Pipe explosion repair robot pipe connection device and method

Abstract

The application discloses a pipe connecting device and method of a pipe burst repair robot. The device comprises a moving carrier, a pipe connecting assembly and two pipe stabilizing assemblies. The moving carrier adjusts the position, the pipe stabilizing assemblies change the flat and curved states of the pipe to be connected to align the cut, and the pipe connecting assembly completes the installation of the sleeve and the connecting pipe. The application realizes efficient and stable pipe butt joint in a small space, significantly improves the repair efficiency and reduces the risk of manual operation.

Description

Technical Field

[0001] This application relates to the field of pipeline repair equipment, and in particular to a connection device and method for a pipeline burst repair robot. Background Technology

[0002] Pipeline connection technology plays a crucial role in industrial and municipal engineering, especially in the construction and maintenance of long-distance sewage pipe corridors. With accelerating urbanization, the scale of sewage pipe corridors is constantly expanding. As a key component of sewage treatment systems, they are of great significance for protecting the urban environment and residents' health. However, due to the typically long length and dense network of pipes in sewage pipe corridors, traditional manual inspection and maintenance methods face numerous challenges, particularly in the case of leaks at pipe connections. How to conduct efficient and accurate repairs has become a pressing issue. Furthermore, to meet the demands of modern urban construction, improving maintenance efficiency and automation levels has become a key direction for the industry's development.

[0003] Currently, the common repair methods for leaks at pipe connections in sewage pipe corridors mainly include manual operation and mechanical equipment assistance. Repairs are completed through steps such as manually or mechanically cutting the damaged pipe, applying adhesive, and installing sleeves and connecting pipes. Specifically, for example... Figure 1 As shown, the damaged part of the original pipe is first cut off to form two pipes 1 to be connected, leaving a connection point in the middle. Then, glue is applied to the cut and sleeve 2 is put on. Finally, the two sleeves 2 are connected by a connecting pipe 3. The diameter of the connecting pipe 3 is the same as the diameter of the pipe 1 to be connected, thus connecting the two pipes 1 to be connected into a new pipe.

[0004] While the aforementioned methods can address pipe leakage to some extent, they still have significant drawbacks. Particularly for long-distance, high-density sewage pipe corridors, the insufficient space between the two pipes to be connected after cutting necessitates manual adjustment of the pipe positions to complete the connection. This results in a high degree of manual intervention, low connection efficiency, and an inability to meet the demands for rapid response. Therefore, there is still room for improvement. Summary of the Invention

[0005] To improve the efficiency of pipe connection, this application provides a pipe connection device and method for a pipe burst repair robot.

[0006] The pipe connection device for a pipe burst repair robot provided in this application adopts the following technical solution:

[0007] A pipe rupture repair robot includes a pipe connection device comprising a mobile carrier, a pipe connection assembly, and two pipe stabilizing assemblies. The mobile carrier is used to adjust the positions of the pipe stabilizing assemblies and the pipe connection assembly. The two pipe stabilizing assemblies correspond one-to-one with two pipes to be connected. The pipe stabilizing assemblies are used to change the straightness and curvature of the corresponding pipes to be connected, thereby changing the relative position of the cuts of the two pipes to be connected. The pipe connection assembly is used to fit a sleeve along the axial direction of the pipe to be connected onto the outer periphery of the pipe cut, and to cooperate with the pipe stabilizing assemblies to connect a connecting pipe between the two sleeves. Before connecting the sleeve or connecting pipe to one of the pipes to be connected, the pipe stabilizing assemblies first bend the other pipe to be connected, providing space for the pipe connection assembly to connect.

[0008] By adopting the above technical solution, the mobile carrier can flexibly adjust the positions of the pipe stabilizing assembly and the connecting assembly, ensuring the precision of maintenance operations. The two pipe stabilizing assemblies correspond to the two pipes to be connected, not only fixing the pipes but also precisely adjusting the relative positions of the cuts on the two pipes by changing their straightness or curvature, thus creating favorable conditions for subsequent connecting operations. The connecting assembly has the function of fitting a sleeve along the axial direction of the pipe to be connected around the cut, and can also work in conjunction with the pipe stabilizing assembly to accurately connect the connecting pipe between the two sleeves. When fitting a sleeve or connecting pipe to one of the pipes to be connected, the other pipe stabilizing assembly effectively increases the operating space by bending the corresponding pipe, avoiding mutual interference between pipes and improving maintenance efficiency and reliability. This design not only reduces manual intervention but also significantly improves the automation and precision of pipeline maintenance.

[0009] Preferably, the pipe stabilizing assembly includes a pipe stabilizing gripper for clamping and fixing the pipe to be connected, and a first telescopic drive for driving the pipe stabilizing gripper to move.

[0010] By adopting the above technical solution, the pipe stabilizing assembly can clamp and fix the pipe to be connected using the pipe stabilizing jaws, and use the first telescopic drive component to drive the pipe stabilizing jaws to move, thereby changing the position of the pipe to be connected. This design allows the pipe stabilizing assembly to accurately adjust the straightness or curvature of the pipe to be connected, providing sufficient operating space for the pipe connection assembly, while ensuring the stability of the pipe to be connected during the maintenance process, and improving the accuracy and efficiency of pipe connection.

[0011] Preferably, the pipe assembly includes a pipe clamp, a second telescopic drive, and an axial drive. The pipe clamp is used to hold and fix the sleeve or connecting pipe. The second telescopic drive is used to drive the pipe clamp to move. The axial drive is used to drive the second telescopic drive and the pipe clamp as a whole to move along an axial direction parallel to the pipe to be connected.

[0012] By adopting the above technical solution, the pipe clamp can stably hold the sleeve or connecting pipe, ensuring that it will not shift or fall off during the pipe connection process. The second telescopic drive component drives the pipe clamp to move precisely, realizing the accurate alignment of the sleeve or connecting pipe at the cut of the pipe to be connected. The axial drive component further ensures that the pipe clamp and the sleeve or connecting pipe move smoothly along the axial direction of the pipe to be connected, thereby efficiently completing the sleeve connection and the installation of the connecting pipe, significantly improving maintenance efficiency and reducing the need for manual intervention.

[0013] Preferably, the mobile carrier includes a track base, a robotic arm disposed above the track base, and a mounting frame disposed at the movable end of the robotic arm. The first telescopic drive member and the second telescopic drive member are parallel to each other and are both disposed at the mounting frame.

[0014] By adopting the above technical solutions, the tracked base can adapt to complex terrain, ensuring the stable movement of the connection device within the sewage pipe gallery. The robotic arm allows for more flexible adjustment of the positions of the pipe stabilizing assembly and the connection assembly, meeting the needs of different connection locations. The mounting frame provides a stable installation foundation for the first and second telescopic drive components, and their parallel arrangement ensures coordinated movement, improving the accuracy and efficiency of sleeve and connecting pipe installation.

[0015] Preferably, the axial drive component includes a sliding seat slidably connected within 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 track base is provided with a pipe supply assembly for providing sleeves and connecting pipes. The second telescopic drive component is rotatably connected to the sliding seat, and the rotation axis of the second telescopic drive component is parallel to the moving direction of the sliding seat. The sliding seat is provided with a flipping drive component for driving the second telescopic drive component to swing. When connecting a sleeve or connecting pipe, the second telescopic drive component swings down to the pipe supply assembly. The pipe supply assembly is a pipe clamp that delivers the sleeve or connecting pipe.

[0016] By adopting the above technical solution, the cooperation between the sliding seat and the screw drive structure enables precise movement of the pipe fitting assembly along the axial direction of the pipe to be connected, ensuring accurate alignment and installation of the sleeve or connecting pipe. The pipe supply assembly on the tracked base centrally stores the sleeves and connecting pipes. The second telescopic drive component, by swinging down to the pipe supply assembly via the flip drive component, can easily grasp the sleeves or connecting pipes, improving the efficiency and accuracy of material supply. Specifically, the sliding seat's movement direction is parallel to the axis of the pipe to be connected, ensuring the linearity of the pipe fitting operation; the rotation axis of the second telescopic drive component is parallel to the sliding seat's movement direction, allowing the pipe fitting gripper to flexibly adjust its posture at different positions to adapt to complex operational needs, significantly improving the automation and reliability of the pipe repair robot's pipe fitting operation.

[0017] Preferably, the pipe supply assembly includes a storage tank with an opening at the top and a lifting drive at the bottom of the storage tank. The plurality of sleeves and connecting pipes are distributed from top to bottom in the order of pipe connection. When the pipe connection assembly grabs a sleeve or connecting pipe from the pipe supply assembly, the second telescopic drive swings down, causing the pipe connection gripper to move to the opening of the storage tank and open. The lifting drive pushes the sleeve or connecting pipe into the pipe connection gripper by pushing upward, and the pipe connection gripper clamps the sleeve or connecting pipe.

[0018] By adopting the above technical solution, the storage box in the pipe supply assembly can orderly store multiple sleeves and connecting pipes, arranged from top to bottom according to the order of pipe connection, ensuring convenience and accuracy during retrieval. The lifting drive component precisely feeds the sleeve or connecting pipe into the pipe clamping jaws by pushing upwards. Combined with the downward swinging action of the second telescopic drive component, the pipe clamping jaws can smoothly reach the opening of the storage box and complete the gripping. This solution effectively improves the supply efficiency of sleeves and connecting pipes, reduces manual intervention, and enhances the automation level and operational efficiency of the pipeline maintenance robot.

[0019] Preferably, the supply pipe box is provided with adhesive application components on both sides for applying adhesive to the inner wall of the sleeve; when the connecting pipe assembly grabs the sleeve or connecting pipe from the supply pipe assembly, the connecting pipe clamp clamps the sleeve or connecting pipe, and the adhesive application components extend into the sleeve and apply adhesive.

[0020] By adopting the above technical solution, the adhesive application components are located on both sides of the supply pipe box. When the connecting pipe assembly grips the sleeve or connecting pipe, it extends into the sleeve to apply adhesive to the inner wall of the sleeve. This design ensures that the sleeve is coated with adhesive before being installed onto the outer periphery of the pipe to be connected, thus avoiding additional adhesive application steps and improving maintenance efficiency. Simultaneously, the coordinated use of the adhesive application components and the connecting pipe assembly ensures the uniformity and accuracy of adhesive spraying, enhances the seal between the sleeve and the pipe to be connected, and effectively prevents leakage.

[0021] A method for connecting a pipe burst repair robot, employing a pipe burst repair robot connection device, includes the following steps:

[0022] S1: The two pipe stabilizing assemblies clamp the corresponding pipes to be connected, and the moving carrier adjusts the position of the pipe stabilizing assemblies so that the cut positions of the two pipes to be connected are kept on the same horizontal plane and aligned.

[0023] S2: One of the pipe stabilizing components stabilizes the corresponding pipe to be connected, keeping the pipe straight, while the other pipe stabilizing component bends the corresponding pipe to be connected, providing space for the pipe connecting component to connect.

[0024] S3: The connecting pipe assembly moves the sleeve to the connecting pipe position and makes the sleeve coincide with the axis of the straight pipe to be connected. Then, it moves the sleeve along the axis of the straight pipe to be connected until the sleeve is fitted around the cut of the straight pipe to be connected.

[0025] S4: Complete the sleeve connection step for another pipe to be connected in the same manner as steps S2 and S3;

[0026] S5: Following the method in S2, the connecting pipe assembly inserts the connecting pipe into the sleeve along the axial direction of the straight pipe to be connected;

[0027] S6: The two pipe stabilizing assemblies simultaneously bend the corresponding pipes to be connected, so that one end of the connecting pipe overlaps the other sleeve. Then, the two pipe stabilizing assemblies simultaneously pull the corresponding pipes to be connected back to a straight state to complete the connection between the connecting pipe and the other sleeve.

[0028] By adopting the above technical solution, precise docking of pipelines to be connected can be achieved. Specifically, with the clamping and bending functions of the pipe stabilizing assembly, not only can the cut position of the pipeline to be connected be adjusted to align it, but sufficient operating space can also be provided for the pipe connection assembly, thereby ensuring the installation accuracy of the sleeve and connecting pipe. In addition, the movement of the pipe connection assembly in conjunction with the moving carrier realizes the automated assembly of the sleeve and connecting pipe, effectively improving maintenance efficiency, reducing manual intervention, and is particularly suitable for narrow and complex pipe gallery environments, significantly improving the convenience and reliability of pipeline maintenance.

[0029] In summary, this application includes at least one of the following beneficial technical effects:

[0030] 1. By combining the mobile carrier and the pipe stabilizing assembly, the relative position of the pipe to be connected can be automatically adjusted, reducing manual intervention and improving maintenance efficiency;

[0031] 2. The pipe stabilization component provides space for the pipe connection operation by bending the pipe at the top, which solves the problem of insufficient space for pipe connection in long-distance sewage pipe corridors and ensures a smooth connection process;

[0032] 3. The pipe assembly combines axial drive and telescopic drive components to achieve precise installation of sleeves and connecting pipes, improving the automation level and reliability of pipeline connections. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the connection method of a pipe burst repair robot according to an embodiment of this application.

[0034] Figure 2 This is a schematic diagram of the connection between the pipe connection component and the pipe supply component in the pipe connection device of a pipe burst repair robot according to an embodiment of this application.

[0035] Figure 3 yes Figure 2 Enlarged diagram of point A in the middle.

[0036] Figure 4 This is a schematic diagram showing the positions of the pipe connection component and the pipe stabilization component in the pipe connection device of a pipe burst repair robot according to an embodiment of this application.

[0037] Figure 5 This is a schematic diagram of the state when the first sleeve is inserted into the corresponding pipe to be connected in a pipe burst repair robot connection method according to an embodiment of this application.

[0038] Figure 6 This is a schematic diagram of the state when the second sleeve is inserted into the corresponding pipe to be connected in a pipe burst repair robot connection method according to an embodiment of this application.

[0039] Figure 7 This is a schematic diagram of the state when the connecting pipe is connected to one of the sleeves in the pipe burst repair robot connection method of an embodiment of this application.

[0040] Figure 8 This is a schematic diagram showing the state when the connecting pipe overlaps with another sleeve in a pipe burst repair robot connection method according to an embodiment of this application.

[0041] Explanation of reference numerals in the attached drawings: 1. Pipe to be connected; 2. Sleeve; 3. Connecting pipe; 4. Moving carrier; 41. Tracked base; 42. Robotic arm; 43. Mounting frame; 5. Pipe stabilizing assembly; 51. First telescopic drive component; 52. Pipe stabilizing gripper; 6. Connecting pipe assembly; 61. Second telescopic drive component; 62. Connecting pipe gripper; 63. Axial drive component; 631. Screw drive structure; 632. Sliding seat; 64. Tilting drive component; 7. Glue application assembly; 8. Pipe supply assembly; 9. Locking mechanism. Detailed Implementation

[0042] The following is in conjunction with the appendix Figures 1-2 This application will be described in further detail.

[0043] This application discloses a pipe connection device for a pipe burst repair robot, the connection method of which is as follows: Figure 1 As shown, a sleeve 2 is fitted onto the outer circumference of the pipe cut of each of the two pipes to be connected 1, and the sleeve 2 is connected to the two sleeves 2 through a connecting pipe 3, thereby connecting the two pipes to be connected 1 into a new pipe.

[0044] Reference Figure 2 and Figure 3The pipe-connecting device includes a mobile carrier 4, a pipe supply assembly 8, a pipe-connecting assembly 6, and two pipe-stabilizing assemblies 5. The mobile carrier 4 is used to adjust the positions of the pipe-stabilizing assemblies 5 and the pipe-connecting assembly 6. The two pipe-stabilizing assemblies 5 correspond one-to-one with two pipes 1 to be connected. The pipe-stabilizing assemblies 5 are used to change the straightness and curvature of the corresponding pipes 1 to be connected, thereby changing the relative position of the cuts of the two pipes 1 to be connected. The pipe supply assembly 8 supplies the sleeve 2 and the connecting pipe 3 to the pipe-connecting assembly 6. The pipe-connecting assembly 6 is used to fit the sleeve 2 along the axial direction of the pipe 1 to be connected around the cut of the pipe, and to cooperate with the pipe-stabilizing assembly 5 to connect the connecting pipe 3 between the two sleeves 2. Before connecting the sleeve 2 or the connecting pipe 3 to one of the pipes 1 to be connected, the pipe-stabilizing assembly 5 first bends the other pipe 1 to be connected, providing space for the pipe-connecting operation of the pipe-connecting assembly 6.

[0045] Specifically, the mobile carrier 4 includes a tracked base 41, a robotic arm 42 mounted on the tracked base 41, and a mounting frame 43 located at the movable end of the robotic arm 42. The tracks of the tracked base 41 can be rubber or steel tracks, with the appropriate material selected based on the ground conditions within the pipe gallery. For example, in slippery environments, rubber tracks with anti-slip textures can be selected; in rough environments, steel tracks with better wear resistance can be selected. The robotic arm 42 can be a multi-degree-of-freedom robotic arm with 3 to 6 joints, allowing for flexible posture adjustment to adapt to the needs of different pipe locations. The mounting frame 43 serves as a connecting component, used to stabilize the pipe stabilization assembly 5 and the pipe connection assembly 6. Its shape can be a frame structure or a plate structure, and the material can be aluminum alloy or carbon fiber composite material to reduce weight and increase strength.

[0046] Reference Figure 2 and Figure 4 In this embodiment, two pipe stabilizing assemblies 5 are positioned on either side of the connecting pipe assembly 6. Each pipe stabilizing assembly 5 includes a pipe stabilizing gripper 52 for clamping and fixing the pipe to be connected 1, and a first telescopic drive member 51 for moving the pipe stabilizing gripper 52. The pipe stabilizing gripper 52 can be a pneumatic or hydraulic gripper commonly used in mechanical clamping. Its clamping force can be selected within a suitable range according to the pipe material. For PVC pipes, the clamping force is controlled between 200N and 500N. The first telescopic drive member 51 can be an electric push rod or a hydraulic cylinder. Its stroke is set according to the diameter of the pipe to be connected 1. For a pipe with a diameter of 200mm, the stroke of the first telescopic drive member 51 can be set to 300mm to 500mm to ensure sufficient adjustment of the pipe's bending state.

[0047] The connector assembly 6 includes a connector gripper 62, a second telescopic drive 61, and an axial drive 63. The connector gripper 62 is used to clamp and fix the sleeve 2 or the connecting pipe 3. The connector gripper 62 has the same structure as the pipe stabilizing gripper 52 and can be a pneumatic or hydraulic gripper commonly used in mechanical clamping. The second telescopic drive 61 is used to drive the connector gripper 62 to move. Its structure is the same as the first telescopic drive 51 and can be an electric push rod or a hydraulic cylinder. The stroke is set according to the total moving distance of the sleeve 2 or connecting pipe 3 during installation to ensure that the sleeve 2 and connecting pipe 3 can be effectively connected. In this embodiment, the axial drive 63 is used to drive the second telescopic drive 61 and the connector gripper 62 to move along an axial direction parallel to the pipe 1 to be connected. It can use a screw drive structure 631 or a rack and pinion drive structure to ensure smooth and accurate movement.

[0048] Reference Figure 3 and Figure 4 In this embodiment, the axial drive member 63 includes a sliding seat 632 slidably connected within the mounting bracket 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 1 to be connected in a straight state, ensuring that the connecting pipe assembly 6 can move accurately in the axial direction. The sliding seat 632 is provided with a hinge seat for mounting the fixed end of the second telescopic drive member 61. The rotation axis of the second telescopic drive member 61 is parallel to the moving direction of the sliding seat 632, allowing the second telescopic drive member 61 to swing downwards. The sliding seat 632 is also equipped with a flip drive member 64 for driving the second telescopic drive member 61 to swing. The flip drive member 64 is a motor, allowing both the second telescopic drive member 61 and the connecting pipe gripper 62 to switch between horizontal and vertical directions. For example, when gripping the sleeve 2 or the connecting pipe 3, the second telescopic drive member 61 swings down to the pipe supply assembly 8, and the pipe supply assembly 8 delivers the sleeve 2 or the connecting pipe 3 to the connecting pipe gripper 62.

[0049] The pipe supply assembly 8 includes a storage box with an opening at the top and a lifting drive unit located at the bottom of the storage box. The storage box is mounted on the cantilever frame of the track base 41, and contains several sleeves 2 and connecting pipes 3, which are distributed from top to bottom in the order of pipe connection. To ensure the accuracy of pipe connection, the length of the sleeve 2 is equal to the length of the connecting pipe 3, and both ends of the sleeve 2 and the connecting pipe 3 abut against the inner wall of the storage box. The lifting drive can be an electric push rod or a hydraulic cylinder. Its stroke is set according to the sum of the outer diameters of the multiple sleeves 2 and connecting pipes 3 to ensure that all the required sleeves 2 and connecting pipes 3 can be pushed out of the upper opening of the storage tank. When the connecting pipe assembly 6 grabs the sleeve 2 or connecting pipe 3 from the supply assembly 8, the second telescopic drive 61 swings down, causing the connecting pipe gripper 62 to move to the opening of the storage tank and open. The lifting drive pushes the sleeve 2 or connecting pipe 3 into the connecting pipe gripper 62 by pushing upwards, and the connecting pipe gripper 62 clamps the sleeve 2 or connecting pipe 3.

[0050] The supply pipe box is equipped with adhesive application components 7 on both sides for applying adhesive to the inner wall of the sleeve 2. When the connecting pipe assembly 6 picks up the sleeve 2 or connecting pipe 3 from the supply pipe assembly 8, the connecting pipe clamp 62 clamps the sleeve 2 or connecting pipe 3, and the adhesive application components 7 extend into the sleeve 2 to apply adhesive. The adhesive application components 7 can be pneumatic or electric nozzles working in conjunction with a glue tank containing glue, extending into the sleeve to spray glue via an electric push rod. Alternatively, an adhesive application roller can be immersed in a glue tank containing glue, extending into the sleeve via an electric push rod for rolling adhesive application. The adhesive can be epoxy resin or silicone, the specific choice depending on the pipe material and the usage environment.

[0051] The implementation principle of this embodiment is as follows: the position of the pipe stabilizing assembly 5 and the connecting assembly 6 is adjusted by the moving carrier 4. The pipe stabilizing assembly 5 changes the straightness and curvature of the pipe 1 to be connected, providing sufficient operating space for the connecting assembly 6. The connecting assembly 6, through the coordinated action of the connecting clamp 62, the second telescopic drive 61, and the axial drive 63, accurately installs the sleeve 2 and the connecting pipe 3 into place. At the same time, the cooperation of the pipe supply assembly 8 and the adhesive application assembly 7 ensures the rapid supply and reliable connection of the sleeve 2 and the connecting pipe 3. This design not only improves maintenance efficiency but also reduces manual intervention, making it suitable for long-distance, high-density sewage pipe gallery maintenance scenarios.

[0052] To enhance the adaptability and stability of the pipe stabilizing assembly 5, an optimized design was implemented. Anti-slip pads were added to the clamping surfaces of the pipe stabilizing jaws 52 to prevent pipe slippage during clamping. These anti-slip pads, made of rubber or silicone with textured surfaces, increase friction. This further improves the stability and reliability of the pipe connection device, ensuring efficient pipe connection even under complex operating conditions.

[0053] To improve the stability of the pipe assembly 6 during the pipe connection process, 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 position. The locking mechanism 9 can use two sets of electric push rods in conjunction with a limit seat. Under the push of the electric push rods, the limit seat can move towards the second telescopic drive member 61 to lock the second telescopic drive member 61. The load generated by the pipe connection operation is distributed to the locking mechanism 9 and the sliding seat 632.

[0054] The connection method and steps provided in this embodiment are as follows: Figures 5 to 8 The method of using a pipe fitting device as described in this embodiment includes the following steps:

[0055] S1: The mobile carrier 4 moves to the vicinity of the pipes to be connected 1 and determines the specific positions of the two pipes 1 using a common visual scanning method. Then, the robotic arm 42 is controlled to align the two pipe stabilizing components 5 with their respective pipes 1. The first telescopic drive component 51 extends, and the pipe stabilizing gripper 52 clamps the corresponding pipe 1. The position of the pipe stabilizing components 5 is then adjusted by the robotic arm 42 of the mobile carrier 4 to ensure that the cut positions of the two pipes 1 are on the same horizontal plane and aligned. The horizontality and alignment can be determined using existing image recognition technology. In addition, the horizontality of the pipe 1 can also be referenced by the horizontal plane of the support frame of the pipe 1, and the alignment of the pipe 1 can also be referenced by the calibration line at the front end of the mounting frame 43 of the mobile carrier 4.

[0056] S2: When preparing to connect the sleeve 2, one of the pipe stabilizing components 5 stabilizes the corresponding pipe 1 to be connected, so as to keep the pipe 1 to be connected in a straight state. Then, the first telescopic drive 51 of the other pipe stabilizing component 5 moves forward and bends the corresponding pipe 1 to be connected, so as to provide sufficient space for the pipe connecting component 6 to connect.

[0057] S3: The second telescopic drive member 61 of the connector assembly 6 swings down 90 degrees, causing the connector clamp 62 to move above the opening of the storage tank, and the connector clamp 62 opens. Then, the lifting drive member pushes upward, pushing the sleeve 2 out to the connector clamp 62, and then the connector clamp 62 clamps the sleeve 2. Then, the adhesive application assembly 7 extends into the sleeve 2 to spray adhesive. 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 connector clamp 62 and sleeve 2 are extended forward, moving the sleeve 2 to the connector position and aligning the sleeve 2 with the axis of the straight pipe 1 to be connected. Whether the axis of the sleeve 2 and the pipe 1 to be connected are aligned can be determined by the relative position of the stabilizing clamp 52 and the connector clamp 62.

[0058] Then, the axial drive 63 is activated to move the sleeve 2 axially along the straight pipe 1 to be connected until the sleeve 2 is fitted onto the outer periphery of the cut of the straight pipe 1 to be connected.

[0059] S4: Complete the sleeve 2 connection step of another pipe 1 to be connected in the same manner as steps S2 and S3.

[0060] S5: Following the method in S2, the connecting pipe assembly 6 inserts the connecting pipe 3 into the sleeve 2 along the axial direction of the straight pipe 1 to be connected.

[0061] S6: When connecting the connecting pipe 3 between the two sleeves 2, the two pipe stabilizing components 5 simultaneously bend the corresponding pipe 1 to be connected, so that one end of the connecting pipe 3 overlaps on the other sleeve 2. Then, the two pipe stabilizing components 5 simultaneously pull the corresponding pipe 1 to be connected back to a straight state to complete the connection step between the connecting pipe 3 and the other sleeve 2.

[0062] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A pipe connection device for a pipe burst repair robot, characterized in that: The device includes a mobile carrier (4), a connecting pipe assembly (6), and two pipe stabilizing assemblies (5). The mobile carrier (4) is used to adjust the position of the pipe stabilizing assembly (5) and the connecting pipe assembly (6). The two pipe stabilizing assemblies (5) correspond one-to-one with two pipes (1) to be connected. The pipe stabilizing assembly (5) is used to change the straightness and curvature of the corresponding pipe (1) to change the relative position of the cuts of the two pipes (1). The connecting pipe assembly (6) is used to fit the sleeve (2) along the axial direction of the pipe (1) to the outer periphery of the pipe cut, and to cooperate with the pipe stabilizing assembly (5) to connect the connecting pipe (3) between the two sleeves (2). Before connecting the sleeve (2) or connecting pipe (3) to one of the pipes (1), the pipe stabilizing assembly (5) first bends the other pipe (1) to provide space for the connecting pipe assembly (6) to connect. The pipe stabilizing assembly (5) includes a pipe stabilizing gripper (52) for clamping and fixing the pipe to be connected (1) and a first telescopic drive member (51) for driving the pipe stabilizing gripper (52) to move. The pipe assembly (6) includes a pipe clamp (62), a second telescopic drive (61), and an axial drive (63). The pipe clamp (62) is used to clamp the fixed sleeve (2) or the connecting pipe (3). The second telescopic drive (61) is used to drive the pipe clamp (62) to move. The axial drive (63) is used to drive the second telescopic drive (61) and the pipe clamp (62) to move together along an axial direction parallel to the pipe to be connected (1). The mobile carrier (4) includes a track base (41), a robotic arm (42) disposed above the track base (41), and a mounting frame (43) disposed at the movable end of the robotic arm (42). The first telescopic drive member (51) and the second telescopic drive member (61) are parallel to each other and are both disposed at the mounting frame (43). The axial drive member (63) includes a sliding seat (632) slidably connected in the mounting bracket (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 (1) to be connected in a straight state. The track base (41) is provided with a pipe supply assembly (8) for providing the sleeve (2) and the connecting pipe (3). The second telescopic drive member (61) is rotatably connected to the sliding seat (632), and the rotation axis of the second telescopic drive member (61) is parallel to the moving direction of the sliding seat (632). The sliding seat (632) is provided with a flipping drive member (64) for driving the second telescopic drive member (61) to swing. When the sleeve (2) or the connecting pipe (3) is connected, the second telescopic drive member (61) swings down to the pipe supply assembly (8). The pipe supply assembly (8) is a pipe clamp (62) for conveying the sleeve (2) or the connecting pipe (3).

2. The pipe connection device for the pipe burst repair robot according to claim 1, characterized in that: The supply pipe assembly (8) includes a storage box with an opening at the top and a lifting drive at the bottom of the storage box. Several 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 connecting pipe (3) from the supply pipe assembly (8), the second telescopic drive (61) swings down to move the pipe connection clamp (62) to the opening of the storage box and open it. The lifting drive pushes the sleeve (2) or connecting pipe (3) into the pipe connection clamp (62) by pushing upward. The pipe connection clamp (62) clamps the sleeve (2) or connecting pipe (3).

3. The pipe connection device for the pipe burst repair robot according to claim 2, characterized in that: The storage tank is provided with glue application components (7) on both sides for applying glue to the inner wall of the sleeve (2); when the connecting pipe assembly (6) grabs the sleeve (2) or connecting pipe (3) from the supply pipe assembly (8), the connecting pipe clamp (62) clamps the sleeve (2) or connecting pipe (3), and the glue application component (7) extends into the sleeve (2) and applies glue.

4. A method for connecting a pipe burst repair robot, employing the connecting device for the pipe burst repair robot as described in claim 1, characterized in that, Includes the following steps: S1: The two pipe stabilizing components (5) clamp the corresponding pipes to be connected (1) respectively. The moving carrier (4) adjusts the position of the pipe stabilizing components (5) so that the cut positions of the two pipes to be connected (1) are kept on the same horizontal plane and aligned. S2: One of the pipe stabilizing components (5) stabilizes the corresponding pipe to be connected (1) to keep the pipe to be connected (1) straight, while the other pipe stabilizing component (5) bends the corresponding pipe to be connected (1) to provide space for the pipe connecting component (6) to connect. S3: The connecting pipe assembly (6) moves the sleeve (2) to the connecting pipe position and makes the sleeve (2) coincide with the axis of the straight pipe (1) to be connected. Then, the sleeve (2) is moved along the axis of the straight pipe (1) to be connected until the sleeve (2) is fitted around the cut of the straight pipe (1). S4: Complete the sleeve (2) connection step of another pipe (1) to be connected in the manner of steps S2 and S3; S5: Following 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 pipe (1); S6: 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 with another sleeve (2). 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 between the connecting pipe (3) and the other sleeve (2).

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