Pipe connecting device and method of pipeline burst maintenance robot

Abstract

The invention discloses a pipe connecting device and method for a pipeline burst maintenance robot, the device comprises a moving carrier, a pipe connecting assembly and two pipe stabilizing assemblies, the position is adjusted through the moving carrier, the straight and bent states of a to-be-connected pipeline are changed through the pipe stabilizing assemblies so as to align a notch, and the pipe connecting assembly completes installation of a sleeve and a connecting pipe. According to the pipeline butt joint device, pipeline butt joint is efficiently and stably completed in a narrow space, the maintenance efficiency is remarkably improved, and the manual operation risk is reduced.

Description

Technical Field

[0001] This application relates to the field of pipeline maintenance equipment, and particularly to a pipe connection device and method for a pipeline burst repair robot. Background Art

[0002] Pipe connection technology plays an important role in industrial and municipal engineering, especially in the construction and maintenance of long-distance sewage pipe galleries. With the acceleration of urbanization, the scale of sewage pipe galleries is constantly expanding. As a key part of the sewage treatment system, it is of great significance to ensure the urban environment and residents' health. However, due to the usually long length and dense pipelines of sewage pipe galleries, traditional manual inspection and maintenance methods face many challenges. Especially when there is a drip at the pipe connection part, how to carry out maintenance efficiently and accurately has become an urgent problem to be solved. In addition, in order to meet the needs of modern urban construction, improving the maintenance efficiency and automation level has become the key development direction of the industry.

[0003] Currently, for the drip problem at the pipe connection part in the sewage pipe gallery, the commonly used maintenance means mainly include two methods: manual operation and mechanical equipment assistance. The maintenance is completed through steps such as manually or mechanically cutting the damaged pipeline, applying glue, and installing sleeves and connecting pipes. Specifically, as Figure 1 shown, first, the damaged part of the original pipeline is cut off to form two pipelines to be connected 1, with a pipe connection position left in the middle. Then, glue is applied at the cut position and a sleeve 2 is put on. Finally, it is connected to the two sleeves 2 through a connecting pipe 3. Among them, the diameter of the connecting pipe 3 is the same as that of the pipelines to be connected 1, so as to connect the two pipelines to be connected 1 into a new pipeline.

[0004] Although the above means can solve the pipeline drip problem to a certain extent, there are still obvious defects. Especially for long-distance and high-density sewage pipe galleries, due to the insufficient pipe connection space between the two pipelines to be connected after cutting, it is necessary to manually adjust the pipeline position to complete the pipeline connection. There are problems of high manual participation and low pipe connection efficiency, and it cannot meet the demand for rapid response. At the same time, there is still room for improvement. Summary of the Invention

[0005] In order to improve the pipe connection efficiency, this application provides a pipe connection device and method for a pipeline burst repair robot.

[0006] The pipe connection device for a pipeline burst repair robot provided by this application adopts the following technical solutions: A pipe connection device for a pipe burst repair robot, comprising a mobile carrier, a pipe connection component and two pipe stabilizing components. The mobile carrier is used to adjust the positions of the pipe stabilizing components and the pipe connection component. The two pipe stabilizing components correspond to two pipes to be connected one by one. The pipe stabilizing components are used to change the straight and bent states of the corresponding pipes to be connected, so as to change the relative positions of the cut ends of the two pipes to be connected. The pipe connection component is used to sleeve a sleeve along the axial direction of the pipe to be connected on the outer periphery of the cut end of the pipe, and is used to cooperate with the pipe stabilizing components to connect a connecting pipe between the two sleeves. Before inserting a sleeve or a connecting pipe into one of the pipes to be connected, the pipe stabilizing component first bends the other pipe to be connected to provide a connection space for the connection operation of the pipe connection component.

[0007] By adopting the above technical solution, the mobile carrier can flexibly adjust the positions of the pipe stabilizing components and the pipe connection component to ensure the accuracy of the repair operation. The two pipe stabilizing components correspond to the two pipes to be connected respectively. They can not only fix the pipes, but also accurately adjust the relative positions of the cut ends of the two pipes to be connected by changing the straight and bent states of the pipes, thus creating favorable conditions for the subsequent connection operation. The pipe connection component has the function of sleeving a sleeve along the axial direction of the pipe to be connected on the outer periphery of the cut end, and can cooperate with the pipe stabilizing components to accurately connect the connecting pipe between the two sleeves. When inserting a sleeve or a connecting pipe into one of the pipes to be connected, the other pipe stabilizing component bends the corresponding pipe to be connected, effectively increasing the operation space, avoiding interference between pipes, and improving the repair efficiency and reliability. This design not only reduces manual intervention, but also significantly improves the automation degree and accuracy of pipe repair.

[0008] Preferably, the pipe stabilizing component includes a pipe stabilizing jaw for clamping and fixing the pipe to be connected and a first telescopic driving member for driving the pipe stabilizing jaw to move.

[0009] By adopting the above technical solution, the pipe stabilizing component can clamp and fix the pipe to be connected through the pipe stabilizing jaw, and use the first telescopic driving member to drive the pipe stabilizing jaw to move, so as to change the position state of the pipe to be connected. This design enables the pipe stabilizing component to accurately adjust the straight or bent state of the pipe to be connected, provide sufficient operation space for the pipe connection component, and ensure the stability of the pipe to be connected during the repair process, improving the accuracy and efficiency of pipe connection.

[0010] Preferably, the pipe connection component includes a connection jaw, a second telescopic driving member and an axial driving member. The connection jaw is used to clamp and fix the sleeve or the connecting pipe. The second telescopic driving member is used to drive the connection jaw to move. The axial driving member is used to drive the second telescopic driving member and the connection jaw as a whole to move along the axial direction parallel to the pipe to be connected.

[0011] By adopting the above technical solution, the takeover jaw can stably grip the sleeve or connecting pipe, ensuring no offset or detachment during the takeover process. The second telescopic driving member drives the takeover jaw to move precisely, achieving accurate alignment of the sleeve or connecting pipe at the cut of the pipe to be connected. The axial driving member further ensures the overall smooth movement of the takeover jaw and the sleeve or connecting pipe along the axis of the pipe to be connected, thereby efficiently completing the docking of the sleeve and the installation of the connecting pipe, significantly improving the maintenance efficiency and reducing the need for manual intervention.

[0012] Preferably, the moving carrier includes a crawler base, a robotic arm disposed above the crawler base, and a mounting bracket disposed at the movable end of the robotic arm. The first telescopic driving member and the second telescopic driving member are parallel to each other and are both disposed at the mounting bracket.

[0013] By adopting the above technical solution, the crawler base can adapt to complex terrains, ensuring the stable movement of the takeover device in the sewage pipe gallery. The setting of the robotic arm makes the position adjustment of the pipe stabilizing assembly and the takeover assembly more flexible, meeting the requirements of different takeover positions. The mounting bracket provides a stable mounting foundation for the first telescopic driving member and the second telescopic driving member, and the parallel setting of the two ensures the action coordination, improving the accuracy and efficiency of the installation of the sleeve and the connecting pipe.

[0014] Preferably, the axial driving member includes a sliding seat slidably connected to the mounting bracket and a screw drive structure for driving the sliding seat to move. The moving direction of the sliding seat is parallel to the axis of the pipe to be connected in a straight state; the crawler base is provided with a pipe supply assembly for supplying the sleeve and the connecting pipe. The second telescopic driving member is rotatably connected to the sliding seat, and the rotation axis of the second telescopic driving member is parallel to the moving direction of the sliding seat. The sliding seat is provided with a flipping driving member for driving the second telescopic driving member to swing. When installing the sleeve or connecting pipe, the second telescopic driving member swings down to the pipe supply assembly, and the pipe supply assembly conveys the sleeve or connecting pipe to the takeover jaw.

[0015] By adopting the above technical solution, the cooperation between the sliding seat and the screw drive structure can achieve the precise movement of the takeover assembly along the axis of the pipe to be connected, ensuring the accurate alignment and completion of the installation of the sleeve or connecting pipe. The pipe supply assembly on the crawler base centrally stores the sleeve and the connecting pipe. The second telescopic driving member swings down to the pipe supply assembly through the flipping driving member, which can conveniently grab the sleeve or connecting pipe, improving the efficiency and accuracy of material supply. Among them, the moving direction of the sliding seat is parallel to the axis of the pipe to be connected, ensuring the linearity of the takeover action; the rotation axis of the second telescopic driving member is parallel to the moving direction of the sliding seat, enabling the takeover jaw to flexibly adjust its posture at different positions, adapting to complex operation requirements, and significantly improving the automation degree and reliability of the takeover operation of the pipeline repair robot.

[0016] Preferably, the pipe supply assembly includes a pipe storage box with an opening at the upper end and a lifting drive member arranged at the bottom of the pipe storage box, and the plurality of sleeves and connecting pipes are distributed from top to bottom in the order of the connecting pipes; when the connecting pipe assembly grabs the sleeve or connecting pipe from the pipe supply assembly, the second telescopic drive member is swung down to move the connecting pipe clamp to the opening of the pipe storage box and open, and the lifting drive member pushes the sleeve or connecting pipe into the connecting pipe clamp by pushing upward, and the connecting pipe clamp clamps the sleeve or connecting pipe.

[0017] By adopting the above technical solution, the pipe storage box in the pipe supply assembly can store multiple sleeves and connecting pipes in an orderly manner, and arrange them from top to bottom in the order of connecting pipes, ensuring convenience and accuracy when taking them. The lifting drive member accurately delivers the sleeve or connecting pipe into the connecting pipe clamp by pushing upward, and combined with the downward swinging action of the second telescopic drive member, the connecting pipe clamp can smoothly reach the opening of the pipe storage box and complete the grabbing. This solution effectively improves the supply efficiency of sleeves and connecting pipes, reduces manual intervention, and improves the automation level and operating efficiency of the pipeline maintenance robot.

[0018] Preferably, glue coating components are provided on both sides of the pipe supply box for coating glue on the inner wall of the sleeve; when the connecting pipe component grabs the sleeve or connecting pipe from the pipe supply component, the connecting pipe clamp clamps the sleeve or connecting pipe, and the glue coating component extends into the sleeve and coats glue.

[0019] By adopting the above technical solution, the glue coating components are arranged on both sides of the pipe supply box, and can extend into the sleeve to apply glue to the inner wall of the sleeve when the pipe connection component grabs the sleeve or the connecting pipe. This design ensures that the sleeve has been coated with glue before being installed on the outer periphery of the cutout of the pipe to be connected, thereby avoiding additional gluing processes and improving maintenance efficiency. At the same time, the use of the glue coating component and the pipe connection component ensures the uniformity and accuracy of glue spraying, enhances the sealing between the sleeve and the pipe to be connected, and effectively prevents the occurrence of dripping.

[0020] A pipe burst repair robot connecting method adopts a pipe burst repair robot connecting device, comprising the following steps: S1: The two pipe stabilizing assemblies respectively clamp the corresponding pipes to be connected, and the carrier is moved to adjust the positions of the pipe stabilizing assemblies so that the cutout positions of the two pipes to be connected are kept in the same horizontal plane and aligned; S2: One of the pipe stabilizing components stabilizes the corresponding pipe to be connected to keep it straight, and the other pipe stabilizing component bends the corresponding pipe to be connected to provide a connecting space for the connecting component to connect; S3: The takeover component moves the sleeve to the takeover position, aligns the axis of the sleeve with that of the pipeline to be connected in a straight state, and then moves the sleeve axially along the pipeline to be connected in a straight state until the sleeve is sleeved on the outer periphery of the cut of the pipeline to be connected in a straight state; S4: Complete the sleeve sleeving step for another pipeline to be connected in the manner of step S2 and step S3; S5: In the manner of S2, the takeover component inserts the connecting pipe into the sleeve along the axis direction of the pipeline to be connected in a straight state; S6: The two pipe stabilizing components simultaneously bend the corresponding pipelines to be connected, so that one end of the connecting pipe overlaps on another sleeve, and then the two pipe stabilizing components simultaneously pull the corresponding pipelines to be connected back to the straight state to complete the connection step of the connecting pipe and another sleeve.

[0021] By adopting the above technical solution, accurate docking of the pipelines to be connected can be achieved. Specifically, with the clamping and bending functions of the pipe stabilizing components, not only can the cut positions of the pipelines to be connected be adjusted to be aligned, but also sufficient operating space can be provided for the takeover component, thereby ensuring the installation accuracy of the sleeve and the connecting pipe. In addition, the takeover component cooperates with the actions of the mobile carrier to realize the automatic assembly of the sleeve and the connecting pipe, effectively improving the maintenance efficiency and reducing manual intervention. It is especially suitable for narrow and complex pipe gallery environments, significantly enhancing the convenience and reliability of pipeline maintenance.

[0022] In summary, the present application includes at least one of the following beneficial technical effects: 1. Through the cooperation of the mobile carrier and the pipe stabilizing components, the relative positions of the pipelines to be connected can be automatically adjusted, reducing manual intervention and improving the maintenance efficiency; 2. The pipe stabilizing components provide space for the takeover action by bending the pipelines to be connected, solving the problem of insufficient takeover space in long-distance sewage pipe galleries and ensuring the smooth progress of the connection process; 3. The takeover component combines the axial driving component and the telescopic driving component to realize the accurate installation of the sleeve and the connecting pipe, improving the automation level and reliability of pipeline connection. Description of the Drawings

[0023] Figure 1 It is a schematic diagram of the takeover form of the takeover device of a pipeline burst repair robot in an embodiment of the present application.

[0024] Figure 2 It is a schematic diagram of the cooperation between the takeover component and the pipe supply component in the takeover device of a pipeline burst repair robot in an embodiment of the present application.

[0025] Figure 3 is Figure 2 The enlarged schematic diagram at A in

[0026] Figure 4It is a schematic diagram of the positions of the pipe connection component and the pipe stabilizing component in the pipe connection device of a pipe burst repair robot according to an embodiment of the present application.

[0027] Figure 5 It is a schematic diagram of the state when the first sleeve is sleeved onto the corresponding pipe to be connected in the pipe connection method of a pipe burst repair robot according to an embodiment of the present application.

[0028] Figure 6 It is a schematic diagram of the state when the second sleeve is sleeved onto the corresponding pipe to be connected in the pipe connection method of a pipe burst repair robot according to an embodiment of the present application.

[0029] Figure 7 It is a schematic diagram of the state when the connecting pipe is connected to one of the sleeves in the pipe connection method of a pipe burst repair robot according to an embodiment of the present application.

[0030] Figure 8 It is a schematic diagram of the state when the connecting pipe overlaps with the other sleeve in the pipe connection method of a pipe burst repair robot according to an embodiment of the present application.

[0031] Explanation of reference numerals: 1, pipe to be connected; 2, sleeve; 3, connecting pipe; 4, mobile carrier; 41, crawler base; 42, robotic arm; 43, mounting bracket; 5, pipe stabilizing component; 51, first telescopic driving member; 52, pipe stabilizing jaw; 6, pipe connection component; 61, second telescopic driving member; 62, pipe connection jaw; 63, axial driving member; 631, screw drive structure; 632, sliding seat; 64, flipping driving member; 7, glue application component; 8, pipe supply component; 9, locking mechanism. Detailed implementation manners

[0032] The following further Figure 1-2 describes the present application in detail.

[0033] An embodiment of the present application discloses a pipe connection device of a pipe burst repair robot, and its pipe connection method is as Figure 1 shown. A sleeve 2 is sleeved on the outer peripheral surface of the pipe cut of each of the two pipes 1 to be connected, and the two sleeves 2 are connected by a connecting pipe 3, so as to connect the two pipes 1 to be connected into a new pipe.

[0034] Referring to Figure 2 and Figure 3, the takeover device includes a mobile carrier 4, a pipe supply assembly 8, a takeover assembly 6, and two pipe stabilizing assemblies 5. The mobile carrier 4 is used to adjust the positions of the pipe stabilizing assembly 5 and the takeover assembly 6. The two pipe stabilizing assemblies 5 correspond to the two pipes to be joined 1 one by one. The pipe stabilizing assembly 5 is used to change the straight and bent states of the corresponding pipes to be joined 1, so as to change the relative positions of the cut ends of the two pipes to be joined 1. The pipe supply assembly 8 conveys the casing 2 and the connecting pipe 3 to the takeover assembly 6. The takeover assembly 6 is used to axially sleeve the casing 2 around the outer periphery of the cut end of the pipe along the pipe to be joined 1, and to cooperate with the pipe stabilizing assembly 5 to connect the connecting pipe 3 between the two casings 2. Before inserting the casing 2 or the connecting pipe 3 into one of the pipes to be joined 1, the pipe stabilizing assembly 5 first bends the other pipe to be joined 1 to provide a takeover space for the takeover operation of the takeover assembly 6.

[0035] Specifically, the mobile carrier 4 includes a crawler base 41, a robotic arm 42 disposed above the crawler base 41, and a mounting bracket 43 disposed at the movable end of the robotic arm 42. The crawlers of the crawler base 41 can be rubber crawlers or steel crawlers, and appropriate materials are selected according to the ground conditions in the pipe gallery. For example, in a slippery environment, rubber crawlers with anti-slip patterns can be selected; in a rough environment, steel crawlers with better wear resistance can be selected. The robotic arm 42 can be a multi-degree-of-freedom robotic arm 42 with 3 to 6 joints, which can flexibly adjust its posture to meet the requirements of different pipe positions. The mounting bracket 43, as a connecting component, is used to stabilize the pipe stabilizing assembly 5 and the takeover assembly 6. Its shape can be a frame structure or a plate structure, and the material can be selected from aluminum alloy or carbon fiber composite material to reduce weight and improve strength.

[0036] Referring to Figure 2 and Figure 4 , in this embodiment, the two pipe stabilizing assemblies 5 are respectively disposed on both sides of the takeover assembly 6. The pipe stabilizing assembly 5 includes a pipe stabilizing jaw 52 for clamping and fixing the pipe to be joined 1 and a first telescopic driving member 51 for driving the pipe stabilizing jaw 52 to move. The pipe stabilizing jaw 52 can be a pneumatic jaw or a hydraulic jaw commonly used in the mechanical clamping field, and its clamping force can be selected within an appropriate range according to the pipe material. For PVC pipes, the clamping force is controlled between 200N and 500N. The first telescopic driving member 51 can be an electric push rod or a hydraulic cylinder, and its stroke is set according to the diameter of the pipe to be joined 1. For a pipe with a diameter of 200mm, the stroke of the first telescopic driving member 51 can be set to 300mm to 500mm to ensure that the bending state of the pipe can be fully adjusted.

[0037] The takeover assembly 6 includes a takeover jaw 62, a second telescopic driving member 61, and an axial driving member 63. The takeover jaw 62 is used to clamp and fix the sleeve 2 or the connecting pipe 3. The takeover jaw 62 has the same structure as the pipe stabilizing jaw 52, and pneumatic jaws or hydraulic jaws commonly used in the field of mechanical clamping can be adopted. The second telescopic driving member 61 is used to drive the takeover jaw 62 to move. Its structure is the same as that of the first telescopic driving member 51, and it can be an electric push rod or a hydraulic cylinder. The stroke is set according to the total moving distance during the installation process of the sleeve 2 or the connecting pipe 3 to ensure that the sleeve 2 and the connecting pipe 3 can be effectively connected. In this embodiment, the axial driving member 63 is used to drive the second telescopic driving member 61 and the takeover jaw 62 as a whole to move axially parallel to the axis of the pipeline 1 to be connected. It can adopt a lead screw transmission structure 631 or a gear and rack transmission structure to ensure the smoothness and accuracy of the movement.

[0038] Referring to Figure 3 and Figure 4 , in this embodiment, the axial driving member 63 includes a sliding seat 632 slidably connected to the mounting frame 43 and a lead screw transmission structure 631 for driving the sliding seat 632 to move. The moving direction of the sliding seat 632 is parallel to the axis of the pipeline 1 to be connected in a straight state, ensuring that the takeover assembly 6 can move accurately axially. An articulated seat for installing the fixed end of the second telescopic driving member 61 is provided on the sliding seat 632. The rotation axis of the second telescopic driving member 61 is parallel to the moving direction of the sliding seat 632, enabling the second telescopic driving member 61 to perform a downward swing action. A turning driving member 64 for driving the second telescopic driving member 61 to swing is also installed on the sliding seat 632. The turning driving member 64 adopts a motor, enabling the second telescopic driving member 61 and the takeover jaw 62 to switch between the horizontal direction and the vertical direction. For example, when grasping the sleeve 2 or the connecting pipe 3, the second telescopic driving member 61 swings downward to the pipe supply assembly 8, and the pipe supply assembly 8 supplies the sleeve 2 or the connecting pipe 3 to the takeover jaw 62.

[0039] The pipe supply assembly 8 includes a storage pipe box with an open upper end and a jacking drive member provided at the bottom of the storage pipe box. The storage pipe box is installed on the cantilever of the crawler base 41, and a number of casing pipes 2 and connecting pipes 3 are stored in the storage pipe box. The number of casing pipes 2 and connecting pipes 3 are distributed from top to bottom in the order of pipe connection. To ensure the accuracy of pipe connection, the length of the casing pipe 2 is equal to the length of the connecting pipe 3, and both ends of the casing pipe 2 and the connecting pipe 3 abut against the inner wall of the storage pipe box. The jacking drive member can be an electric push rod or a hydraulic cylinder, and its stroke is set according to the total outer diameter of multiple casing pipes 2 and connecting pipes 3, so as to ensure that all the required casing pipes 2 and connecting pipes 3 can be jacked out of the upper opening of the storage pipe box. When the pipe connection assembly 6 grabs the casing pipe 2 or the connecting pipe 3 from the pipe supply assembly 8, the second telescopic drive member 61 swings downward, so that the pipe connection claw 62 moves to the opening of the storage pipe box and opens. The jacking drive member jacks the casing pipe 2 or the connecting pipe 3 into the pipe connection claw 62 by upward pushing, and the pipe connection claw 62 clamps the casing pipe 2 or the connecting pipe 3. Thus Gluing assemblies 7 are provided on both sides of the pipe supply box for coating glue on the inner wall of the casing pipe 2. When the pipe connection assembly 6 grabs the casing pipe 2 or the connecting pipe 3 from the pipe supply assembly 8, the pipe connection claw 62 clamps the casing pipe 2 or the connecting pipe 3, and the gluing assembly 7 extends into the casing pipe 2 and coats glue. The gluing assembly 7 can adopt a pneumatic nozzle or an electric nozzle in cooperation with a glue tank storing glue, and sprays glue into the casing pipe by the drive of an electric push rod, or a gluing roller is immersed in a glue trough storing glue, and rolls to coat glue into the casing pipe by the drive of an electric push rod. The glue can be epoxy resin glue or silicone glue, and the specific selection is determined according to the pipe material and the use environment.

[0040] The implementation principle of this embodiment is as follows: By moving the carrier 4, the pipe stabilizing assembly 5 and the pipe connection assembly 6 are adjusted in position. The pipe stabilizing assembly 5 is used to change the straight and bent states of the pipeline 1 to be connected, providing sufficient operating space for the pipe connection assembly 6. Through the coordinated action of the pipe connection claw 62, the second telescopic drive member 61 and the axial drive member 63, the pipe connection assembly 6 accurately installs the casing pipe 2 and the connecting pipe 3 in place. At the same time, the cooperation of the pipe supply assembly 8 and the gluing assembly 7 ensures the rapid supply and reliable connection of the casing pipe 2 and the connecting pipe 3. This design not only improves the maintenance efficiency but also reduces the manual participation, and is applicable to the maintenance scenarios of long-distance and high-density sewage pipe galleries.

[0041] To optimize the design of the pipe stabilizing assembly 5 to improve its adaptability and stability. Anti-slip pads are added to the clamping surfaces of the pipe stabilizing claws 52 to prevent the pipeline from sliding during the clamping process. The anti-slip pads can be made of rubber or silicone, with anti-slip patterns on the surface to increase the friction force. Further improving the stability and reliability of the pipe connection device, ensuring that the pipeline docking task can still be efficiently completed under complex working conditions.

[0042] In order to improve the stability of the taking over assembly 6 during the taking over step, a locking mechanism 9 is installed at the sliding seat 632. The locking mechanism 9 locks the second telescopic drive member 61 when it swings to a horizontal state. The locking mechanism 9 can adopt two sets of electric push rods and a limit clamp. Under the push of the electric push rod, the limit clamp can move toward the second telescopic drive member 61. The purpose is to lock the second telescopic drive member 61. The load generated by the taking over operation is dispersed to the locking mechanism 9 and the sliding seat 632.

[0043] The takeover method provided in this embodiment refers to the takeover steps. Figures 5 to 8 , using the take-over device of this embodiment, including the following steps: S1: The mobile carrier 4 moves to the vicinity of the pipe 1 to be connected, and determines the specific positions of the two pipes 1 to be connected by a common visual scanning method, and then controls the mechanical arm 42 to align the two pipe stabilizing components 5 with the corresponding pipes 1 to be connected, and the first telescopic driving member 51 is lengthened, and the pipe stabilizing clamp 52 clamps the corresponding pipe 1 to be connected, and then the position of the pipe stabilizing component 5 is adjusted by the mechanical arm 42 of the mobile carrier 4, so that the incision positions of the two pipes 1 to be connected are kept in the same horizontal plane and aligned. The horizontality and alignment can be determined by existing image recognition technology. In addition, the horizontality of the pipe 1 to be connected can also be referenced by the horizontal plane of the support frame of the pipe 1 to be connected, and the alignment of the pipe 1 to be connected can also be referenced by the calibration line at the front end of the mounting frame 43 of the mobile carrier 4.

[0044] S2: When preparing to connect the sleeve 2, one of the pipe stabilizing components 5 stabilizes the corresponding pipe 1 to be connected to keep the pipe 1 to be connected in a straight state, and then the first telescopic driving member 51 of the other pipe stabilizing component 5 is pushed forward and bends the corresponding pipe 1 to be connected to provide sufficient connecting space for the connecting component 6 to connect.

[0045] S3: The second telescopic drive member 61 of the connecting pipe assembly 6 swings down 90 degrees to move the connecting pipe clamp 62 to the top of the opening of the pipe storage box, and the connecting pipe clamp 62 opens. Then the lifting drive member pushes up to push the sleeve 2 out to the connecting pipe clamp 62, and then the connecting pipe clamp 62 clamps the sleeve 2. Then the glue coating assembly 7 extends into the interior of the sleeve 2 to spray glue. Then the second telescopic drive member 61 swings up to a horizontal state, the locking structure locks the second telescopic drive member 61, and then the connecting pipe clamp 62 and the sleeve 2 are pushed forward by extension, the sleeve 2 is moved to the connecting pipe position, and the sleeve 2 is made to coincide with the axis of the straight pipe 1 to be connected. Whether the axis of the sleeve 2 coincides with the axis of the pipe 1 to be connected can be judged by the relative position of the pipe stabilizing clamp 52 and the connecting pipe clamp 62.

[0046] Then, the axial driving member 63 is started to move the sleeve 2 along the axial direction of the straight pipe 1 to be connected until the sleeve 2 is sleeved on the outer periphery of the cut of the straight pipe 1 to be connected.

[0047] S4: completing the step of sleeve connection of another casing 2 of the pipeline 1 to be connected in the manner of step S2 and step S3.

[0048] S5: According to the method of S2, the connecting pipe assembly 6 inserts the connecting pipe 3 into the sleeve 2 along the axial direction of the straight pipeline 1 to be connected.

[0049] S6: When the connecting pipe 3 is connected between the two sleeves 2, the two pipe stabilizing assemblies 5 simultaneously bend the corresponding pipe 1 to be connected so that one end of the connecting pipe 3 overlaps the other sleeve 2, and then the two pipe stabilizing assemblies 5 simultaneously pull the corresponding pipe 1 to be connected back to a straight state to complete the connection step of the connecting pipe 3 and the other sleeve 2.

[0050] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A pipe-burst repair robot's pipe-taking device, characterized in that: It includes a mobile carrier (4), a pipe connection component (6) and two pipe stabilizing components (5). The mobile carrier (4) is used to adjust the positions of the pipe stabilizing components (5) and the pipe connection component (6). The two pipe stabilizing components (5) correspond to two pipes to be connected (1) one by one. The pipe stabilizing component (5) is used to change the straight and bent states of the corresponding pipe to be connected (1) so as to change the relative positions of the cut ends of the two pipes to be connected (1). The pipe connection component (6) is used to sleeved the casing (2) axially on the outer periphery of the cut end of the pipe along the pipe to be connected (1), and is used to cooperate with the pipe stabilizing component (5) to connect the connecting pipe (3) between the two casings (2). Before inserting the casing (2) or the connecting pipe (3) into one of the pipes to be connected (1), the pipe stabilizing component (5) first bends the other pipe to be connected (1) to provide a connection space for the connection action of the pipe connection component (6).

2. The pipe connection device of the pipeline burst repair robot according to claim 1, characterized in that: The pipe stabilizing component (5) includes a pipe stabilizing jaw (52) for clamping and fixing the pipe to be connected (1) and a first telescopic driving member (51) for driving the pipe stabilizing jaw (52) to move.

3. The pipe connection device of the pipe burst repair robot according to claim 1, characterized in that: The pipe connection component (6) includes a connection jaw (62), a second telescopic driving member (61) and an axial driving member (63). The connection jaw (62) is used to clamp and fix the casing (2) or the connecting pipe (3). The second telescopic driving member (61) is used to drive the connection jaw (62) to move. The axial driving member (63) is used to drive the second telescopic driving member (61) and the connection jaw (62) as a whole to move along the axis parallel to the pipe to be connected (1).

4. The pipe connection device of the pipe burst repair robot according to claim 3, characterized in that: The mobile carrier (4) includes a crawler base (41), a robotic arm (42) arranged above the crawler base (41) and a mounting frame (43) arranged at the movable end of the robotic arm (42). The first telescopic driving member (51) and the second telescopic driving member (61) are parallel to each other and are both arranged at the mounting frame (43).

5. The pipe connection device of the pipeline burst repair robot according to claim 4, characterized in that: The axial driving member (63) includes a sliding seat (632) slidably connected in the mounting frame (43) and a screw drive structure (631) for driving the sliding seat (632) to move. The moving direction of the sliding seat (632) is parallel to the axis of the pipe to be connected (1) in the straight state. The crawler base (41) is provided with a pipe supply component (8) for supplying the casing (2) and the connecting pipe (3). The second telescopic driving member (61) is rotatably connected to the sliding seat (632), and the axis of rotation of the second telescopic driving member (61) is parallel to the moving direction of the sliding seat (632). The sliding seat (632) is provided with a turning driving member (64) for driving the second telescopic driving member (61) to swing. When connecting the casing (2) or the connecting pipe (3), the second telescopic driving member (61) swings down to the pipe supply component (8), and the pipe supply component (8) supplies the casing (2) or the connecting pipe (3) to the connection jaw (62).

6. The pipe connection device of the pipeline burst repair robot according to claim 5, characterized in that: The supply pipe assembly (8) includes a storage pipe box with an open upper end and a lifting drive member provided at the bottom of the storage pipe box. The plurality of sleeves (2) and connecting pipes (3) are distributed from top to bottom in the order of pipe connection. When the pipe connection assembly (6) grabs the sleeve (2) or the connecting pipe (3) from the supply pipe assembly (8), the second telescopic drive member (61) swings downward, causing the pipe connection gripper (62) to move to the opening of the storage pipe box and open. The lifting drive member pushes the sleeve (2) or the connecting pipe (3) upward and into the pipe connection gripper (62), and the pipe connection gripper (62) clamps the sleeve (2) or the connecting pipe (3).

7. The pipe connection device of the pipeline burst repair robot according to claim 6, characterized in that: Glue coating assemblies (7) are provided on both sides of the supply pipe box for coating glue on the inner wall of the sleeve (2). When the pipe connection assembly (6) grabs the sleeve (2) or the connecting pipe (3) from the supply pipe assembly (8), the pipe connection gripper (62) clamps the sleeve (2) or the connecting pipe (3), and the glue coating assembly (7) extends into the sleeve (2) to coat glue.

8. A pipe connection method for a pipe burst repair robot, using the pipe connection device of the pipe burst repair robot as described in claim 1, characterized in that, It includes the following steps: S1: The two pipe stabilizing assemblies (5) respectively clamp the corresponding pipes to be connected (1), and the moving carrier (4) adjusts the positions of the pipe stabilizing assemblies (5) to keep the cut positions of the two pipes to be connected (1) at the same horizontal plane and aligned. S2: One of the pipe stabilizing assemblies (5) stabilizes the corresponding pipe to be connected (1) to keep the pipe to be connected (1) in a straight state, and the other pipe stabilizing assembly (5) bends the corresponding pipe to be connected (1) to provide a pipe connection space for the pipe connection action of the pipe connection assembly (6). S3: The pipe connection assembly (6) moves the sleeve (2) to the pipe connection position, aligns the axis of the sleeve (2) with the axis of the straight pipe to be connected (1), and then moves the sleeve (2) along the axial direction of the straight pipe to be connected (1) until the sleeve (2) is sleeved on the outer periphery of the cut of the straight pipe to be connected (1). S4: Complete the sleeve (2) sleeving step of the other pipe to be connected (1) in the manner of step S2 and step S3. S5: In the manner of S2, the pipe connection assembly (6) inserts the connecting pipe (3) along the axial direction of the straight pipe to be connected (1) into the sleeve (2). S6: The two pipe stabilizing assemblies (5) simultaneously bend the corresponding pipes to be connected (1) to make one end of the connecting pipe (3) overlap on another sleeve (2), and then the two pipe stabilizing assemblies (5) simultaneously pull the corresponding pipes to be connected (1) back to the straight state to complete the connection step of the connecting pipe (3) and another sleeve (2).

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