Automatic repairing system for fractured opening of municipal pipeline

Abstract

The invention relates to the field of pipeline repairing, and discloses a municipal pipeline fracture opening automatic repairing system which comprises a front supporting device, an inner wall 3D printing repairing device, a purple light irradiator and a rear supporting device. Comprising the steps of optical detection and identification of the pipeline fracture opening, cleaning of the inner wall and curing repair, and automatic repair of the municipal pipeline fracture opening can be achieved.

Description

Technical Field

[0001] The invention relates to the field of pipeline repair, and in particular to an automatic repair system for a municipal pipeline rupture. Background Art

[0002] In the construction of urban infrastructure, the municipal pipeline system plays a vital role, undertaking key tasks such as water supply, drainage, and gas transmission. However, due to the long-term influence of soil pressure, groundwater erosion, pipeline material aging, and ground subsidence, municipal pipelines will inevitably be damaged by ruptures. Once a pipeline ruptures, it will not only lead to waste of resources, such as water leakage and gas leakage, but also may cause serious environmental pollution problems, and even cause great trouble to the normal operation of the city and the lives of residents. Summary of the invention

[0003] The present invention is intended to provide an automatic repair system for municipal pipeline ruptures, so as to realize automatic repair of municipal pipeline ruptures.

[0004] To achieve the above-mentioned object, the present invention adopts the following technical scheme: an automatic repair system for municipal pipeline ruptures, comprising a front support, an inner wall 3D printing repairer, a UV irradiator and a rear support;

[0005] The front supporter is cylindrical in shape, with four universal wheels evenly distributed at the front and rear ends of the front supporter, a mobile power supply is arranged in the middle of the front supporter, and a glue tank, a glue supply pump, and a wireless communication module are evenly distributed in a ring inside the front supporter outside the mobile power supply;

[0006] The inner wall 3D printing repairer has a cylindrical shape and includes a front cover and a rear seat. A cavity is provided in the middle of the rear end of the front cover, an inner gear ring is provided at the root of the cavity, a motor located in the cavity is fixed on the rear seat, and the motor is connected to a gear meshing with the inner gear ring. A scraper that can extend outward is provided on the outer wall of the front cover, and a driving mechanism for driving the scraper to extend outward is provided in the front cover; a laser detection module, an infrared detection module and a glue gun are provided on the front section cover on the opposite side of the scraper, the laser detection module and the infrared detection module are connected to the wireless communication module, and the glue gun is connected to the glue supply pump;

[0007] The shape of the ultraviolet light irradiator is cylindrical, and a plurality of ultraviolet light lamps are evenly distributed along the circumference of the ultraviolet light irradiator;

[0008] The rear supporter is cylindrical in shape, a power source is arranged inside the rear supporter, and a driving wheel is arranged on the rear supporter, and the driving wheel can rotate in both directions after the power source is supplied;

[0009] The front end of the rear support, the ultraviolet light irradiator, the inner wall 3D printing repairer and the rear end of the front support are connected in sequence through a connecting mechanism, and the power supply in the rear support supplies power to the ultraviolet light of the ultraviolet light irradiator through the connecting mechanism.

[0010] Preferably, as an improvement, the connecting mechanism includes a male connector and a female connector, a protruding electromagnet is provided in the middle of the front end of the male connector, a plurality of electrode columns are evenly distributed in a ring outside the electromagnet, a slot cooperating with the electromagnet is provided in the middle of the rear end of the female connector, an iron plate is fixed in the slot, a plurality of electrode grooves cooperating with the electrode column are evenly distributed in a ring outside the slot, an electrode sheet is provided in the electrode groove, and the electrode column contacts the electrode sheet after the electromagnet and the iron plate are adsorbed; the male connector is arranged at the front end of the rear supporter, the ultraviolet light irradiator, and the front end of the inner wall 3D printing repairer, and the female connector is arranged at the rear ends of the ultraviolet light irradiator, the inner wall 3D printing repairer and the front supporter.

[0011] Preferably, as an improvement, a plane thrust bearing is connected between the rear end seat and the front end cover.

[0012] Preferably, as an improvement, a step groove is opened on the outer circumference of the front end cover, the step of the step groove is connected to a top plate through a spring, the top plate covers the step groove, and the scraper is fixed on the top plate.

[0013] Preferably, as an improvement, the scraper is a V-shaped plate.

[0014] Preferably, as an improvement, the driving mechanism includes an ejection air bag located in the step groove and an ejection air pump arranged in the front end cover, the ejection air bag is connected to the ejection air pump, and the mobile power supply supplies power to the ejection air pump.

[0015] Preferably, as an improvement, a fan-shaped groove symmetrically distributed with the step groove is provided on the front end cover of the inner wall 3D printing repairer, a servo motor is provided in the front end cover outside the fan-shaped groove, the rotating shaft of the servo motor extends into the fan-shaped groove, a swing rod is provided in the fan-shaped groove, the swing rod is fixedly connected to the rotating shaft of the servo motor, the glue gun is connected to the end of the swing rod, and the swing rod swings when driven by the servo motor to make the glue gun swing out of the fan-shaped groove.

[0016] Preferably, as an improvement, the laser detection module and the infrared detection module are respectively located on both axial sides of the fan-shaped groove.

[0017] The principle of this scheme is: in the actual municipal pipeline rupture repair work, the various components of the municipal pipeline rupture automatic repair system of the present invention work together to achieve an efficient and automated repair process. The system adopts a segmented combined structure, which is composed of a front supporter, an inner wall 3D printing repairer, a purple light irradiator and a rear supporter connected in sequence. Each component has a unique function, and the functions are closely coordinated.

[0018] The front support and the rear support serve as the front and rear support structures of the entire system, stabilizing the system and assisting movement. The four universal wheels evenly distributed at the front and rear ends of the front support enable it to flexibly adapt to different road conditions in the pipeline, provide stable support for the front end of the system, and assist the inner wall 3D printing repairer to flexibly rotate to complete the comprehensive cleaning of the pipe wall near the rupture of the pipeline. The front support also serves as a carrier for mobile power supplies, glue tanks, glue pumps, and wireless communication modules to provide power, information, and repair materials for the inner wall 3D printing repairer. The rear support is equipped with a power supply and a bidirectionally rotatable drive wheel. The power supply supplies power to other parts of the system, and the drive wheel drives the entire system to move forward and backward in the pipeline, realizing the positioning of the system in the pipeline and the adjustment of the operating position.

[0019] After the system enters the pipeline, the laser detection module and the infrared detection module work simultaneously to perform optical scanning and detection on the inner wall of the pipeline. The detection information is transmitted to the ground terminal through the wireless communication module. The staff operates at the ground terminal and stops moving after identifying the rupture of the pipeline. After moving to the rupture position, the scraper first cleans the inner wall of the pipeline at the rupture. The motor of the inner wall 3D printing repairer drives the gear meshing with the inner gear ring to rotate. Since the inner gear ring is fixed at the root of the cavity of the front cover, the front cover and the rear seat are supported by a plane thrust bearing, so that the front cover rotates relative to the rear seat. At the same time, the drive mechanism starts to work, and the mobile power supply supplies power to the ejection air pump, so that the ejection air pump inflates the ejection airbag, and the ejection airbag expands to push the top plate. The top plate overcomes the elastic force of the spring and moves outward, and the scraper fixed on the top plate extends outward and contacts the inner wall of the pipeline. During the rotation of the front cover, the scraper scrapes and cleans the inner wall of the broken pipe to remove dirt, impurities, etc. on the inner wall, providing a clean and flat surface for the subsequent extrusion and adhesion of the glue liquid, ensuring that the repair material extruded by the glue gun can stably adhere to the rupture of the inner wall of the pipe.

[0020] When the inner wall of the ruptured pipe is cleaned, the ejection air pump discharges the air in the ejection airbag, the ejector plate and the scraper are reset under the action of the spring, and the glue gun is moved to the cleaned pipe wall through the driving wheel on the rear support. Then the driving wheel, the motor, and the servo motor work synchronously and cooperatively. The servo motor moves the glue gun on the swing arm out of the fan-shaped groove. The driving wheel moving device moves laterally to ensure that the glue gun is aligned with the rupture laterally. The motor drives the front cover to rotate so that the glue gun rotates circumferentially to align with the rupture, so that the glue gun is aligned with the rupture of the inner wall of the pipe in a 3D manner. Then the glue supply pump pumps the repair glue in the glue tank to the glue gun, and the glue gun squeezes the repair glue into the rupture of the pipe for filling and repair. During the process, the laser detection module and the infrared detection module continuously detect the filling of the glue at the rupture. In this way, the rupture of the inner wall of the pipe is repaired in a similar way to 3D printing. Compared with the traditional 3D printing method with fixed coordinates, this scheme can achieve 3D spatial range repair of the rotating surface through a segmented structure.

[0021] Subsequently, the glue supply pump stops pumping the repair glue to the glue gun, and the servo motor drives the rocker arm to retract the glue gun into the fan-shaped groove. The driving wheel of the rear support starts, pulling the entire system to move, so that the ultraviolet light irradiator moves to the position of the pipe rupture filled with the repair glue. At this time, the power supply in the rear support supplies power to the ultraviolet light lamp of the ultraviolet light irradiator through the connecting mechanism. The ultraviolet light is turned on to emit ultraviolet light to cure the repair glue that fills the rupture. The repair glue used can be an acrylic resin, epoxy acrylate resin or polyurethane acrylate resin. Since the resin has the characteristic of rapid curing when exposed to ultraviolet light, the resin on the inner wall of the pipe is rapidly cured after a period of ultraviolet light irradiation, thereby completing the effective plugging and repair of the rupture in the pipe.

[0022] The advantages of this solution include:

[0023] 1. This system adopts a magnetic combined segment structure, which integrates multiple functions such as rupture identification, pipe wall cleaning, 3D repair, and ultraviolet light curing. The segments with different functions work closely together, and can complete multiple key steps of pipeline repair at one time, greatly improving the efficiency of the repair work. At the same time, this segmented design makes the system very flexible, and each functional module can be flexibly combined and matched according to different pipeline repair needs. For example, for some pipelines with relatively simple ruptures, it may only take the inner wall 3D printing repairer to complete the repair; and for pipelines with higher requirements for repair quality, ultraviolet light irradiators can be used for rapid curing at the same time to ensure the repair effect. In addition, the segmented functional module is small in size and easy to transport and operate in the well. Whether in the complex underground pipe network environment of the city or in the narrow wellhead conditions, the equipment can be easily transported and installed, reducing the construction difficulty and cost.

[0024] 2. The system can enter the pipeline as a whole for construction without excavating the ground. This feature is of great significance for urban infrastructure construction. Traditional pipeline repair methods often require large-scale excavation of the ground, which will not only damage urban roads, greening and other infrastructure, affect the normal traffic and living order of residents in the city, but also generate a large amount of construction waste and pollute the environment. The non-excavation construction method of this system avoids these problems and can complete the pipeline repair work without damaging the ground facilities, reducing the impact on the urban environment, reducing the interference of construction on surrounding residents and commercial activities, and also saving a lot of ground repair and restoration costs.

[0025] 3. The system is supported at both ends by the front support and the rear support, and can move along the pipeline by itself. The driving wheel in the rear support can rotate in both directions under the drive of the power supply, and can accurately control the moving position and speed of the entire system in the pipeline. This solution can be used as a structural carrier, and further equipped with wireless control technology. The operator can remotely control the operation of the system outside the pipeline to achieve unmanned construction inside the pipeline. This automated construction method not only improves the safety of construction and reduces the errors and risks that may be caused by manual operation, but also effectively reduces the impurity pollution brought into the pipeline during maintenance, ensuring the cleanliness of the inside of the pipeline. At the same time, the collaborative work between the various components of the system can be precisely controlled by carrying preset programs and sensors, and can automatically adjust the working parameters and processes according to the actual situation of the pipeline to ensure the quality and effect of repairing the ruptured pipe, and realize the intelligence and efficiency of pipeline repair work.

[0026] 4. The inner wall 3D printing repairer squeezes the repair glue onto the inner wall of the pipe through a glue gun, and moves the glue gun in three dimensions in coordination with the action of the driving wheel, motor, and servo motor. Through the synchronous coordinated action of the driving wheel, motor, and servo motor, the glue gun can be aligned with the rupture of the inner wall of the pipe in a 3D manner, achieving a repair similar to that of 3D printing. Moreover, compared with the traditional 3D printing method of fixed coordinates, this system can repair the rotating surface in a 3D space range through a segmented structure, which can better adapt to the curved shape of the inner wall of the pipe and ensure that the rupture is fully and accurately filled. Moreover, after irradiation with ultraviolet light, the resin solidifies quickly, which enhances the overall strength and stability of the pipe and extends the service life of the pipe. For municipal pipes of different materials and diameters, the system can achieve ideal repair effects by adjusting the specifications and construction parameters of the liner pipe.

[0027] 5. The joint structure of electromagnet and electrode column is adopted, and the electromagnetic quick connector realizes the "one-touch" module connection. The male and female connectors are designed to complete the mechanical connection (electromagnetic adsorption force ≥ 800N) and power transmission (voltage resistance 1000V). Each functional module supports hot-swap replacement and can be configured for different pipe diameters (DN200-DN1200). The separate power supply design (rear support main power supply + module backup power supply) ensures the redundancy reliability of the system.

[0028] 6. The segmented design of the system makes it scalable. With the continuous development of technology and the diversification of pipeline repair needs, functional modules can be easily added or improved, such as adding detection equipment to monitor pipeline repair conditions in real time, or upgrading ultraviolet light irradiators to improve curing efficiency. In addition, the system's connection mechanism has a certain degree of versatility and is compatible with other related pipeline construction equipment, making it easy to use with other construction processes and equipment, further improving the system's applicability and application scope.

[0029] 7. The automated construction method reduces the need for a large number of manual labor and reduces labor costs. At the same time, operators do not need to enter the pipeline to perform complex and dangerous operations. They only need to perform remote control and monitoring from the outside of the pipeline, which greatly reduces labor intensity and improves the working environment. In addition, since the operation of the system is relatively simple, the professional skills requirements for operators are also reduced, and they can start working after simple training. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a schematic structural diagram of an embodiment of the present invention.

[0031] Figure 2 Schematic diagram of the structure of the male connector in an embodiment of the present invention.

[0032] Figure 3 Schematic diagram of the structure of the female connector in an embodiment of the present invention.

[0033] Figure 4 3D printed patching device according to an embodiment of the present invention.

[0034] Figure 5 Schematic diagram of the end face structure of the front end cover in an embodiment of the present invention. DETAILED DESCRIPTION

[0035] The following is further described in detail through specific implementation methods:

[0036] The figure marks in the drawings of the specification include: pipeline 1, rear support 2, driving wheel 3, male connector 4, female connector 5, ultraviolet light irradiator 6, ultraviolet light lamp 7, rear end seat 8, motor 9, front end cover 10, spring 11, top plate 12, scraper 13, ejection air bag 14, inner ring 15, ejection air pump 16, gear 17, servo motor 18, front support 19, wireless communication module 20, mobile power supply 21, glue supply pump 22, universal wheel 23, laser detection module 24, rocker arm 25, glue gun 26, fan-shaped groove 27, infrared detection module 28, plane thrust bearing 29, electromagnet 30, electrode column 31, iron plate 32, electrode sheet 33.

[0037] The embodiment is basically as shown in the attached Figure 1 As shown: an automatic repair system for municipal pipeline ruptures, including a front supporter 19, an inner wall 3D printing repairer, a purple light irradiator 6 and a rear supporter 2.

[0038] The front supporter 19 is cylindrical in shape, and four universal wheels 23 are evenly distributed at the front and rear ends of the front supporter 19. The universal wheels 23 are rubber wheels, which have certain elastic-plastic deformation, so that the universal wheels 23 have a certain elastic floating range. A mobile power source 21 is embedded in the middle of the front supporter 19, and a glue tank, a glue supply pump 22, and a wireless communication module 20 are evenly embedded in the inner ring of the front supporter 19 outside the mobile power source 21.

[0039] The inner wall 3D printing repairer has a cylindrical shape. It includes a wheel-shaped front end cover 10 and a spoke-shaped rear end seat 8. A cavity is provided in the middle of the rear end of the front end cover 10. An inner gear ring 15 is processed at the root of the cavity. A motor 9 located in the cavity is bolted to the rear end seat 8. The motor 9 is connected to a gear 17 meshing with the inner gear ring 15. A plane thrust bearing 29 is connected between the rear end seat 8 and the front end cover 10. A step groove is provided on the outer circumferential wall of the front end cover 10. A top plate 12 is connected to the step of the step groove through a spring 11. The top plate 12 covers the step groove. A scraper 13 is fixed to the top plate 12. Figure 4 As shown, the scraper 13 is a V-shaped rubber plate spanning the top plate 12. A driving mechanism for driving the scraper 13 to extend outward is provided in the front end cover 10. The driving mechanism includes an ejection air bag 14 located in the step groove, an ejection air pump 16 and a mobile power supply 21 provided in the front end cover 10. The ejection air bag 14 is connected to the ejection air pump 16 by a hose. The mobile power supply 21 supplies power to the ejection air pump 16. The ejection air pump 16 uses a bidirectional air pump. Figure 5 As shown, the front end cover 10 of the inner wall 3D printing repairer is provided with a fan-shaped groove 27 symmetrically distributed with the step groove, and the front end cover 10 outside the fan-shaped groove 27 is embedded with a servo motor 18, and the rotating shaft of the servo motor 18 extends into the fan-shaped groove 27. A swing rod 25 is provided in the fan-shaped groove 27, and the swing rod 25 is fixedly connected to the rotating shaft of the servo motor 18. A glue gun 26 is connected to the end of the swing rod 25. The glue gun 26 is connected to the glue supply pump 22 in the front supporter 19 through a hose, and the glue supply pump 22 is connected to the glue tank through a pipeline 1. The swing rod 25 swings under the drive of the servo motor 18 so that the glue gun 26 can swing out of the fan-shaped groove 27. A laser detection module 24 and an infrared detection module 28 are respectively provided on both axial sides of the fan-shaped groove 27, and the laser detection module 24 and the infrared detection module 28 are connected to the mobile power supply 21 and the wireless communication module 20 in the front supporter 19 through wires.

[0040] The ultraviolet light irradiator 6 is cylindrical in shape, and a plurality of ultraviolet light lamps 7 are evenly distributed along the circumference of the ultraviolet light irradiator 6 .

[0041] The rear support 2 is cylindrical in shape, and is provided with a power supply, a wireless communication module 20 and a PLC control module connected by wires. A plurality of drive wheels 3 are evenly distributed along the circumference of the rear support 2. The drive wheel 3 is a hub motor 9 drive wheel 3 with an integrated braking function, and the drive wheel 3 can rotate in both directions after being powered by a power supply.

[0042] The front end of the rear support 2, the ultraviolet light irradiator 6, the inner wall 3D printing repairer and the rear end of the front support 19 are connected in sequence through a connecting mechanism. The power supply in the rear support 2 supplies power to the ultraviolet light 7 of the ultraviolet light irradiator 6 through the connecting mechanism, and the power supply is controlled by the PLC control module. The connecting mechanism includes a male connector 4 and a female connector 5, combined with Figure 2 , Figure 3 As shown, a protruding electromagnet 30 is provided in the middle of the front end of the male connector 4, and six electrode columns 31 are evenly distributed in a ring outside the electromagnet 30. A slot matching the electromagnet 30 is provided in the middle of the rear end of the female connector 5. An iron plate 32 is fixed in the slot, and six electrode slots matching the electrode columns 31 are evenly distributed in a ring outside the slot. An electrode sheet 33 is provided in the electrode slot. After the electromagnet 30 and the iron plate 32 are adsorbed, the electrode column 31 and the electrode sheet 33 are in contact to transmit current. The male connector 4 is arranged at the front end of the rear support 2, the ultraviolet light irradiator 6, and the inner wall 3D printing repairer, and the female connector 5 is arranged at the rear end of the ultraviolet light irradiator 6, the inner wall 3D printing repairer and the front support 19. A wire is provided inside the rear support 2 to connect the electrode column 31 on the male connector 4 to the power supply, and a wire is provided inside the ultraviolet light irradiator 6 to connect the electrode column 31 on the male connector 4 to the electrode sheet 33 of the rear female connector 5. The ultraviolet lamp 7 in the ultraviolet irradiator 6 is connected to the electrode sheet 33 of the female connector 5 through a wire, and the motor 9 in the inner wall 3D printing repairer is connected to the electrode sheet 33 of the female connector 5 through a wire. The power supply of the motor 9 is controlled by the PLC control module. The ejection air pump 16 and the servo motor 18 in the inner wall 3D printing repairer are connected to the electrode column 31 of the male connector 4 through a wire, and the electrode sheet 33 in the front supporter 19 is connected to the mobile power supply 21 through a wire. The laser detector and the infrared detector are directly connected to the mobile power supply 21 and the wireless communication module 20 through a wire with a pin. In this way, the inner wall 3D printing repairer and the front supporter 19 can be separated for transportation, and then connected on site during the process of being placed in the pipeline 1.

[0043] The specific implementation process is as follows: at the inspection port of the pipeline 1, the front supporter 19, the inner wall 3D printing repairer, the ultraviolet irradiator 6 and the rear supporter 2 are placed into the pipeline 1 in sequence and connected in sequence through the connecting mechanism. The electromagnet 30 of the male connector 4 is tightly adsorbed with the iron plate 32 of the female connector 5, and the electrode column 31 is accurately in contact with the electrode sheet 33 to achieve stable mechanical connection and power transmission. The laser detection module 24 and the infrared detection module 28 are directly connected to the mobile power supply 21 and the wireless communication module 20 through the wire with Pin. This not only ensures the structural stability of the system during the movement, but also ensures that each component can be stably powered to avoid interruption of operation due to unstable connection or power supply failure. After checking that each component is functioning normally, the hub motor 9 with integrated braking function of the rear supporter 2 drives the wheel 3 to start working. Its bidirectional rotation characteristics can flexibly control forward and backward movement and accurately position; the rubber universal wheel 23 of the front supporter 19 is elastic-plastic and deformable, which can adapt to the complex internal terrain of the pipeline 1, provide stable support, and ensure the smooth movement of the system.

[0044] When the system moves along the pipeline 1, the laser detection module 24 and the infrared detection module 28 on the front end cover 10 of the inner wall 3D printed repairer work simultaneously. The laser detection module 24 can accurately obtain the geometric information of the inner wall of the pipeline 1 by emitting a laser beam scan, and the infrared detection module 28 can identify thermal abnormality areas by sensing temperature differences. The two work together to greatly improve the detection accuracy and ensure that no minor cracks are missed. The detection information is converted into an electrical signal, transmitted to the wireless communication module 20 in the front support 19 through a wire, and then sent to the ground terminal. The ground staff analyzes the data in real time, and when a rupture is detected, a command is sent to stop the system. This process realizes remote real-time monitoring and reduces the danger and inconvenience of manual on-site detection.

[0045] After identifying the position of the rupture, the position of the inner wall 3D printed repairer is adjusted again through the rear support 2 so that the scraper 13 spans the rupture, and then the motor 9 is started, driving the gear 17 to engage with the inner gear ring 15, so that the front end cover 10 rotates relative to the rear end seat 8. The mobile power supply 21 supplies power to the ejection air pump 16, and the ejection air bag 14 expands to push the scraper 13 out and contact the inner wall of the pipe 1. When the front end cover 10 rotates, the scraper 13 made of V-shaped rubber sheet scrapes and cleans the inner wall of the rupture. The rubber material has good flexibility and wear resistance, which can effectively remove dirt and impurities while avoiding damage to the inner wall of the pipe 1. After the cleaning is completed, the ejection air pump 16 inhales air and the scraper 13 is reset. The entire cleaning process has a high degree of automation and good cleaning effect, providing an ideal foundation for subsequent repairs.

[0046] The driving wheel 3 of the rear support 2 fine-tunes the system position, and the servo motor 18 drives the swing rod 25 to swing out the glue gun 26. At the same time, the driving wheel 3 and the motor 9 work together to achieve the precise alignment of the glue gun 26 with the rupture in 3D. This innovative alignment method breaks through the limitations of traditional fixed coordinates and can adapt to ruptures of various complex shapes. The glue supply pump 22 in the front support 19 delivers the glue to the glue gun 26, which is squeezed out to fill the rupture. During the filling process, the laser detection module 24 and the infrared detection module 28 continue to monitor to ensure that the filling is uniform and complete, and improve the quality of the repair. After the crack is filled with glue, the glue supply pump 22 stops working, the glue gun 26 is retracted, and the rear support 2 drives the system to move so that the ultraviolet irradiator 6 is aligned with the repair. The power supply in the rear support 2 supplies power to the ultraviolet lamp 7 through the connecting mechanism, and the ultraviolet lamp 7 emits ultraviolet light to irradiate and cure the repair glue. The fast-curing materials such as acrylic esters used are quickly cured under ultraviolet light, which greatly shortens the repair time and reduces the impact on the normal use of the pipeline 1.

[0047] After confirming that the repaired part is well cured, the driving wheel 3 of the rear support 2 drives the system to evacuate the pipeline 1. After returning to the ground, the various components of the system can be disassembled to facilitate subsequent maintenance and transportation. This modular design improves the maintainability and operability of the system.

[0048] The above is only an embodiment of the present invention, and the common knowledge such as the known specific technical solutions and / or characteristics in the solution is not described in detail here. It should be pointed out that for those skilled in the art, without departing from the technical solution of the present invention, several modifications and improvements can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicality of the patent. The scope of protection required by this application shall be based on the content of its claims, and the specific implementation methods and other records in the specification can be used to interpret the content of the claims.

Claims

1. Automatic repair system for municipal pipeline ruptures, characterized by: It includes a front support, an inner wall 3D printing repairer, a UV light irradiator and a rear support; The front supporter is cylindrical in shape, with four universal wheels evenly distributed at the front and rear ends of the front supporter, a mobile power supply is arranged in the middle of the front supporter, and a glue tank, a glue supply pump, and a wireless communication module are evenly distributed in a ring inside the front supporter outside the mobile power supply; The inner wall 3D printing repairer has a cylindrical shape and includes a front cover and a rear seat. A cavity is provided in the middle of the rear end of the front cover, an inner gear ring is provided at the root of the cavity, a motor located in the cavity is fixed on the rear seat, and the motor is connected to a gear meshing with the inner gear ring. A scraper that can extend outward is provided on the outer wall of the front cover, and a driving mechanism for driving the scraper to extend outward is provided in the front cover; a laser detection module, an infrared detection module and a glue gun are provided on the front section cover on the opposite side of the scraper, the laser detection module and the infrared detection module are connected to the wireless communication module, and the glue gun is connected to the glue supply pump; The shape of the ultraviolet light irradiator is cylindrical, and a plurality of ultraviolet light lamps are evenly distributed along the circumference of the ultraviolet light irradiator; The rear supporter is cylindrical in shape, a power source is arranged inside the rear supporter, and a driving wheel is arranged on the rear supporter, and the driving wheel can rotate in both directions after the power source is supplied; The front end of the rear support, the ultraviolet light irradiator, the inner wall 3D printing repairer and the rear end of the front support are connected in sequence through a connecting mechanism, and the power supply in the rear support supplies power to the ultraviolet light of the ultraviolet light irradiator through the connecting mechanism.

2. The municipal pipeline rupture automatic repair system according to claim 1 is characterized by: The connecting mechanism includes a male connector and a female connector, a protruding electromagnet is provided in the middle of the front end of the male connector, a plurality of electrode columns are evenly distributed in a ring outside the electromagnet, a slot matching the electromagnet is provided in the middle of the rear end of the female connector, an iron plate is fixed in the slot, a plurality of electrode slots matching the electrode columns are evenly distributed in a ring outside the slot, an electrode sheet is provided in the electrode slot, and the electrode column contacts the electrode sheet after the electromagnet is adsorbed by the iron plate; the male connector is arranged at the front end of the rear supporter, the ultraviolet light irradiator, and the front end of the inner wall 3D printing repairer, and the female connector is arranged at the rear end of the ultraviolet light irradiator, the inner wall 3D printing repairer and the front supporter.

3. The municipal pipeline rupture automatic repair system according to claim 2 is characterized by: A plane thrust bearing is connected between the rear end seat and the front end cover.

4. The municipal pipeline rupture automatic repair system according to claim 3 is characterized by: A step groove is provided on the outer circumference of the front end cover, a top plate is connected to the step of the step groove through a spring, the top plate covers the step groove, and the scraper is fixed on the top plate.

5. The municipal pipeline rupture automatic repair system according to claim 4 is characterized by: The scraper is a V-shaped plate.

6. The municipal pipeline rupture automatic repair system according to claim 5 is characterized by: The driving mechanism comprises an ejection air bag located in the step groove and an ejection air pump arranged in the front end cover, the ejection air bag is connected to the ejection air pump, and the mobile power supply supplies power to the ejection air pump.

7. The municipal pipeline rupture automatic repair system according to claim 6 is characterized by: A fan-shaped groove symmetrically distributed with the step groove is provided on the front end cover of the inner wall 3D printing repairer, a servo motor is provided in the front end cover outside the fan-shaped groove, the rotating shaft of the servo motor extends into the fan-shaped groove, a swing rod is provided in the fan-shaped groove, the swing rod is fixedly connected to the rotating shaft of the servo motor, the glue gun is connected to the end of the swing rod, and the swing rod swings under the drive of the servo motor to make the glue gun swing out of the fan-shaped groove.

8. The municipal pipeline rupture automatic repair system according to claim 7 is characterized by: The laser detection module and the infrared detection module are respectively located on both sides of the axial direction of the fan-shaped groove.

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