Pipeline non-excavation detection and repair method

Abstract

The invention relates to the technical field of pipeline detection equipment, in particular to a pipeline non-excavation detection and repair method which comprises the steps of preliminary detection, detection and cleaning, range recording, detection and maintenance and the like. In the use process, the vehicle body is controlled to be started, the vehicle body is matched with the supporting wheels and the bottom plate to bear the top plate to move, meanwhile, under the supporting of the fixed wheels and the position limitation of the moving wheels and the limiting rings, the top plate can be stably connected with the mounting frame and the side frame, and then the top plate can be stably connected with the mounting frame and the side frame under the temporary supporting of the two abutting frames located on the lower portion. The vehicle body can stably move along the interior of the pipeline, then the inner wall of the pipeline on the way can be observed and monitored through the first image collecting equipment and the second image collecting equipment, when the damaged part of the pipeline is observed, the equipment is moved to one side of the damaged part through the vehicle body, and then a top plate is supported through an air cylinder; and the mounting frame is supported by the top plate through the fixed wheels and the movable wheels.

Description

Technical Field

[0001] The present invention belongs to the technical field of pipeline detection equipment, and specifically relates to a non-excavation detection and repair method for pipelines. Background Art

[0002] Buried pipelines, as the name implies, are pipe bodies buried underground. In our production and life, the pipe bodies play an indispensable role. Since the pipe bodies of buried pipelines are located underground, they can be fully surrounded by the surrounding soil, thus achieving the effect of protecting the pipe bodies themselves. Although the existing buried pipelines can meet the basic usage requirements, their drawbacks are still very obvious. The main manifestations are as follows: The pipeline itself is buried underground for a long time. Over time, due to the influence of external soil characteristics and terrain settlement and other factors, the pipeline will corrode, perforate, and leak, resulting in serious losses.

[0003] However, in the prior art, due to the easy accumulation of soil or foreign objects at the damaged position during pipeline breakage and use, it is not convenient for the detection and processing of existing pipeline detection equipment. At the same time, most existing pipeline detection equipment only detects the damaged position of the pipeline. To ensure the complete repair of the damaged pipeline, it is often necessary to carry out construction with a large coverage area of long materials, resulting in a low actual repair efficiency, increasing the actual construction cost, and resulting in poor actual use effects of existing pipeline detection equipment. Summary of the Invention

[0004] The purpose of the present invention is to provide a non-excavation detection and repair method for pipelines that can efficiently detect the damaged parts of the pipeline, and at the same time can efficiently detect the range of the damaged parts, reduce the repair coverage range, thereby reducing the actual maintenance cost and improving the actual maintenance efficiency.

[0005] The technical solution adopted by the present invention is as follows: A non-excavation detection and repair method for pipelines includes the following steps: S1. Preliminary detection: Place the moving mechanism at the entrance of the pipeline to be detected, and use the moving mechanism to carry the limiting mechanism and the supporting mechanism to move uniformly along the pipeline to be detected. During this process, observe the inner wall condition of the pipeline to be detected along the way through the first image acquisition device body and the second image acquisition device body, determine the damaged position inside the pipeline to be detected, and record the moving time of the moving mechanism, so as to obtain the distance from the damaged position of the pipeline to be detected to the entrance of the pipeline to be detected; S2. Detection and cleaning: After observing the damaged position inside the pipeline to be detected, use the supporting mechanism to stably support the limiting mechanism inside the pipeline to be detected, so that the limiting mechanism can smoothly scrape and peel off the accumulated foreign objects at the damaged part of the pipeline to be detected; S3. Range recording: After the accumulated foreign objects are scraped off from the damaged part, use the elastic metal strip to indicate and record the range of the damaged position of the pipeline to be detected; S4. Detection and maintenance: After completing the indication record of the damaged range, restore the limit mechanism and the support mechanism to their initial states. Then, use the moving mechanism to move the limit mechanism and the support mechanism out of the pipeline to be detected, and separate the limit mechanism from the moving mechanism. At the same time, prepare the repair materials according to the indication record range. Then, make a traction connection between the moving mechanism and the existing repair equipment. Furthermore, control the moving mechanism to move the existing repair equipment to the repair position according to the length of the distance from the damaged position of the pipeline to be detected to the inlet of the pipeline to be detected. Then, use the second imaging device body to make the moving mechanism traction-move the existing repair equipment to move and perform repair treatment on the damaged position.

[0006] Among them, the moving mechanism includes: a bottom plate, a vehicle body, a cylinder, a top plate, and moving components. The bottom of the bottom plate is rotatably connected with support wheels. The top of the bottom plate is provided with a first imaging device body. The vehicle body is fixedly connected to the bottom of the bottom plate. The cylinder is fixedly connected to the top of the bottom plate. The top plate is slidably sleeved on the top of the bottom plate. The moving components are arranged on the top of the top plate.

[0007] Among them, limit grooves are formed on the outer surfaces of both sides of the top plate. A moving shaft is slidably inserted into each limit groove. Adjusting bolts are rotatably connected to the outer surfaces of both sides of the top plate. Each adjusting bolt is threadedly connected to the corresponding moving shaft.

[0008] Among them, two groups of moving components are provided. Each group of moving components includes a moving wheel and two fixed wheels. The moving wheel is rotatably connected to the outer surface of the corresponding moving shaft. The two fixed wheels are rotatably connected to the outer surface of the top plate.

[0009] Among them, the limit mechanism includes a mounting frame, side frames, limit components, and rotating components. The side frames are fixedly connected to the outer surface of one side of the mounting frame. A partition is fixedly connected inside the mounting frame. A second imaging device body is fixedly connected to the outer surface of one side of the partition. The limit components and the rotating components are both arranged on the mounting frame. The mounting frame is arranged on the tops of the four fixed wheels. The bottoms of the two moving wheels are in contact with the inner bottom surface of the mounting frame. A moving motor is fixedly connected to the outer surface of one side of the top plate. The output end of the moving motor is fixedly connected to one end of the corresponding fixed wheel.

[0010] Among them, the limit components include four groups of limit plates and a limit ring. The four groups of limit plates are equally spaced and fixedly connected to the inner wall of the mounting frame. Each group of limit plates has two. The limit ring is fixedly connected to the inner wall of the mounting frame. The outer surface of one side of the limit ring is in contact with the outer surface of one side of the corresponding moving wheel. Each slide bar is slidably inserted between the opposite outer surfaces of the corresponding two limit plates.

[0011] Among them, the rotating component includes a rotating gear ring, a linkage ring, and a rotating frame. The rotating gear ring is rotatably connected to the inside of the mounting frame. The linkage ring is fixedly connected to the outer surface of one side of the rotating gear ring. The rotating frame is rotatably connected to the outer surface of one side of the partition board, and one end of the rotating frame is fixedly connected to the inner wall of the linkage ring. One side of the outer surface of the rotating frame is rotatably connected to an adjusting rod. An adjusting ring is slidably sleeved on the outer surface of the adjusting rod. One end of the adjusting rod is fixedly connected to an elastic metal strip. One side of the inner wall of the rotating frame is rotatably connected to a threaded pipe. A support rod is threadedly connected to the inside of the threaded pipe. One end of the support rod slidably penetrates through the rotating frame, and one end of the support rod is rotatably connected to the adjusting ring. An adjusting worm gear is sleeved on the outer surface of the threaded pipe. An adjusting worm is rotatably connected to the inner wall of the rotating frame. The adjusting worm is meshed with the adjusting worm gear. An adjusting motor is fixedly connected to the outer surface of the rotating frame. The output end of the adjusting motor is fixedly connected to one end of the adjusting worm. A driving motor is fixedly connected to the outer surface of one side of the side frame. The output end of the driving motor is fixedly connected to one end of the support shaft. A rotating motor is fixedly connected to the outer surface of one side of the partition board. A rotating gear is sleeved on the output end of the rotating motor. The rotating gear is meshed with the rotating gear ring.

[0012] Among them, the support mechanism includes a mounting pipe, a support shaft, a mounting frame, an adjusting component, and a support component. The support shaft is rotatably connected between the opposite inner walls of both sides of the mounting pipe. The mounting frame is sleeved on the outer surface of the mounting pipe. Four sliding strips are equidistantly and fixedly connected to the outer surface of the mounting frame. The adjusting component is arranged on the mounting pipe and the mounting frame. The support component is arranged on the mounting frame.

[0013] Among them, the adjusting component includes a first bevel gear and four groups of adjusting assemblies. The first bevel gear is sleeved on the outer surface of the support shaft. Each group of adjusting assemblies includes an extension frame, a limiting worm, a limiting worm gear, a bidirectional threaded rod, and two sliding pipes. The extension frame is fixedly connected to the outer surface of the mounting frame. The limiting worm is rotatably connected between the opposite inner walls of both sides of the extension frame, and one end of the limiting worm slidably extends into the mounting pipe, and a second bevel gear is sleeved on one end of the limiting worm. The second bevel gear is meshed with the first bevel gear. Both of the two sliding pipes are fixedly connected to the inner wall of the mounting frame. The limiting worm gear is rotatably connected between the opposite outer surfaces of the two sliding pipes. The limiting worm gear is meshed with the limiting worm. The bidirectional threaded rod is rotatably connected between the two sliding pipes, and the outer surface of the bidirectional threaded rod is fixedly connected to the inner wall of the limiting worm gear.

[0014] Among them, there are four groups of the support components in total. Each group of the support components includes two moving pieces, two support bars, a support frame and a resisting frame. The two moving pieces are both threadedly connected to the outer surface of the corresponding bidirectional threaded rod. The two support bars are respectively rotatably connected to the corresponding moving pieces. The support frame is rotatably connected between one ends of the two support bars. A support spring is arranged inside the support frame. A limiting block is fixedly connected to the inner wall of one side of the support frame. The resisting frame is slidably inserted into the support frame.

[0015] In summary, due to the adoption of the above technical solutions, the beneficial effects of the present invention are as follows: (1) In the present invention, during use, by controlling the start of the vehicle body, the vehicle body cooperates with the support wheels and the bottom plate to carry the top plate for position movement. At the same time, under the support of the fixed wheels and the position limitation of the moving wheels and the limiting rings, the top plate can be stably connected to the installation frame and the side frame. Furthermore, with the temporary support of the two resisting frames located below, the vehicle body can move smoothly along the inside of the pipeline. Then, through the first image acquisition device and the second image acquisition device, the inner wall of the pipeline along the way can be observed and monitored. When a damaged part of the pipeline is observed, the device is moved to one side of the damaged part through the vehicle body. Then, the top plate is supported by the cylinder, so that the top plate supports the installation frame through the fixed wheels and the moving wheels. Then, by controlling the start of the driving motor, the driving motor cooperates with the support shaft, the first bevel gear and the second bevel gear to synchronously drive the limiting worm to rotate. Then, the rotating limiting worm cooperates with the limiting worm wheel to drive the corresponding bidirectional threaded rod to rotate. Subsequently, the rotating bidirectional threaded rod can move and adjust the corresponding two moving pieces to make the moving pieces approach each other. Furthermore, the moving pieces cooperate with the support bars to squeeze and support the support frame to fit close to the inner wall of the pipeline. Then, under the support of the support spring, the resisting frame can be in close contact with the inner wall of the pipeline. Thus, the installation frame can be stably suspended inside the pipeline under the support of the resisting frame. At this time, by controlling the start of the adjusting motor, the adjusting motor cooperates with the adjusting worm and the adjusting worm wheel to drive the threaded tube to rotate. Then, the rotating threaded tube can move and adjust the extension length of the support rod. Subsequently, under the support of the support rod, the adjusting ring can support and adjust the angle between the adjusting rod and the rotating frame. Then, the adjusting rod can drive one end of the adjusting elastic metal strip to fit with the inner wall of the pipeline. Then, by controlling the start of the rotating motor, the rotating motor cooperates with the linkage gear to drive the rotating gear ring to rotate. Subsequently, the rotating gear ring can drive the linkage ring to rotate synchronously. Then, the rotating linkage ring can drive the rotating frame to rotate synchronously. The rotating rotating frame can drive the adjusting rod and the elastic metal strip to rotate and scrape the inner wall of the pipeline synchronously. Thus, the temporary cleaning of the foreign matters accumulated at the damaged position of the inner wall of the pipeline can be carried out, which is convenient for the efficient observation of the pipeline damage condition through the first image acquisition device body and the second image acquisition device body. The device can effectively detect and process the damaged position of the pipeline.

[0016] (2) In the present invention, the foreign matter on the inner surface of the pipeline can be fully cleaned by the scraping of the elastic metal strip. At this time, the rotating motor is controlled to start so that the rotating motor can adjust the adjusting rod and one end of the elastic metal strip to move to the two ends of the horizontal position of the damaged position respectively. At the same time, when the adjusting rod and one end of the elastic metal strip move to the two ends of the horizontal position of the damaged position respectively, the position of the adjusting rod is recorded by the first imaging device, and then the position of the top of the elastic metal strip can be monitored in real time by the first imaging device body and the second imaging device body. Then, by controlling the driving motor, the squeezing effect of the support frame on the inner wall of the pipeline is weakened, and then by controlling the starting vehicle body, the vehicle body can drive the top of the elastic metal strip to move at a uniform speed along the direction of the pipeline, and at the same time, the time and position of the top of the elastic metal strip entering and moving out of the damaged position are monitored. Record, and then move the equipment to the entrance of the pipeline. At this time, by comparing the angles between the two adjusting rods, and then observing the moving range between the two ends of the elastic metal strip, the horizontal range of the damaged position can be intuitively observed. At the same time, according to the time when the top end of the elastic metal strip enters and moves out of the damaged position along the inner wall of the pipeline, and in combination with the actual moving speed of the vehicle body, the longitudinal range of the damaged position can be obtained, and then the size range of the actual damaged position of the pipeline can be obtained more intuitively, thereby improving the actual monitoring effect, and at the same time facilitating the preparation of maintenance materials according to the actual damaged range, and by rotating and adjusting the adjusting bolt, the moving wheel can be separated from the mounting frame and the side frame, thereby facilitating the separation of the moving mechanism and the limiting mechanism, so that the moving mechanism can temporarily carry out the towing and moving transportation of the existing repair equipment and maintenance materials through the bottom plate, thereby improving the actual use efficiency of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a first perspective stereogram of the present invention; Figure 2 It is a second viewing angle stereogram of the present invention; Figure 3 It is a partially cutaway stereoscopic view from a first viewing angle of the present invention; Figure 4 It is a partially unfolded three-dimensional diagram of the mobile mechanism of the present invention; Figure 5 For the present invention Figure 4 Enlarged view of part A; Figure 6 It is a partial cutaway stereoscopic diagram of the limiting mechanism of the present invention; Figure 7 For the present invention Figure 6 Enlarged view of part B; Figure 8 It is a partially cutaway stereoscopic view of the support mechanism of the present invention.

[0018] Markings in the figure: 1. Moving mechanism; 101. Bottom plate; 102. Vehicle body; 103. Support wheel; 104. First imaging device body; 105. Cylinder; 106. Top plate; 107. Fixed wheel; 108. Moving motor; 109. Adjusting bolt; 110. Moving shaft; 111. Moving wheel; 2. Limiting mechanism; 201. Installation frame; 202. Partition; 203. Rotating motor; 204. Rotating gear; 205. Second imaging device body; 206. Limiting ring; 207. Rotating gear ring; 208. Linking ring; 209. Rotating frame; 210. Adjusting rod; 211. Elastic metal strip; 212. Adjusting ring; 213. Threaded pipe; 214. Support rod; 215. Adjusting worm gear; 216. Limiting plate; 217. Side frame; 218. Driving motor; 219. Adjusting motor; 3. Support mechanism; 301. Installation pipe; 302. Support shaft; 303. First bevel gear; 304. Installation frame; 305. Slide bar; 306. Slide pipe; 307. Bidirectional threaded rod; 308. Limiting worm gear; 309. Moving piece; 310. Support bar; 311. Support frame; 312. Support spring; 313. Bracing frame; 314. Limiting worm. Specific implementation mode

[0019] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below with reference to 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 used to limit the present invention.

[0020] Embodiment. Please refer to Figures 1 - 8 , a non-excavation detection and repair method for pipelines, comprising the following steps: S1. Preliminary detection: Place the moving mechanism 1 at the entrance of the pipeline to be detected, and use the moving mechanism 1 to carry the limiting mechanism 2 and the support mechanism 3 to move uniformly along the pipeline to be detected. During this process, observe the inner wall condition of the pipeline to be detected along the way through the first imaging device body 104 and the second imaging device body 205, determine the damaged position inside the pipeline to be detected, and record the moving time of the moving mechanism 1, so as to obtain the length of the distance between the damaged position of the pipeline to be detected and the entrance of the pipeline to be detected; S2. Detection and cleaning: After observing the damaged position inside the pipeline to be detected, stably support the limiting mechanism 2 inside the pipeline to be detected through the support mechanism 3, so that the limiting mechanism 2 can smoothly scrape and peel off the foreign matters accumulated at the damaged part of the pipeline to be detected; S3. Range recording: After the foreign matters accumulated are scraped off from the damaged part, then use the elastic metal strip 211 to indicate and record the range of the damaged position of the pipeline to be detected; S4. Detection and maintenance: After completing the indication record of the damage range, restore the limit mechanism 2 and the support mechanism 3 to the initial state, then use the moving mechanism 1 to transfer the limit mechanism 2 and the support mechanism 3 out of the pipeline to be detected, and separate the limit mechanism 2 from the moving mechanism 1. At the same time, prepare the repair materials according to the indication record range, then connect the moving mechanism 1 to the existing repair equipment for traction, and then control the moving mechanism 1 to transfer the existing repair equipment to the repair position according to the distance from the damaged position of the pipeline to be detected to the inlet of the pipeline to be detected. Then, use the second imaging device body 205 to make the moving mechanism 1 traction-move the existing repair equipment to repair the damaged position.

[0021] In a specific embodiment of the present invention, in S1 - S4, by controlling the start of the vehicle body 102, the vehicle body 102 cooperates with the support wheels 103 and the bottom plate 101 to carry the top plate 106 for position movement. At the same time, under the support of the fixed wheels 107 and the position limitation of the moving wheels 111 and the limit ring 206, the top plate 106 can be firmly connected to the installation frame 201 and the side frame 217. Then, under the temporary support of the two bottom brackets 313 located below, the vehicle body 102 can move smoothly along the inside of the pipeline. Furthermore, through the first imaging device and the second imaging device, the inner wall of the pipeline along the way can be observed and monitored. When a damaged part of the pipeline is observed, the vehicle body 102 moves the device to one side of the damaged part. Then, the top plate 106 is supported by the cylinder 105, so that the top plate 106 supports the installation frame 201 through the fixed wheels 107 and the moving wheels 111. Then, by controlling the start of the drive motor 218, the drive motor 218 cooperates with the support shaft 302, the first bevel gear 303 and the second bevel gear to synchronously drive the limit worm 314 to rotate. Then, the rotating limit worm 314 cooperates with the limit worm gear 308 to drive the corresponding bidirectional threaded rod 307 to rotate. Subsequently, the rotating bidirectional threaded rod 307 can move and adjust the corresponding two moving pieces 309, so that the moving pieces 309 approach each other. Then, the moving pieces 309 cooperate with the support bars 310 to squeeze and support the support frame 311 to fit close to the inner wall of the pipeline. Then, under the support of the support spring 312, the bottom brackets 313 can be closely attached to the inner wall of the pipeline. Thus, the installation frame 201 can be stably suspended inside the pipeline under the support of the bottom brackets 313. At this time, by controlling the start of the adjustment motor 219, the adjustment motor 219 cooperates with the adjustment worm and the adjustment worm gear 215 to drive the threaded tube 213 to rotate. Then, the rotating threaded tube 213 can move and adjust the extension length of the support rod 214. Subsequently, under the support of the support rod 214, the adjustment ring 212 can support and adjust the angle between the adjustment rod 210 and the rotating frame 209. Then, the adjustment rod 210 can drive one end of the adjustment elastic metal strip 211 to fit with the inner wall of the pipeline. Then, by controlling the start of the rotation motor 203, the rotation motor 203 cooperates with the linkage gear to drive the rotation gear ring 207 to rotate. Then, the rotation gear ring 207 can drive the linkage ring 208 to rotate synchronously. Then, the rotating linkage ring 208 can drive the rotating frame 209 to rotate synchronously. The rotating rotating frame 209 can drive the adjustment rod 210 and the elastic metal strip 211 to rotate and scrape the inner wall of the pipeline synchronously. Thus, the temporary cleaning of the foreign matter accumulated at the damaged position of the inner wall of the pipeline can be carried out, which is convenient for the efficient observation of the pipeline damage condition through the first imaging device body 104 and the second imaging device body 205. The device can effectively detect and process the damaged position of the pipeline; At the same time, the foreign matter on the surface of the pipeline can be fully cleaned under the friction of the elastic metal strip 211. At this time, the rotating motor 203 is controlled to start, so that the rotating motor 203 can adjust the adjusting rod 210 and one end of the elastic metal strip 211 to move to the two ends of the horizontal position of the damaged position respectively. At the same time, when the adjusting rod 210 and one end of the elastic metal strip 211 move to the two ends of the horizontal position of the damaged position respectively, the position of the adjusting rod 210 is recorded by the first imaging device, and then the position of the top of the elastic metal strip 211 can be monitored in real time by the first imaging device body 104 and the second imaging device body 205. Then, by controlling the driving motor 218, the squeezing effect of the support frame 313 on the inner wall of the pipeline is weakened, and then by controlling the starting vehicle body 102, the vehicle body 102 can drive the top of the elastic metal strip 211 to move at a uniform speed along the direction of the pipeline, and at the same time, the time when the top of the elastic metal strip 211 enters and moves out of the damaged position is recorded. The monitoring record of the time and position is then moved to the entrance of the pipeline. At this time, by comparing the angles between the two adjusting rods 210, and then by observing the moving range between the two ends of the elastic metal strip 211, the horizontal range of the damaged position can be intuitively observed. At the same time, according to the time when the top end of the elastic metal strip 211 enters and moves out of the damaged position along the inner wall of the pipeline, and in combination with the actual moving speed of the vehicle body 102, the longitudinal range of the damaged position can be obtained, and then the size range of the actual damaged position of the pipeline can be obtained more intuitively, thereby improving the actual monitoring effect and facilitating the preparation of maintenance materials according to the actual damaged range. By rotating and adjusting the adjusting bolt 109, the moving wheel 111 can be separated from the mounting frame 201 and the side frame 217, thereby facilitating the separation of the moving mechanism 1 and the limiting mechanism 2, so that the moving mechanism 1 can temporarily carry out the towing and moving transportation of the existing repair equipment and maintenance materials through the bottom plate 101, thereby improving the actual use efficiency of the equipment.

[0022] The details are as follows: See also Figure 4 and Figure 5, the moving mechanism 1 includes a bottom plate 101, a vehicle body 102, a cylinder 105, a top plate 106 and moving components. A support wheel 103 is rotatably connected to the bottom of the bottom plate 101. A first imaging device body 104 is disposed on the top of the bottom plate 101. The vehicle body 102 is fixedly connected to the bottom of the bottom plate 101. The cylinder 105 is fixedly connected to the top of the bottom plate 101. The top plate 106 is slidably sleeved on the top of the bottom plate 101. The moving components are disposed on the top of the top plate 106. Limiting grooves are formed on the outer surfaces of both sides of the top plate 106. A moving shaft 110 is slidably inserted into each limiting groove. Adjusting bolts 109 are rotatably connected to the outer surfaces of both sides of the top plate 106. Each adjusting bolt 109 is threadedly connected to the corresponding moving shaft 110. Two groups of moving components are provided. Each group of moving components includes a moving wheel 111 and two fixed wheels 107. The moving wheel 111 is rotatably connected to the outer surface of the corresponding moving shaft 110. The two fixed wheels 107 are rotatably connected to the outer surface of the top plate 106. An installation frame 201 is disposed on the tops of the four fixed wheels 107. The bottoms of the two moving wheels 111 and the inner bottom surface of the installation frame 201 are in contact. A moving motor 108 is fixedly connected to the outer surface of one side of the top plate 106. The output end of the moving motor 108 is fixedly connected to one end of the corresponding fixed wheel 107. By controlling the start of the vehicle body 102, the vehicle body 102 can cooperate with the support wheel 103 and the bottom plate 101 to carry the top plate 106 for position movement. At the same time, under the support of the fixed wheels 107 and the position limitation of the moving wheels 111 and the limiting ring 206, the top plate 106 can be stably connected to the installation frame 201 and the side frame 217. Furthermore, with the temporary support of the two bottom brackets 313 below, the vehicle body 102 can move smoothly along the inside of the pipeline. Then, the inner wall of the pipeline along the way can be observed and monitored through the first imaging device and the second imaging device. The top plate 106 can be supported by the cylinder 105, so that the top plate 106 can support the installation frame 201 through the fixed wheels 107 and the moving wheels 111. By rotating and adjusting the adjusting bolt 109, the moving wheel 111 can be separated from the installation frame 201 and the side frame 217, thus facilitating the separation of the moving mechanism 1 and the limiting mechanism 2, and enabling the moving mechanism 1 to temporarily move and transport maintenance materials; Please refer to Figure 6 and Figure 7, the limiting mechanism 2 includes a mounting frame 201, side frames 217, limiting components, and rotating components. The side frames 217 are fixedly connected to the outer surface of one side of the mounting frame 201. A partition plate 202 is fixedly connected inside the mounting frame 201. A second image acquisition device body 205 is fixedly connected to the outer surface of one side of the partition plate 202. The limiting components and the rotating components are both arranged on the mounting frame 201. The limiting components include four groups of limiting plates 216 and a limiting ring 206. The four groups of limiting plates 216 are equally spaced and fixedly connected to the inner wall of the mounting frame 201. Each group of limiting plates 216 has two. The limiting ring 206 is fixedly connected to the inner wall of the mounting frame 201, and the outer surface of one side of the limiting ring 206 is in contact with the outer surface of the corresponding moving wheel 111. Each sliding bar 305 is slidably inserted between the opposite outer surfaces of the corresponding two limiting plates 216. The rotating components include a rotating gear ring 207, a linkage ring 208, and a rotating frame 209. The rotating gear ring 207 is rotatably connected inside the mounting frame 201. The linkage ring 208 is fixedly connected to the outer surface of one side of the rotating gear ring 207. The rotating frame 209 is rotatably connected to the outer surface of one side of the partition plate 202, and one end of the rotating frame 209 is fixedly connected to the inner wall of the linkage ring 208. A regulating rod 210 is rotatably connected to the outer surface of one side of the rotating frame 209. An adjusting ring 212 is slidably sleeved on the outer surface of the regulating rod 210. One end of the regulating rod 210 is fixedly connected to an elastic metal strip 211. A threaded pipe 213 is rotatably connected to the inner wall of one side of the rotating frame 209. A support rod 214 is threadedly connected inside the threaded pipe 213. One end of the support rod 214 slidably penetrates the rotating frame 209, and one end of the support rod 214 is rotatably connected to the adjusting ring 212. An adjusting worm gear 215 is sleeved on the outer surface of the threaded pipe 213. An adjusting worm is rotatably connected to the inner wall of the rotating frame 209. The adjusting worm is meshed with the adjusting worm gear 215. An adjusting motor 219 is fixedly connected to the outer surface of the rotating frame 209. The output end of the adjusting motor 219 is fixedly connected to one end of the adjusting worm. A driving motor 218 is fixedly connected to the outer surface of one side of the side frame 217. The output end of the driving motor 218 is fixedly connected to one end of the support shaft 302. A rotating motor 203 is fixedly connected to the outer surface of one side of the partition plate 202. A rotating gear 204 is sleeved on the output end of the rotating motor 203. The rotating gear 204 is meshed with the rotating gear ring 207. The mounting frame 201 can stably float inside the pipeline under the support of the abutment frame 313. At this time, by controlling the start of the adjusting motor 219, the adjusting motor 219 can drive the threaded pipe 213 to rotate in cooperation with the adjusting worm and the adjusting worm gear 215, so that the rotating threaded pipe 213 can move to adjust the extended length of the support rod 214. Then, under the support of the support rod 214, the adjusting ring 212 can support and adjust the angle between the regulating rod 210 and the rotating frame 209, so that the regulating rod 210 can drive one end of the adjusting elastic metal strip 211 to be in contact with the inner wall of the pipeline. Then, by controlling the start of the rotating motor 203, the rotating motor 203 can drive the rotating gear ring 207 to rotate in cooperation with the linkage gear, so that the rotating gear ring 207 can drive the linkage ring 208 to rotate synchronously.Furthermore, the rotating linkage coil 208 can drive the rotating frame 209 to rotate synchronously. The rotating rotating frame 209 can drive the adjusting rod 210 and the elastic metal strip 211 to rotate and scrape the inner wall of the pipeline synchronously, so as to temporarily clean the foreign matters accumulated at the damaged position of the inner wall of the pipeline, which is convenient for the efficient observation of the pipeline damage condition through the first imaging device body 104 and the second imaging device body 205. Under the scraping of the elastic metal strip 211, the foreign matters on the inner surface of the pipeline can be fully cleaned. At this time, by controlling the start of the rotating motor 203, the rotating motor 203 can adjust the adjusting rod 210 and one end of the elastic metal strip 211 to move to the two ends of the horizontal position of the damaged position respectively. At the same time, when one end of the adjusting rod 210 and the elastic metal strip 211 move to the two ends of the horizontal position of the damaged position respectively, the position of the adjusting rod 210 is recorded by the first imaging device, and then the top position of the elastic metal strip 211 can be monitored in real time through the first imaging device body 104 and the second imaging device body 205. Then, by controlling the driving motor 218, the extrusion effect of the abutment frame 313 on the inner wall of the pipeline is weakened. Furthermore, by controlling the start of the vehicle body 102, the vehicle body 102 can drive the top of the elastic metal strip 211 to move uniformly along the pipeline direction. At the same time, the time and position of the top of the elastic metal strip 211 entering and leaving the damaged position are monitored and recorded. Then the equipment is moved to the pipeline entrance. At this time, by comparing the angles between the two adjusting rods 210, the horizontal direction range of the damaged position can be visually observed by observing the moving range between the two ends of the elastic metal strip 211. At the same time, according to the time when the top of the elastic metal strip 211 enters and leaves the damaged position along the inner wall of the pipeline, and in cooperation with the actual moving speed of the vehicle body 102, the longitudinal range of the damaged position can be obtained, and then the size range of the actual damaged position of the pipeline can be more intuitively obtained; Please refer to Figure 8, the support mechanism 3 includes an installation pipe 301, a support shaft 302, an installation frame 304, an adjustment component and a support component. The support shaft 302 is rotatably connected between the opposite inner surfaces of both sides of the installation pipe 301. The installation frame 304 is sleeved on the outer surface of the installation pipe 301. Four sliding strips 305 are equidistantly and fixedly connected to the outer surface of the installation frame 304. The adjustment component is arranged on the installation pipe 301 and the installation frame 304, and the support component is arranged on the installation frame 304. The adjustment component includes a first bevel gear 303 and four groups of adjustment assemblies. The first bevel gear 303 is sleeved on the outer surface of the support shaft 302. Each group of adjustment assemblies includes an extension frame, a limiting worm 314, a limiting worm gear 308, a bidirectional threaded rod 307 and two sliding pipes 306. The extension frame is fixedly connected to the outer surface of the installation frame 304. The limiting worm 314 is rotatably connected between the opposite inner surfaces of both sides of the extension frame, and one end of the limiting worm 314 slides and extends into the interior of the installation pipe 301. And a second bevel gear is sleeved on one end of the limiting worm 314. The second bevel gear meshes with the first bevel gear 303. Both sliding pipes 306 are fixedly connected to the inner surface of the installation frame 304. The limiting worm gear 308 is rotatably connected between the opposite outer surfaces of the two sliding pipes 306. The limiting worm gear 308 meshes with the limiting worm 314. The bidirectional threaded rod 307 is rotatably connected between the interiors of the two sliding pipes 306, and the outer surface of the bidirectional threaded rod 307 is fixedly connected to the inner surface of the limiting worm gear 308. There are four groups of support components in total. Each group of support components includes two moving pieces 309, two support bars 310, a support frame 311 and a resisting frame 313. Both moving pieces 309 are threadedly connected to the outer surface of the corresponding bidirectional threaded rod 307. The two support bars 310 are respectively rotatably connected to the corresponding moving pieces 309. The support frame 311 is rotatably connected between one ends of the two support bars 310. A support spring 312 is arranged inside the support frame 311. A limiting block is fixedly connected to one side inner surface of the support frame 311. The resisting frame 313 is slidably inserted into the interior of the support frame 311. Control the start of the driving motor 218, so that the driving motor 218 can drive the limiting worm 314 to rotate synchronously in cooperation with the support shaft 302, the first bevel gear 303 and the second bevel gear. Furthermore, the rotating limiting worm 314 can drive the corresponding bidirectional threaded rod 307 to rotate in cooperation with the limiting worm gear 308. Then the rotating bidirectional threaded rod 307 can move and adjust the corresponding two moving pieces 309, making the moving pieces 309 approach each other. Furthermore, the moving pieces 309 can cooperate with the support bars 310 to squeeze the support frame 311 to fit close to the inner wall of the pipeline. Then, under the support of the support spring 312, the resisting frame 313 can be in close contact with the inner wall of the pipeline.

[0023] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A pipeline trenchless detection and repair method, characterized in that: The steps include: S1. Preliminary detection: placing the moving mechanism (1) at the entrance of the pipeline to be detected, and using the moving mechanism (1) to carry the limiting mechanism (2) and the supporting mechanism (3) to move along the pipeline to be detected at a constant speed. During this process, the inner wall condition of the pipeline to be detected along the way is observed by the first imaging device body (104) and the second imaging device body (205), the damaged position inside the pipeline to be detected is determined, and the moving time of the moving mechanism (1) is recorded, thereby obtaining the distance between the damaged position of the pipeline to be detected and the entrance of the pipeline to be detected; S2, detection and cleaning: after observing the damaged position inside the pipeline to be detected, the limiting mechanism (2) is stably supported inside the pipeline to be detected by the supporting mechanism (3), so that the limiting mechanism (2) can stably scrape and peel off the foreign matter accumulated in the damaged part of the pipeline to be detected; S3, range recording: after the accumulated foreign matter is scraped away from the damaged part, the elastic metal strip (211) is used to indicate and record the range of the damaged position of the pipeline to be detected; S4, inspection and maintenance: after the indication and recording of the damage range is completed, the limiting mechanism (2) and the supporting mechanism (3) are restored to the initial state, and then the limiting mechanism (2) and the supporting mechanism (3) are moved out of the pipeline to be inspected by the moving mechanism (1), and the limiting mechanism (2) is separated from the moving mechanism (1), and at the same time, the repair material is prepared according to the indication and recording range, and then the moving mechanism (1) is connected to the existing repair equipment by traction, and then the moving mechanism (1) is controlled to move the existing repair equipment to the repair position according to the distance between the damaged position of the pipeline to be inspected and the entrance of the pipeline to be inspected, and then the second imaging device body (205) is used to make the moving mechanism (1) traction and move the existing repair equipment to move and repair the damaged position.

2. A pipeline trenchless detection and repair method as claimed in claim 1, characterized in that: The moving mechanism (1) comprises: A bottom plate (101), a vehicle body (102), a cylinder (105), a top plate (106) and a moving component, wherein the bottom of the bottom plate (101) is rotatably connected to a support wheel (103), the top of the bottom plate (101) is provided with a first imaging device body (104), the vehicle body (102) is fixedly connected to the bottom of the bottom plate (101), the cylinder (105) is fixedly connected to the top of the bottom plate (101), the top plate (106) is slidably sleeved on the top of the bottom plate (101), and the moving component is provided on the top of the top plate (106).

3. A pipeline trenchless detection and repair method as claimed in claim 2, characterized in that: Limiting grooves are provided on both sides of the outer surface of the top plate (106), and a moving shaft (110) is slidably inserted in each of the limiting grooves. Adjusting bolts (109) are rotatably connected to both sides of the outer surface of the top plate (106), and each adjusting bolt (109) is threadedly connected to the corresponding moving shaft (110).

4. A pipeline trenchless detection and repair method as claimed in claim 3, characterized in that: Two groups of movable components are provided in total, and each group of movable components comprises a movable wheel (111) and two fixed wheels (107), wherein the movable wheel (111) is rotatably connected to the outer surface of a corresponding movable shaft (110), and the two fixed wheels (107) are rotatably connected to the outer surface of a top plate (106).

5. A pipeline trenchless detection and repair method as claimed in claim 4, characterized in that: The limiting mechanism (2) comprises: A mounting frame (201), a side frame (217), a limiting component and a rotating component, wherein the side frame (217) is fixedly connected to the outer surface of one side of the mounting frame (201), a partition (202) is fixedly connected inside the mounting frame (201), and the outer surface of one side of the partition (202) is fixedly connected to a second imaging device body (205), the limiting component and the rotating component are both arranged on the mounting frame (201), the mounting frame (201) is arranged on the top of four fixed wheels (107), the bottoms of the two moving wheels (111) are both in contact with the bottom surface of the mounting frame (201), the outer surface of one side of the top plate (106) is fixedly connected to a moving motor (108), and the output end of the moving motor (108) is fixedly connected to one end of the corresponding fixed wheel (107).

6. A pipeline trenchless detection and repair method as claimed in claim 5, characterized in that: The limiting component comprises four groups of limiting plates (216) and limiting rings (206); the four groups of limiting plates (216) are fixedly connected to the inner surface wall of the installation frame (201) at equal distances; each group of limiting plates (216) is provided with two limiting plates in total; the limiting ring (206) is fixedly connected to the inner surface wall of the installation frame (201); and the outer surface of one side of the limiting ring (206) is in contact with the outer surface of one side of the corresponding moving wheel (111); and each of the sliding strips (305) is slidably inserted between the opposite outer surfaces of the two corresponding limiting plates (216).

7. A pipeline trenchless detection and repair method according to claim 6, characterized in that: The rotating component comprises a rotating gear ring (207), a linkage ring (208) and a rotating frame (209); the rotating gear ring (207) is rotatably connected to the inside of the installation frame (201); the linkage ring (208) is fixedly connected to the outer surface of one side of the rotating gear ring (207); the rotating frame (209) is rotatably connected to the outer surface of one side of the partition (202); one end of the rotating frame (209) is fixedly connected to the inner surface wall of the linkage ring (208); an adjusting rod (210) is rotatably connected to the outer surface of one side of the rotating frame (209); an adjusting ring (212) is slidably sleeved on the outer surface of the adjusting rod (210); one end of the adjusting rod (210) is fixedly connected to an elastic metal strip (211); a threaded tube (213) is rotatably connected to the inner surface wall of one side of the rotating frame (209); a support rod (214) is threadedly connected to the inside of the threaded tube (213); one end of the support rod (214) is slidably sleeved on the outer surface of the adjusting rod (210); The rotating frame (209) is rotatably penetrated, and one end of the support rod (214) is rotatably connected to the adjustment ring (212); the outer surface of the threaded tube (213) is sleeved with an adjustment worm wheel (215); the inner surface wall of the rotating frame (209) is rotatably connected with an adjustment worm, and the adjustment worm and the adjustment worm wheel (215) are meshed; the outer surface of the rotating frame (209) is fixedly connected with an adjustment motor (219); the output end of the adjustment motor (219) is fixedly connected to one end of the adjustment worm; the outer surface of one side of the side frame (217) is fixedly connected with a drive motor (218); the output end of the drive motor (218) is fixedly connected to one end of the support shaft (302); the outer surface of one side of the partition (202) is fixedly connected with a rotating motor (203); the output end of the rotating motor (203) is sleeved with a rotating gear (204), and the rotating gear (204) is meshed with a rotating gear ring (207).

8. A pipeline trenchless detection and repair method as claimed in claim 7, characterized in that: The supporting mechanism (3) comprises: A mounting tube (301), a support shaft (302), a mounting frame (304), an adjustment component and a support component, wherein the support shaft (302) is rotatably connected between opposite inner walls on both sides of the mounting tube (301), the mounting frame (304) is sleeved on the outer surface of the mounting tube (301), and four sliding bars (305) are fixedly connected to the outer surface of the mounting frame (304) at equal intervals, the adjustment component is arranged on the mounting tube (301) and the mounting frame (304), and the support component is arranged on the mounting frame (304).

9. A pipeline trenchless detection and repair method as claimed in claim 8, characterized in that: The adjustment component comprises a first bevel gear (303) and four groups of adjustment components, the first bevel gear (303) is sleeved on the outer surface of the support shaft (302), each group of the adjustment components comprises an extension frame, a limiting worm (314), a limiting worm wheel (308), a bidirectional threaded rod (307) and two sliding tubes (306), the extension frame is fixedly connected to the outer surface of the mounting frame (304), the limiting worm (314) is rotatably connected between the opposite inner surface walls on both sides of the extension frame, and one end of the limiting worm (314) slides and extends into the interior of the mounting tube (301), and A second bevel gear is sleeved on one end of the limiting worm (314), the second bevel gear is meshed with the first bevel gear (303), the two sliding tubes (306) are fixedly connected to the inner surface wall of the mounting frame (304), the limiting worm wheel (308) is rotatably connected between the opposite outer surfaces of the two sliding tubes (306), the limiting worm wheel (308) is meshed with the limiting worm (314), the bidirectional threaded rod (307) is rotatably connected between the insides of the two sliding tubes (306), and the outer surface of the bidirectional threaded rod (307) and the inner surface wall of the limiting worm wheel (308) are fixedly connected.

10. A pipeline trenchless detection and repair method according to claim 9, characterized in that: The support components are provided in four groups in total, and each group of the support components comprises two moving pieces (309), two supporting bars (310), a supporting frame (311) and a support frame (313); the two moving pieces (309) are both threadedly connected to the outer surface of the corresponding bidirectional threaded rod (307); the two supporting bars (310) are rotatably connected to the corresponding moving pieces (309) respectively; the supporting frame (311) is rotatably connected between one ends of the two supporting bars (310); a supporting spring (312) is provided inside the supporting frame (311); a limiting block is fixedly connected to an inner surface wall of one side of the supporting frame (311); and the support frame (313) is slidably inserted inside the supporting frame (311).

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