Notch polishing device of pipeline explosion maintenance robot

Abstract

The invention discloses a notch grinding device of a pipeline explosion maintenance robot. The notch grinding device comprises a moving carrier, a pipe stabilizing assembly, a circular knife assembly and a grinding cylinder assembly. The moving carrier is used for adjusting the position, the circular knife assembly achieves pipeline cutting and notch grinding through the radial driving part and the axial driving part, the grinding cylinder assembly completes precise grinding through an elastic layer and a grinding sand layer, and meanwhile the hot air cleaning and drying functions are achieved. The technical effects of efficiently finishing pipeline notch polishing, ensuring the notch quality, improving the maintenance efficiency and reducing water residues are achieved.

Description

Technical Field

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

[0002] Pipeline maintenance technology plays an important role in modern urban infrastructure construction, especially in the maintenance of long-distance sewage pipe galleries. With the acceleration of urbanization, the underground pipe network system is becoming increasingly complex, and the long-term stable operation of pipelines is of great significance for ensuring the quality of life of urban residents and environmental protection. However, due to the large number and dense arrangement of pipelines, traditional manual inspection methods are difficult to meet the actual needs. Therefore, using robots for pipeline maintenance has become an efficient and feasible option.

[0003] In the prior art, since sewage pipe galleries are usually relatively long and are formed by connecting multiple pipes end to end through connectors, during long-term operation, leakage may occur at the connection position between two pipes. To solve the problem of pipeline leakage, various means are usually adopted for maintenance. For example, the damaged pipeline is cut off by a robotic arm cooperating with a cutting tool, and then the pipeline is reconnected using glue or a seal. In addition, a special grinding device is used to process the pipeline notch to ensure the flatness of the connection. At the same time, there are also solutions to use a cleaning device to remove dirt and dust on the notch surface to improve the bonding effect. These methods mainly rely on single-function devices, such as a cutting machine, a grinding machine, or a cleaning device, to complete the operations of different processes respectively.

[0004] However, the above methods have a common defect: they cannot simultaneously achieve the functions of grinding and cleaning and drying the pipeline notch in the same mechanism. This results in the need to switch devices multiple times during actual operation, which not only increases the maintenance time but also may affect the bonding performance of the glue due to the residual dust and sewage, thereby reducing the sealing performance of the pipeline connection. Therefore, there is an urgent need for a device that can synchronously complete the grinding and cleaning and drying of the pipeline notch to improve the maintenance efficiency and ensure the connection quality. Summary of the Invention

[0005] In order to improve the maintenance efficiency and ensure the connection quality, this application provides a notch grinding device for a pipeline burst repair robot.

[0006] The notch grinding device for a pipeline burst repair robot provided by this application adopts the following technical solution: A cutting and grinding device for a pipeline burst repair robot, comprising a moving carrier, a pipe stabilizing assembly for stabilizing the pipeline, and two symmetrically distributed circular knife assemblies for radially cutting the pipeline. The moving carrier is used to adjust the positions of the pipe stabilizing assembly and the circular knife assemblies. On the side where the two circular knife assemblies face away from each other, there is a grinding cylinder assembly for grinding the outer periphery of the pipeline incision. The grinding cylinder assembly is coaxially and fixedly connected to the circular knife assemblies; The moving carrier is provided with a radial driving member. When cutting the pipeline, the two circular knife assemblies move along the radial direction of the pipeline under the drive of the radial driving member and cut off the leaking section of the pipeline to form two pipeline incisions at the pipeline; An axial driving member is arranged between the two circular knife assemblies for adjusting the axial distance between the two circular knife assemblies, so that the two circular knife assemblies and the grinding cylinder assembly can extend into the gap between the two incisions. When performing incision grinding, the axial driving member drives the two circular knife assemblies to move along the axial direction of the pipeline until the grinding cylinder assembly is sleeved on the outer periphery of the adjacent pipeline incision. The grinding cylinder assembly rotates circumferentially under the drive of the circular knife assembly and completes the grinding action of the pipeline incision.

[0007] By adopting the above technical scheme, the moving carrier can move the pipe stabilizing assembly and the circular knife assemblies to the leaking section of the pipeline. The moving carrier cooperates with the pipe stabilizing assembly to ensure the stability of the pipeline during the cutting process, effectively avoiding the problem of uneven incisions caused by pipeline shaking. The two symmetrically distributed circular knife assemblies complete the excision of the leaking section of the pipeline under the action of the radial driving member, and the two formed pipeline incisions facilitate subsequent operations. The setting of the axial driving member enables the circular knife assemblies and the grinding cylinder assembly to flexibly adjust their positions. By reducing the distance between the two circular knife assemblies, it meets the requirement that the circular knife assemblies and the grinding cylinder assembly can enter the gap between the two incisions, so that the grinding cylinder assembly can be accurately sleeved on the outer periphery of the pipeline incision. Here, the circular knife assembly is used to drive the grinding cylinder assembly to rotate, thereby realizing the comprehensive grinding of the outer periphery of the pipeline incision, effectively removing the burrs and micro deformations at the incision, improving the tight connection between the pipe cutting action and the grinding action, improving the repair efficiency, and providing a good foundation for the subsequent re-sealing connection of the pipeline.

[0008] Preferably, the grinding cylinder assembly includes a sleeve for sleeving on the outer periphery of the pipeline incision and an abrasive layer arranged inside the sleeve. When the sleeve is sleeved on the outer periphery of the pipeline incision, the abrasive layer abuts against the outer periphery of the pipeline incision.

[0009] By adopting the above technical scheme, the sleeve is sleeved on the outer periphery of the pipeline incision, and the abrasive layer abuts against the outer periphery of the pipeline incision, which can effectively grind the outer periphery of the pipeline incision, remove the burrs and micro deformations at the incision, and thus improve the flatness of the pipeline incision. This helps the subsequent uniform application of glue and the smooth insertion of the joint, reduces the problem of poor sealing caused by uneven incisions, and further improves the sealing performance after the pipeline is reconnected.

[0010] Preferably, an elastic layer is provided between the sleeve and the abrasive layer. When the sleeve is sleeved on the outer periphery of the pipe cut, the abrasive layer is pressed against the outer periphery of the pipe cut under the elastic force of the elastic layer.

[0011] By adopting the above technical solution, the elastic layer enables the abrasive layer to fit more closely to the outer periphery of the pipe cut, effectively reducing the problem of insufficient grinding caused by the uneven pipe surface during the grinding process and improving the grinding quality. At the same time, the elastic force of the elastic layer can automatically adapt to the small deformation of the pipe cut, ensuring uniform contact between the abrasive layer and the pipe cut, further enhancing the grinding effect, ensuring the smoothness and flatness of the pipe cut, and thus providing a good foundation for the subsequent re-sealing connection of the pipe.

[0012] Preferably, a positioning seat is provided at the pushing position of the radial driving member. The two ends of the positioning seat extend along the axial direction parallel to the pipe. The circular knife assembly includes a sliding seat slidably connected to the end of the positioning seat, a circular knife blade rotatably connected to the sliding seat, and a cutting motor provided at the sliding seat. The output shaft of the cutting motor is coaxially and fixedly connected to the circular knife blade and the grinding cylinder assembly.

[0013] By adopting the above technical solution, the positioning seat provides a stable installation foundation for the circular knife assembly, ensuring that it maintains an accurate movement trajectory during the radial driving process. The sliding connection design between the sliding seat and the end of the positioning seat enables the circular knife assembly to move smoothly along the radial direction of the pipe, thereby accurately cutting off the leaking section of the pipe and forming a cut. The coaxial and fixed connection of the cutting motor with the circular knife blade and the grinding cylinder assembly realizes the integrated driving of the cutting and grinding actions, not only ensuring the precise processing of the pipe cut but also improving the working efficiency of the device. In addition, this design effectively avoids the generation of burrs or micro-deformations at the cut, providing a good foundation for the subsequent re-sealing connection of the pipe.

[0014] Preferably, the axial driving member includes a bidirectional screw rotatably connected to the inside of the positioning seat, two sliding blocks slidably connected to the inside of the positioning seat, and an axial motor provided at the inside of the positioning seat. The bidirectional screw is parallel to the axis of the pipe. The two ends of the bidirectional screw respectively thread through the two sliding blocks. An installation frame is provided between the cutting motor and the sliding block. A linkage member is provided between the output shaft of the axial motor and the bidirectional screw.

[0015] By adopting the above technical solutions, the precise axial adjustment of the circular knife assembly in the pipeline cutting and grinding device is achieved. Specifically, the cooperation between the bidirectional screw and the sliding block can accurately control the axial distance between the two circular knife assemblies, ensuring that the circular knife assembly and the grinding cylinder assembly accurately extend into the gap between the two cuttings. At the same time, the axial motor drives the bidirectional screw to rotate through the linkage, further improving the automation degree and stability of the adjustment process. This design makes the grinding action of the pipeline cutting more efficient and reliable, effectively avoiding the risk of insufficient grinding or damage to the pipeline caused by position deviation.

[0016] Preferably, the pipeline stabilizing assembly includes clamping jaws for clamping and fixing the pipeline and a telescopic driving member for driving the clamping jaws to move up and down. When cutting the pipeline, the telescopic driving member extends and drives the clamping jaws to move to one side of the pipeline, and the clamping jaws clamp and fix the pipeline.

[0017] By adopting the above technical solutions, the cooperation between the clamping jaws and the telescopic driving member can ensure the stable clamping of the pipeline during the pipeline cutting process. That is, after the telescopic driving member drives the clamping jaws to move to one side of the pipeline, the clamping jaws can effectively fix the pipeline, preventing the pipeline from shaking or displacing during the cutting process, thereby improving the cutting accuracy; in addition, the design of the clamping jaws can adapt to pipelines with different diameters, enhancing the versatility of the device.

[0018] Preferably, after the cutting and grinding of the cutting is completed, the mobile carrier drives the pipeline stabilizing assembly to move downwards to force the position of the pipeline cutting to incline downwards, so that the residual water in the pipeline pours out from the cutting.

[0019] By adopting the above technical solutions, the mobile carrier drives the pipeline stabilizing assembly to move downwards to force the position of the pipeline cutting to incline downwards, so that the residual water in the pipeline can pour out from the cutting. It can effectively drain the residual water at the pipeline cutting, avoiding the influence of water on the subsequent glue bonding operation, thereby improving the reliability of the re-sealing connection of the pipeline.

[0020] Preferably, the mobile carrier is provided with a hot air blower, the air outlet of the hot air blower is communicated with a plurality of hoses, and the air outlets of the plurality of hoses are connected to the clamping jaws and are arranged towards the outer periphery of the pipeline cutting; after the cutting and grinding of the cutting is completed, the hot air generated by the hot air blower is output to the outer periphery of the pipeline cutting through the hoses to clean and dry the outer periphery of the pipeline cutting.

[0021] By adopting the above technical solutions, the cooperation between the hot air blower and the hose can effectively remove the dust and sewage residues on the outer periphery of the pipe incision after the incision grinding is completed, and at the same time, dry the outer periphery of the pipe incision through hot air to ensure that the pipe incision is kept clean and dry. This helps to improve the quality of subsequent glue bonding, avoid affecting the effect of the pipe re-sealing connection due to dirt or moisture, and thus enhance the overall reliability of the pipe repair. Among them, the hot air generated by the hot air blower is accurately output to the outer periphery of the pipe incision through the hose, realizing the functions of local high-efficiency cleaning and drying.

[0022] In summary, the present application includes at least one of the following beneficial technical effects: 1. Through the coordinated cooperation of the circular knife assembly and the grinding cylinder assembly, while cutting off the leaking section of the pipe, the outer periphery of the pipe incision can be ground to ensure the flatness of the incision, thus providing a good foundation for the subsequent re-sealing connection of the pipe; 2. By using the mobile carrier to adjust the positions of the pipe stabilizing assembly and the circular knife assembly, and combining the precise control of the radial driving member and the axial driving member, the device can flexibly adapt to different pipe diameters and incision positions, improving the accuracy and efficiency of the repair operation; 3. During the incision grinding process, the abrasive layer in the grinding cylinder assembly closely adheres to the outer periphery of the pipe incision through the action of the elastic layer, effectively removing burrs and micro-deformations, and at the same time avoiding dust residues, which helps to keep the incision surface clean and dry and enhance the glue bonding performance; 4. After the incision grinding is completed, the hot air generated by the hot air blower is blown on the outer periphery of the pipe incision to quickly remove the residual moisture and dust, further ensuring the cleanliness and dryness of the incision surface, and significantly improving the glue bonding effect and the sealing performance of the pipe connection. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 is the overall structural schematic diagram of the incision grinding device of a pipe burst repair robot according to an embodiment of the present application.

[0024] Figure 2 is the structural sectional view when grinding the incision in the incision grinding device of a pipe burst repair robot according to an embodiment of the present application.

[0025] Figure 3 is Figure 2 the enlarged schematic view of part A in

[0026] Figure 4 is the structural schematic diagram of the pipe stabilizing device in the incision grinding device of a pipe burst repair robot according to an embodiment of the present application Explanation of the reference numerals: 1. Mobile carrier; 11. Frame; 12. Hot air blower; 13. Hose; 2. Circular knife assembly; 21. Circular blade; 22. Cutting motor; 23. Sliding seat; 3. Grinding cylinder assembly; 31. Sleeve; 32. Elastic layer; 33. Frosting layer; 4. Pipe stabilizing assembly; 41. Clamp; 42. Telescopic drive member; 5. Pipeline; 6. Radial drive member; 7. Axial drive member; 71. Sliding block; 72. Bidirectional screw; 73. Axial motor; 74. Linkage member; 8. Positioning seat; 9. Mounting frame. DETAILED DESCRIPTION

[0027] The following is combined with Figures 1-4 This application is described in further detail.

[0028] The present application embodiment discloses a cutting grinding device of a pipeline burst repair robot, referring to Figure 1 , including a mobile carrier 1, a pipe stabilizing assembly 4 and two symmetrically distributed circular knife assemblies 2 for radially cutting a pipe 5, wherein the mobile carrier 1 adopts a movable crawler seat in conjunction with a manipulator to achieve the purpose of adjusting the position of the pipe stabilizing assembly 4 and the circular knife assembly 2, so as to repair the pipes 5 at different heights and depths. The pipe stabilizing device and the circular knife assembly 2 are both installed at the frame 11 at the end of the manipulator to improve the working stability of the pipe stabilizing device and the circular knife assembly 2.

[0029] Reference Figures 1 to 3 In this embodiment, the mobile carrier 1 is equipped with a radial driving member 6. When cutting the pipeline 5, the two circular knife assemblies 2 are driven by the radial driving member 6 to move along the radial direction of the pipeline 5 and cut off the leaking section of the pipeline 5 to form two pipeline 5 cuts at the pipeline 5. Specifically, the radial driving member 6 adopts an electric push rod or a cylinder installed at the frame 11, and realizes the horizontal driving function of the circular knife assembly 2 by extending in the radial direction of the pipeline 5. The two circular knife assemblies 2 are both equipped with a grinding cylinder assembly 3 on the side away from each other. The grinding cylinder assembly 3 is used to grind the outer periphery of the pipeline 5 cut, wherein the output shaft of the cutting motor 22 is coaxially fixedly connected with the circular blade 21 and the grinding cylinder assembly 3. An axial driving member 7 is installed between the two circular knife assemblies 2, which is used to adjust the axial spacing between the two circular knife assemblies 2 so that the two circular knife assemblies 2 and the grinding cylinder assembly 3 extend into the gap between the two cuts. When grinding the cut, the axial drive member 7 drives the two circular knife assemblies 2 to move along the axial direction of the pipe 5 until the grinding cylinder assembly 3 is sleeved on the outer periphery of the cut of the adjacent pipe 5. The grinding cylinder assembly 3 rotates circumferentially under the drive of the circular knife assembly 2 and completes the grinding of the cut of the pipe 5. The integrated drive of the cutting and grinding actions is realized, which not only ensures the precise processing of the cut of the pipe 5, but also improves the working efficiency of the device, can effectively avoid the generation of burrs or micro-deformation at the cut, and provides a good foundation for the subsequent re-sealing connection of the pipe 5.

[0030] Specifically, a positioning seat 8 is installed at the telescopic end of the radial driving member 6, and both ends of the positioning seat 8 extend in parallel to the axial direction of the pipe 5. The circular knife assembly 2 includes a sliding seat 23 slidably connected to the end of the positioning seat 8, a circular blade 21 rotatably connected to the end of the sliding seat 23, and a cutting motor 22 installed at the sliding seat 23. The grinding cylinder assembly 3 is located on the side of the circular blade 21 away from the sliding seat 23. The circular blade 21 and the grinding cylinder assembly 3 can be driven by the cutting motor 22 to achieve the purpose of synchronous rotation. It should be emphasized that the diameter of the circular blade 21 is much larger than the diameter of the pipe 5, that is, to ensure that when the circular blade 21 cuts off the pipe 5, the grinding cylinder assembly 3 at the axial position of the circular blade 21 will not collide with the pipe 5, and the integrated drive of the cutting and grinding actions is achieved on the basis of safety.

[0031] Specifically, the sliding seat 23 is made of cast iron material, which has good wear resistance and rigidity. A ball guide is arranged at the bottom thereof to reduce friction and improve the smoothness of sliding. The circular blade 21 is made of high-speed steel, which has high hardness and wear resistance. Its edge is specially heat-treated to form a sharp cutting edge. The cutting motor 22 is a servo motor, which has the characteristics of high precision and high speed. Its output shaft is coaxially fixedly connected with the circular blade 21 and the grinding cylinder assembly 3. The sliding seat 23 is slidably connected with the end of the positioning seat 8 through a dovetail groove. This connection method can ensure that the sliding seat 23 moves stably along a predetermined trajectory.

[0032] In this embodiment, the grinding cylinder assembly 3 includes a sleeve 31 and a frosted layer 33. The sleeve 31 is made of stainless steel material with excellent corrosion resistance, and its inner surface is evenly coated with an anti-rust coating to extend the service life. The frosted layer 33 is composed of diamond grains embedded in a resin matrix, has good grinding performance, and can effectively remove burrs and micro-deformations on the surface of the incision of the pipeline 5. The frosted layer 33 is located in the sleeve 31, and an elastic layer 32 is arranged between the sleeve 31 and the frosted layer 33. The elastic layer 32 can be made of silicone or polyurethane foam material, and has certain compressibility and resilience. When the sleeve 31 is sleeved on the outer periphery of the incision of the pipeline 5, the frosted layer 33 is pressed against the outer periphery of the incision of the pipeline 5 under the elastic force of the elastic layer 32, thereby achieving accurate grinding of the incision of the pipeline 5. It should be emphasized that a 45° chamfer is provided at the junction between the inner peripheral wall and the inner bottom wall of the sleeve, and the elastic layer 32 and the frosted layer 33 cover the chamfer to facilitate grinding a groove at the cut of the pipe 5 and facilitate subsequent pipe docking operations.

[0033] Reference Figure 3 and Figure 4, in this embodiment, two sets of pipe stabilizing components 4 are provided, symmetrically on both sides of the radial driving component 6 to improve the stability of the pipe 5. Specifically, the pipe stabilizing component 4 includes a clamping jaw 41 and a telescopic driving component 42. The clamping jaw 41 is made of aluminum alloy material and is an electric clamping jaw 41. The clamping function is realized by an electric push rod. It has the characteristics of being lightweight and having high strength. A rubber cushion layer is provided on the inner surface of the clamping jaw 41 to prevent damage to the surface of the pipe 5 during the clamping process. The telescopic driving component 42 can be a cylinder or an electric push rod, and the specific selection depends on the actual working conditions. When cutting the pipe 5, the telescopic driving component 42 extends and drives the clamping jaw 41 to move to one side of the pipe 5, and the clamping jaw 41 clamps and fixes the pipe 5 to ensure the stability of the pipe 5 during the cutting process.

[0034] The implementation principle of this embodiment is as follows: The pipe 5 is fixed by the pipe stabilizing component 4. The circular knife component 2 moves radially along the pipe 5 under the action of the radial driving component 6 and cuts off the leakage section, forming two pipe cuts of the pipe 5. Subsequently, the axial driving component 7 adjusts the axial distance between the two circular knife components 2 so that the grinding cylinder component 3 extends into the gap between the two cuts. Until the axis of the sleeve 31 of the grinding cylinder component 3 coincides with the axis of the pipe 5, and then the cut grinding work is carried out. In this embodiment, the axis of the grinding cylinder component 3, the axis of the circular blade 21, and the axis of the pipe 5 clamped by the clamping jaw 41 are located in the same horizontal plane, so that the alignment of the sleeve 31 of the grinding cylinder component 3 with the pipe 5 can be precisely controlled by programming the elongation distance of the telescopic driving component 42 and the radial driving component 6. In addition, the most commonly used infrared sensor can also be used for precise positioning so that the circular grinding cylinder component 3 can be accurately sleeved on the outer periphery of the pipe cut of the pipe 5.

[0035] During the cut grinding process, the circular knife component 2 drives the grinding cylinder component 3 to rotate circumferentially. The abrasive layer 33 is in close contact with the outer periphery of the pipe cut of the pipe 5 with the assistance of the elastic layer 32, and the grinding action is efficiently completed. This solution not only improves the maintenance efficiency but also effectively avoids the influence of dust and sewage residues on the adhesive performance of the glue, significantly improving the sealing performance of the connection of the pipe 5.

[0036] In other embodiments, the axial driving component 7 includes a bidirectional screw 72 rotatably connected inside the positioning seat 8, two sliding blocks 71 slidably connected inside the positioning seat 8, and an axial motor 73 provided inside the positioning seat 8. The bidirectional screw 72 is parallel to the axis of the pipe 5. The two ends of the bidirectional screw 72 respectively thread through the two sliding blocks 71. An installation frame 9 is installed between the circular knife component 2 and the sliding block 71, and the end of the bidirectional screw 72 penetrates into the installation frame 9. A linkage member 74 is provided between the output shaft of the axial motor 73 and the bidirectional screw 72, and the linkage member 74 can adopt the commonly used gear set meshing transmission in the mechanical field. It should be noted that since the bidirectional screw 72 and the output shaft of the cutting motor 22 are located on the same straight line, sufficient space needs to be reserved at the installation frame 9 to meet the stroke requirements of the bidirectional screw 72.

[0037] Specifically, the bidirectional screw 72 is made of stainless steel material and its surface is chrome-plated, having excellent wear resistance and corrosion resistance. The sliding block 71 is made of engineering plastic material and has self-lubricating performance. A ball bearing is arranged inside it to reduce the friction force with the bidirectional screw 72. The axial motor 73 is a stepper motor, having the characteristics of high precision and high torque. Its output shaft is connected to the bidirectional screw 72 through a coupling, and the coupling can be an elastic coupling or a diaphragm coupling to absorb vibration and improve the transmission stability.

[0038] The implementation principle of the axial driving member 7 in this embodiment is as follows: When performing notch grinding, the axial motor 73 drives the bidirectional screw 72 to rotate, and through screw drive, the two sliding blocks 71 are driven to move towards or away from each other along the guide grooves inside the positioning seat 8, so as to adjust the axial distance between the two circular knife assemblies 2. This design not only improves the flexibility of the equipment, but also ensures the accuracy and stability of the notch grinding process, further improving the maintenance efficiency and quality.

[0039] In this embodiment, after the notch grinding is completed, the moving carrier 1 drives the pipe stabilizing assembly 4 to move downward to force the notch position of the pipe 5 to incline downward, so that the residual water in the pipe 5 pours out from the notch. In addition, a hot air blower 12 is also installed on the moving carrier 1. The air outlet of the hot air blower 12 is communicated with a plurality of hoses 13, and the air outlet of the hose 13 is connected to the clamping jaw 41 and is arranged towards the outer periphery of the notch of the pipe 5. After the notch grinding is completed, the hot air generated by the hot air blower 12 is output to the outer periphery of the notch of the pipe 5 through the hose 13 to clean and dry the outer periphery of the notch of the pipe 5.

[0040] Specifically, the hot air blower 12 adopts a combination form of a small blower and a heating element, having the advantages of small volume and light weight. The heating element can be a ceramic heating sheet or a PTC heater, having the characteristics of fast heating and low energy consumption. The hose 13 is made of high-temperature resistant silica gel material, having good flexibility and not easy to age. A spiral reinforcing rib is arranged inside it to prevent deformation due to excessive hot air pressure. The hose 13 is connected to the clamping jaw 41 through a clamp, which is convenient to install and has good sealing performance. In actual operation, after the hot air blower 12 is started, the hot air is evenly blown to the outer periphery of the notch of the pipe 5 through the hose 13, which can not only quickly remove the surface moisture, but also further clean the residual dust and dirt, ensuring that the notch of the pipe 5 is in a clean and dry state.

[0041] The implementation principle of the hot air blower 12 cooperating with the pipe stabilizing device is as follows: through the downward movement of the pipe stabilizing component 4, the cutting position of the pipe 5 is forced to incline downward, so as to drain the residual water in the pipe 5 by gravity. At the same time, the hot air generated by the hot air blower 12 is blown to the outer periphery of the pipe 5 cutting through the hose 13 to realize the cleaning and drying treatment of the cutting. This solution not only solves the problem that the glue bonding performance is affected by sewage residue in the traditional method, but also significantly improves the reliability of the connection of the pipe 5 and further improves the maintenance quality.

[0042] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereby. Therefore, all equivalent changes made according to the structure, shape and principle of the present application shall be covered within the protection scope of the present application.

Claims

1. A cutting and grinding device for a pipeline burst repair robot, characterized in that: It includes a mobile carrier (1), a pipe stabilizing component (4) for stabilizing a pipe (5), and two circular knife components (2) that are symmetrically distributed and used for radially cutting the pipe (5). The mobile carrier (1) is used to adjust the positions of the pipe stabilizing component (4) and the circular knife components (2). On the sides of the two circular knife components (2) facing away from each other, there is a grinding cylinder component (3) for grinding the outer periphery of the pipe (5) incision. The grinding cylinder component (3) is coaxially and fixedly connected to the circular knife component (2). The mobile carrier (1) is provided with a radial driving member (6). When cutting the pipe (5), the two circular knife components (2) move along the radial direction of the pipe (5) under the drive of the radial driving member (6) and cut off the leaking section of the pipe (5) to form two pipe (5) incisions at the pipe (5). An axial driving member (7) is arranged between the two circular knife components (2) for adjusting the axial distance between the two circular knife components (2) so that the two circular knife components (2) and the grinding cylinder component (3) can extend into the gap between the two incisions. When performing incision grinding, the axial driving member (7) drives the two circular knife components (2) to move along the axial direction of the pipe (5) until the grinding cylinder component (3) is sleeved on the outer periphery of the adjacent pipe (5) incision. The grinding cylinder component (3) rotates circumferentially under the drive of the circular knife component (2) and completes the grinding action of the pipe (5) incision.

2. The incision grinding device of the pipeline burst repair robot according to claim 1, characterized in that: The grinding cylinder component (3) includes a sleeve (31) for sleeving on the outer periphery of the pipe (5) incision and an abrasive layer (33) arranged inside the sleeve (31). When the sleeve (31) is sleeved on the outer periphery of the pipe (5) incision, the abrasive layer (33) abuts against the outer periphery of the pipe (5) incision.

3. The incision grinding device of the pipeline burst repair robot according to claim 2, characterized in that: An elastic layer (32) is arranged between the sleeve (31) and the abrasive layer (33). When the sleeve (31) is sleeved on the outer periphery of the pipe (5) incision, the abrasive layer (33) is pressed tightly against the outer periphery of the pipe (5) incision under the elastic force of the elastic layer (32).

4. The incision grinding device of the pipeline burst repair robot according to claim 1, characterized in that: A positioning seat (8) is arranged at the pushing position of the radial driving member (6). The two ends of the positioning seat (8) extend along the direction parallel to the axis of the pipe (5). The circular knife component (2) includes a sliding seat (23) slidably connected to the end of the positioning seat (8), a circular knife blade (21) rotatably connected to the sliding seat (23), and a cutting motor (22) arranged at the sliding seat (23). The output shaft of the cutting motor (22) is coaxially and fixedly connected to the circular knife blade (21) and the grinding cylinder component (3).

5. The incision grinding device of the pipeline burst repair robot according to claim 1, characterized in that: The axial driving member (7) includes a bidirectional screw rod (72) rotatably connected inside the positioning seat (8), two sliding blocks (71) slidably connected inside the positioning seat (8), and an axial motor (73) arranged inside the positioning seat (8). The bidirectional screw rod (72) is parallel to the axis of the pipeline (5). Both ends of the bidirectional screw rod (72) threadedly penetrate through the two sliding blocks (71). An installation frame (9) is arranged between the circular knife assembly (2) and the sliding block (71). A linkage member (74) is arranged between the output shaft of the axial motor (73) and the bidirectional screw rod (72).

6. The incision grinding device of the pipeline burst repair robot according to claim 1, characterized in that: The pipe stabilizing assembly (4) includes a clamp jaw (41) for clamping and fixing the pipeline (5) and a telescopic driving member (42) for driving the clamp jaw (41) to move. When cutting the pipeline (5), the telescopic driving member (42) extends and drives the clamp jaw (41) to move to one side of the pipeline (5), and the clamp jaw (41) clamps and fixes the pipeline (5).

7. The incision grinding device of the pipeline burst repair robot according to claim 1, characterized in that: After the notch grinding is completed, the mobile carrier (1) drives the pipe stabilizing assembly (4) to move downward to force the notch position of the pipeline (5) to incline downward, so that the residual water in the pipeline (5) pours out from the notch.

8. The incision grinding device of the pipeline burst repair robot according to claim 7, characterized in that: The mobile carrier (1) is provided with a hot air blower (12). The air outlet of the hot air blower (12) is communicated with a plurality of flexible hoses (13). The air outlets of the plurality of flexible hoses (13) are connected to the clamp jaw (41) and are arranged towards the outer periphery of the notch of the pipeline (5). After the notch grinding is completed, the hot air generated by the hot air blower (12) is output to the outer periphery position of the notch of the pipeline (5) through the flexible hoses (13) to clean and dry the outer periphery of the notch of the pipeline (5).

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