the sealing device 200, whether to start the drainage device 300, whether to start the slurry device 400, and the grouting pressure and slurry speed; further, the two sealing devices 200 are started by the control device to form a sealed space, and the submersible pump 330 is controlled by the control device to start and discharge the water in the above-mentioned sealed space, and then the third push rod 421 is controlled by the control device to extend, so that the third rocker arm 422 is opened, so that the slurry plate 423 contacts the inner wall of the pipe 600 for repair; after the repair is completed, the second camera group b is started to check the repair result.

[0044] The specific implementation of the present invention described above does not constitute a limitation on the protection scope of the present invention. Any other corresponding changes and modifications made based on the technical concept of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A fully automatic pipeline repair system, used to repair damaged parts of the inner wall of a pipeline, characterized in that: include: A pipe body, arranged inside the pipe; Two sealing devices are respectively arranged at both ends of the outer wall of the tube body, and have a first state of being unfolded and a second state of being retracted. When the two sealing devices are in the first state at the same time, the outer wall of the tube body is sealed and connected with the inner wall of the pipeline to enclose and form a closed repair space. When the two sealing devices are in the second state at the same time, the sealing devices are separated from the pipeline, so that the repair space is opened to communicate with the outside world. A drainage device, the water inlet of which is connected to the repair space and the water outlet of which is arranged outside the pipeline; A slurry spreading device, disposed on the outer wall of the pipe body and located between the two sealing devices, the slurry spreading device having a spreading end in contact with the inner wall of the pipe; The slurry spreading device comprises a power supply component, a smearing component and a slurry supply component; The power supply assembly includes a stator, a rotor, a power supply seat ring and a power supply slip ring, wherein the stator is fixedly arranged on the outer wall of the tube body, the rotor is rotatably connected to the outside of the stator, the power supply seat ring is arranged on the outer wall of the tube body and close to the stator and the rotor, the power supply seat ring is electrically connected to an external cable, the power supply slip ring is arranged on one side edge of the rotor, and the power supply slip ring is connected to the power supply seat ring through a multi-line conductive sliding connection; The coating assembly includes a second push rod, a second swing rod and a smearing plate, the second push rod is an electric push rod, a plurality of the second swing rods are evenly distributed along the outer circumferential direction of the rotor, and one end of the second swing rod is hinged to the outer wall of the rotor, and the other end is connected to the smearing plate, the smearing plate is formed with the coating end on one side close to the inner wall of the pipe, and the two ends of the second push rod are respectively hinged to the second swing rod and the power supply slip ring; The slurry supply assembly includes a grouting pipe, a slurry supply fixed ring, a slurry supply rotating ring and a slurry supply branch pipe. One end of the grouting pipe is connected to an external slurry supply device, and the other end is connected to the slurry supply fixed ring. The slurry supply fixed ring is arranged on the outer wall of the tube body, and the slurry supply rotating ring sealing sleeve is arranged outside the slurry supply fixed ring and the two are connected. The two ends of the slurry supply branch pipe are respectively connected to the slurry supply rotating ring and the slurry plate.

2. The pipeline automatic repair system according to claim 1 is characterized in that: The two sealing devices are arranged in mirror image, and each of the sealing devices includes a first push rod, a first rocker arm, an inflatable sealing ring and an air supply pipeline. The first push rod is an electric push rod or an air cylinder. Multiple first push rods are evenly distributed along the circumference of the tube body, one end of which is hinged to the outer wall of the tube body, and the other end is hinged to the first rocker arm. One end of the first rocker arm is hinged to the outer wall of the tube body, and the other end of the first rocker arm is connected to the inflatable sealing ring. The inflatable sealing ring is connected to one end of the air supply pipeline, and the other end of the air supply pipeline is connected to an external air source.

3. The pipeline automatic repair system according to claim 2 is characterized in that: Each of the sealing devices further comprises a flexible water retaining membrane, which is arranged between the inflatable sealing ring and the outer wall of the tube body so that water can only flow through the inner cavity of the tube body.

4. The pipeline fully automatic repair system according to claim 2 is characterized in that: The drainage device includes a water collecting pipe, a drainage branch pipe, a submersible pump and a drainage main pipe. A plurality of drainage outlets are formed on the outer wall of the inflatable sealing ring facing the slurry device. The drainage outlets are connected to the drainage branch pipes through the water collecting pipe, the outlet of the drainage branch pipe is connected to the inlet of the submersible pump, the outlet of the submersible pump is connected to the drainage main pipe, and the other end of the drainage main pipe is arranged outside the pipeline.

5. The fully automatic pipeline repair system according to claim 1 is characterized in that: A slurry containing groove is formed at the bottom of the slurry plastering plate, and the slurry containing groove is communicated with the slurry supply branch pipe.

6. The fully automatic pipeline repair system according to claim 1 is characterized in that: The coating assembly further comprises an ultraviolet curing head, and the ultraviolet curing head is arranged on one side of the outside of the screed board.

7. The pipeline automatic repair system according to claim 1 is characterized in that: It also includes a traction device, which includes a traction rope and a traction ring. The traction ring is fixed to one side of the tube body, one end of the traction rope is fixed to the traction ring, and the other end of the traction rope is arranged outside the pipeline to pull the tube body through external force.

8. The pipeline fully automatic repair system according to claim 1 is characterized in that: The repair system also includes a control device, which is electrically connected to the two sealing devices, the drainage device and the slurry device respectively to achieve automatic repair.

9. A pipeline automatic repair method, implemented based on the pipeline automatic repair system according to any one of claims 1 to 8, characterized in that: The following steps are involved: S1, placing the pipeline automatic repair system in the pipeline, and positioning the pipe body at the damaged part inside the pipeline; S2, controlling the two sealing devices to be in the first state of expansion at the same time, so that they are respectively sealed and connected to the outer wall of the tube body and the inner wall of the pipeline to enclose and form a closed repair space; S3, controlling the drainage device to drain the water in the repair space; S4, controlling the smearing end of the smearing device to repair the damaged inner wall of the pipe in the repair space.

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