Cutting and grinding device for pipe burst repair robot

Abstract

This application discloses a cutting and grinding device for a pipe burst repair robot, including a moving carrier, a pipe stabilizing assembly, a circular blade assembly, and a grinding cylinder assembly. The moving carrier is used for position adjustment, the circular blade assembly achieves pipe cutting and grinding through radial and axial drive components, and the grinding cylinder assembly performs precise grinding through an elastic layer and an abrasive layer, while also being equipped with a hot air cleaning and drying function. This application achieves the technical effects of efficiently completing pipe cutting and grinding, ensuring cut quality, improving repair efficiency, and reducing water residue.

Description

Technical Field

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

[0002] Pipeline maintenance technology plays a vital role in modern urban infrastructure construction, especially in the maintenance of long-distance sewage pipe corridors. With the acceleration of urbanization, underground pipe networks are becoming increasingly complex, and the long-term stable operation of these pipelines is crucial for ensuring the quality of life for urban residents and protecting the environment. However, due to the sheer number and dense arrangement of pipelines, traditional manual maintenance methods are insufficient to meet practical needs. Therefore, utilizing robots for pipeline maintenance has become an efficient and feasible option.

[0003] In existing technologies, sewage pipe corridors are typically quite long, formed by connecting multiple pipes end-to-end using connectors. Over long-term operation, leaks may occur at the joints between pipes. To address this leakage problem, various repair methods are commonly employed. For example, a robotic arm combined with cutting tools can be used to cut away damaged pipes, which are then reconnected using adhesives or sealants. Additionally, specialized grinding equipment can be used to treat the pipe cuts to ensure a smooth joint. Furthermore, some solutions propose using cleaning devices to remove dirt and dust from the cut surfaces to improve adhesion. These methods primarily rely on single-function equipment, such as cutting machines, grinding machines, or cleaning devices, each performing different steps.

[0004] However, the above methods share a common drawback: they cannot simultaneously perform the grinding and cleaning / drying of pipe cuts within the same facility. This necessitates multiple equipment switches during actual operation, increasing maintenance time and potentially affecting the adhesive's bonding performance due to dust and wastewater residue, thereby reducing the sealing of the pipe connection. Therefore, there is an urgent need for a device capable of simultaneously grinding and cleaning / drying pipe cuts to improve maintenance efficiency and ensure connection quality. Summary of the Invention

[0005] To improve maintenance efficiency and ensure connection quality, this application provides a cutting and grinding device for a pipe burst repair robot.

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

[0007] A cutting and grinding device for a pipe burst repair robot includes a moving carrier, a pipe stabilizing assembly for stabilizing the pipe, and two symmetrically distributed circular blade assemblies for radially cutting the pipe. The moving carrier is used to adjust the position of the pipe stabilizing assembly and the circular blade assemblies. A grinding cylinder assembly is provided on one side of the two circular blade assemblies that are opposite to each other for grinding the outer periphery of the pipe cut. The grinding cylinder assembly is coaxially and fixedly connected to the circular blade assembly.

[0008] The mobile carrier is equipped with a radial drive component. When cutting the pipe, the two circular blade assemblies move radially along the pipe under the drive of the radial drive component and cut off the leaking section of the pipe to form two pipe cuts.

[0009] An axial drive component is provided between the two circular cutter assemblies to adjust the axial distance between the two circular cutter assemblies so that the two circular cutter assemblies and the grinding cylinder assembly can extend into the gap between the two cuts. When grinding the cuts, the axial drive component drives the two circular cutter assemblies to move along the axial direction of the pipe until the grinding cylinder assembly is fitted onto the outer periphery of the adjacent pipe cut. The grinding cylinder assembly rotates circumferentially under the drive of the circular cutter assemblies and completes the grinding action on the pipe cuts.

[0010] By adopting the above technical solution, the mobile carrier can move the pipe stabilizing assembly and the circular blade assembly to the leaking section of the pipeline. The mobile carrier, in conjunction with the pipe stabilizing assembly, ensures the stability of the pipeline during the cutting process, effectively avoiding uneven cuts caused by pipeline vibration. Two symmetrically distributed circular blade assemblies, under the action of the radial drive component, complete the removal of the leaking section of the pipeline, creating two pipe cuts that facilitate subsequent operations. The axial drive component allows the circular blade assembly and the grinding cylinder assembly to be flexibly adjusted in position. By reducing the distance between the two circular blade assemblies, the requirement that the circular blade assembly and the grinding cylinder assembly can enter the gap between the two cuts is met, allowing the grinding cylinder assembly to be accurately fitted onto the outer circumference of the pipeline cut. The circular blade assembly then drives the grinding cylinder assembly to rotate, thereby achieving comprehensive grinding of the outer circumference of the pipeline cut. This effectively removes burrs and micro-deformations at the cut, improves the tight connection between the pipe cutting and grinding actions, increases maintenance efficiency, and provides a good foundation for subsequent pipeline resealing.

[0011] Preferably, the grinding cylinder assembly includes a sleeve for fitting around the outer periphery of the pipe cut and a frosted layer disposed inside the sleeve. When the sleeve is fitted around the outer periphery of the pipe cut, the frosted layer abuts against the outer periphery of the pipe cut.

[0012] By adopting the above technical solution, the sleeve fits onto the outer circumference of the pipe cut, and the abrasive layer abuts against the outer circumference of the pipe cut, effectively polishing the outer circumference of the pipe cut, removing burrs and micro-deformations, thereby improving the smoothness of the pipe cut. This facilitates the even application of adhesive and smooth connection of the joint, reduces sealing problems caused by uneven cuts, and ultimately improves the sealing performance after pipe reconnection.

[0013] Preferably, an elastic layer is provided between the sleeve and the abrasive layer. When the sleeve is fitted onto the outer periphery of the pipe cut, the abrasive layer is pressed against the outer periphery of the pipe cut by the elastic force of the elastic layer.

[0014] By adopting the above technical solution, the elastic layer allows the abrasive layer to fit more tightly against the outer circumference of the pipe cut, effectively reducing insufficient grinding caused by uneven pipe surfaces and improving grinding quality. Simultaneously, the elasticity of the layer automatically adapts to the minute deformations of the pipe cut, ensuring uniform contact between the abrasive layer and the pipe cut, further enhancing the grinding effect and guaranteeing the smoothness and flatness of the pipe cut. This provides a good foundation for subsequent resealing and reconnection of the pipe.

[0015] Preferably, a positioning seat is provided at the pushing position of the radial drive member, and the two ends of the positioning seat extend along the axial direction parallel to the pipe. The circular blade assembly includes a sliding seat slidably connected to the end of the positioning seat, a circular 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 blade and the grinding cylinder assembly.

[0016] By adopting the above technical solution, the positioning seat provides a stable mounting base for the circular blade assembly, ensuring its precise movement trajectory during radial drive. The sliding connection design between the sliding seat and the end of the positioning seat allows the circular blade assembly to move smoothly along the radial direction of the pipe, thereby accurately cutting off the leaking section and forming a cut. The coaxial fixed connection between the cutting motor, the circular blade, and the grinding cylinder assembly realizes integrated drive of cutting and grinding actions, ensuring precise processing of the pipe cut and improving the working efficiency of the device. In addition, this design effectively avoids the generation of burrs or micro-deformation at the cut, providing a good foundation for subsequent resealing of the pipe.

[0017] Preferably, the axial drive component includes a bidirectional screw rotatably connected inside the positioning seat, two sliding blocks slidably connected inside the positioning seat, and an axial motor disposed inside the positioning seat. The bidirectional screw is parallel to the axis of the pipe, and both ends of the bidirectional screw are threaded through the two sliding blocks respectively. A mounting bracket is provided between the cutting motor and the sliding blocks, and a linkage is provided between the output shaft of the axial motor and the bidirectional screw.

[0018] By adopting the above technical solution, precise axial adjustment of the circular blade assembly in the pipe cutting and grinding device is achieved. Specifically, the cooperation between the bidirectional screw and the sliding block can precisely control the axial distance between the two circular blade assemblies, ensuring that the circular blade assembly and the grinding cylinder assembly accurately extend into the gap between the two cuts. Simultaneously, the axial motor drives the bidirectional screw to rotate through a linkage, further improving the automation and stability of the adjustment process. This design makes the pipe cutting and grinding action more efficient and reliable, effectively avoiding the risk of insufficient grinding or pipe damage due to positional deviations.

[0019] Preferably, the pipe stabilizing assembly includes a clamp for holding and fixing the pipe and a telescopic drive for driving the clamp to move up and down. When cutting the pipe, the telescopic drive extends and drives the clamp to move to one side of the pipe, and the clamp clamps hold and fix the pipe.

[0020] By adopting the above technical solution, the cooperation between the gripper and the telescopic drive component ensures stable clamping of the pipe during the pipe cutting process. Specifically, after the telescopic drive component moves the gripper to one side of the pipe, the gripper effectively fixes the pipe, preventing it from shaking or shifting during cutting, thereby improving cutting accuracy. Furthermore, the gripper design can adapt to pipes of different diameters, enhancing the versatility of the device.

[0021] Preferably, after the cut is ground, the moving carrier drives the pipe stabilizing assembly to move downward to force the pipe cut position to tilt downward so that the residual water in the pipe can be poured out from the cut.

[0022] By employing the above technical solution, the moving carrier drives the pipe stabilizing assembly downwards, forcing the pipe cut to tilt downwards, allowing residual water inside the pipe to drain out from the cut. This effectively removes residual moisture from the pipe cut, preventing it from affecting subsequent adhesive bonding operations and thus improving the reliability of the pipe resealing connection.

[0023] Preferably, the mobile carrier is equipped with a hot air blower, and the air outlet of the hot air blower is connected to several flexible hoses. The air outlets of the several flexible hoses are connected to the clamps and are positioned towards the outer periphery of the pipe cut. After the cut is polished, the hot air generated by the hot air blower is output to the outer periphery of the pipe cut through the flexible hoses to clean and dry the outer periphery of the pipe cut.

[0024] By employing the above technical solution, the combination of the hot air blower and the flexible hose effectively removes dust and wastewater residue from the outer periphery of the pipe cut after grinding, while simultaneously drying the cut area with hot air, ensuring it remains clean and dry. This helps improve the quality of subsequent adhesive bonding, preventing contaminants or moisture from affecting the resealing of the pipe connection, thereby enhancing the overall reliability of pipe repair. Specifically, the hot air generated by the hot air blower is precisely delivered to the outer periphery of the pipe cut through the flexible hose, achieving efficient localized cleaning and drying.

[0025] In summary, this application includes at least one of the following beneficial technical effects:

[0026] 1. Through the coordinated operation of the circular cutter assembly and the grinding cylinder assembly, the outer circumference of the pipe cut can be ground while cutting off the leaking section of the pipe, ensuring the smoothness of the cut, thus providing a good foundation for the subsequent resealing and connection of the pipe;

[0027] 2. By using a mobile carrier to adjust the position of the pipe stabilizing assembly and the circular knife assembly, and combining the precise control of the radial and axial drive components, the device can flexibly adapt to different pipe diameters and cutting positions, improving the accuracy and efficiency of maintenance operations.

[0028] 3. During the cutting process, the abrasive layer in the grinding cylinder assembly adheres tightly to the outer periphery of the pipe cut through the action of the elastic layer, effectively removing burrs and micro-deformation, while avoiding dust residue, which helps to keep the cut surface clean and dry and enhances the adhesive bonding performance.

[0029] 4. After the cut is sanded, hot air generated by a hot air blower is used to blow around the cut of the pipe to quickly remove residual moisture and dust, further ensuring the cleanliness and dryness of the cut surface, and significantly improving the adhesive bonding effect and the sealing of the pipe connection. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the overall structure of a cutting and grinding device for a pipe burst repair robot according to an embodiment of this application.

[0031] Figure 2 This is a cross-sectional view of the structure of a cutting and grinding device for a pipe burst repair robot according to an embodiment of this application, during the grinding of the cutting.

[0032] Figure 3 yes Figure 2 Enlarged diagram of point A in the middle.

[0033] Figure 4 This is a schematic diagram of the pipe stabilizing device in the cutting and grinding apparatus of a pipe burst repair robot according to an embodiment of this application.

[0034] Explanation of reference numerals in the attached drawings: 1. Mobile carrier; 11. Frame; 12. Hot air blower; 13. Hose; 2. Circular blade assembly; 21. Circular blade; 22. Cutting motor; 23. Sliding seat; 3. Grinding cylinder assembly; 31. Sleeve; 32. Elastic layer; 33. Frosted layer; 4. Pipe stabilizing assembly; 41. Gripper; 42. Telescopic drive component; 5. Pipe; 6. Radial drive component; 7. Axial drive component; 71. Sliding block; 72. Bidirectional screw; 73. Axial motor; 74. Linkage component; 8. Positioning seat; 9. Mounting bracket. Detailed Implementation

[0035] The following is in conjunction with the appendix Figure 1-4 This application will be described in further detail.

[0036] This application discloses a cutting and grinding device for a pipe burst repair robot, referring to... Figure 1 The system includes a mobile carrier 1, a pipe stabilizing assembly 4, and two symmetrically distributed circular cutter assemblies 2 for radially cutting pipes 5. The mobile carrier 1 uses a movable track base in conjunction with a robotic arm to adjust the positions of the pipe stabilizing assembly 4 and the circular cutter assemblies 2, enabling maintenance of pipes 5 at different heights and depths. Both the pipe stabilizing device and the circular cutter assemblies 2 are mounted on the frame 11 at the end of the robotic arm to improve their operational stability.

[0037] Reference Figures 1 to 3 In this embodiment, the mobile carrier 1 is equipped with a radial drive 6. When cutting the pipe 5, the two circular blade assemblies 2 move radially along the pipe 5 under the drive of the radial drive 6 and cut off the leaking section of the pipe 5 to form two pipe 5 cuts. Specifically, the radial drive 6 is an electric push rod or cylinder installed on the frame 11, which extends radially toward the pipe 5 to achieve the horizontal drive function of the circular blade assembly 2. A grinding cylinder assembly 3 is installed on the opposite side of each of the two circular blade assemblies 2. The grinding cylinder assembly 3 is used to grind the outer circumference of the pipe 5 cut. The output shaft of the cutting motor 22 is coaxially fixedly connected to the circular blade 21 and the grinding cylinder assembly 3. An axial drive 7 is installed between the two circular blade assemblies 2 to adjust the axial distance between the two circular blade assemblies 2 so that the two circular blade assemblies 2 and the grinding cylinder assembly 3 can extend into the gap between the two cuts. During the cutting and grinding process, the axial drive component 7 drives the two circular blade assemblies 2 to move axially along the pipe 5 until the grinding cylinder assembly 3 is fitted onto the outer circumference of the adjacent pipe 5 cut. Driven by the circular blade assemblies 2, the grinding cylinder assembly 3 rotates circumferentially and completes the grinding action on the pipe 5 cut. This achieves integrated driving of cutting and grinding actions, ensuring precise processing of the pipe 5 cut and improving the working efficiency of the device. It effectively avoids the generation of burrs or micro-deformation at the cut, providing a good foundation for the subsequent resealing and reconnection of the pipe 5.

[0038] Specifically, a positioning seat 8 is installed at the telescopic end of the radial drive component 6, with both ends of the positioning seat 8 extending axially parallel to the pipe 5. The circular blade 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 mounted on the sliding seat 23. The grinding cylinder assembly 3 is located on the side of the circular blade 21 facing away from the sliding seat 23. Driven by the cutting motor 22, the circular blade 21 and the grinding cylinder assembly 3 can rotate synchronously. It is important to emphasize that the diameter of the circular blade 21 is much larger than the diameter of the pipe 5, ensuring that when the circular blade 21 cuts the pipe 5, the grinding cylinder assembly 3 at the axis of the circular blade 21 will not collide with the pipe 5, thus achieving integrated driving of cutting and grinding actions while ensuring safety.

[0039] Specifically, the sliding seat 23 is made of cast iron, which has good wear resistance and rigidity. Its bottom is equipped with a ball bearing guide to reduce friction and improve sliding smoothness. The circular blade 21 is made of high-speed steel, which is hard and wear-resistant. Its edges undergo special heat treatment to form a sharp cutting edge. The cutting motor 22 is a servo motor, characterized by high precision and high speed. Its output shaft is coaxially fixedly connected to the circular blade 21 and the grinding cylinder assembly 3. The sliding seat 23 is slidably connected to the end of the positioning seat 8 via a dovetail groove. This connection method ensures that the sliding seat 23 moves stably along a predetermined trajectory.

[0040] In this embodiment, the grinding cylinder assembly 3 includes a sleeve 31 and an abrasive layer 33. The sleeve 31 is made of stainless steel, which has excellent corrosion resistance, and its inner surface is uniformly coated with an anti-rust coating to extend its service life. The abrasive layer 33 is composed of diamond particles embedded in a resin matrix, which has good grinding performance and can effectively remove burrs and micro-deformations from the cut surface of the pipe 5. The abrasive layer 33 is located inside the sleeve 31, and an elastic layer 32 is provided between the sleeve 31 and the abrasive layer 33. The elastic layer 32 can be made of silicone or polyurethane foam material, which has a certain degree of compressibility and resilience. When the sleeve 31 is fitted onto the outer periphery of the pipe 5 cut, the abrasive layer 33 is pressed against the outer periphery of the pipe 5 cut under the elastic force of the elastic layer 32, thereby achieving precise grinding of the pipe 5 cut. It should be emphasized that a 45º chamfer is provided at the junction of the inner peripheral wall and the inner bottom wall of the sleeve. The elastic layer 32 and the frosted layer 33 cover the chamfer, which makes it easier to grind the bevel at the pipe 5 cut and facilitate subsequent pipe connection operations.

[0041] Reference Figure 3 and Figure 4In this embodiment, two sets of pipe stabilizing components 4 are symmetrically arranged on both sides of the radial drive member 6 to improve the stability of the pipe 5. Specifically, the pipe stabilizing component 4 includes a gripper 41 and a telescopic drive member 42. The gripper 41 is made of aluminum alloy and is an electric gripper 41. The gripping function is achieved by an electric push rod. It is lightweight and has high strength. The inner surface of the gripper 41 is provided with a rubber pad to prevent damage to the surface of the pipe 5 during the gripping process. The telescopic drive member 42 can be a cylinder or an electric push rod, depending on the actual working conditions. When cutting the pipe 5, the telescopic drive member 42 extends and drives the gripper 41 to move to one side of the pipe 5. The gripper 41 clamps and fixes the pipe 5, ensuring the stability of the pipe 5 during the cutting process.

[0042] The implementation principle of this embodiment is as follows: the pipe 5 is fixed by the pipe stabilizing assembly 4, and the circular blade assembly 2 moves radially along the pipe 5 under the action of the radial drive 6 to cut off the leaking section, forming two cuts in the pipe 5. Subsequently, the axial drive 7 adjusts the axial distance between the two circular blade assemblies 2, so that the grinding cylinder assembly 3 extends into the gap between the two cuts. The grinding is carried out until the sleeve 31 of the grinding cylinder assembly 3 coincides with the axis of the pipe 5. In this embodiment, the axis of the grinding cylinder assembly 3, the axis of the circular blade 21, and the axis of the pipe 5 clamped by the gripper 41 are located on the same horizontal plane, so that the alignment of the sleeve 31 of the grinding cylinder assembly 3 with the pipe 5 can be achieved by precisely controlling the extension distance of the telescopic drive 42 and the radial drive 6 through the program. In addition, the most commonly used infrared sensor can also be used for precise positioning so that the circular grinding cylinder assembly 3 can be accurately fitted with the outer periphery of the pipe 5 cut.

[0043] During the cutting and grinding process, the circular blade assembly 2 drives the grinding cylinder assembly 3 to rotate circumferentially. With the assistance of the elastic layer 32, the abrasive layer 33 makes close contact with the outer periphery of the pipe 5 cut, efficiently completing the grinding action. This solution not only improves maintenance efficiency but also effectively avoids the impact of dust and sewage residue on the adhesive bonding performance, significantly improving the sealing performance of the pipe 5 connection.

[0044] In other embodiments, the axial drive 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 disposed inside the positioning seat 8. The bidirectional screw 72 is parallel to the axis of the pipe 5, and both ends of the bidirectional screw 72 are threaded through the two sliding blocks 71. A mounting bracket 9 is installed between the circular cutter assembly 2 and the sliding blocks 71, and the end of the bidirectional screw 72 extends into the mounting bracket 9. A linkage 74 is provided between the output shaft of the axial motor 73 and the bidirectional screw 72. The linkage 74 can be a gear set meshing transmission commonly used 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 mounting bracket 9 to meet the stroke requirements of the bidirectional screw 72.

[0045] Specifically, the bidirectional screw 72 is made of stainless steel with a chrome-plated surface, providing excellent wear resistance and corrosion resistance. The sliding block 71 is made of engineering plastic and has self-lubricating properties. It contains ball bearings to reduce friction with the bidirectional screw 72. The axial motor 73 is a stepper motor, characterized by high precision and high torque. Its output shaft is connected to the bidirectional screw 72 via a coupling. The coupling can be a flexible coupling or a diaphragm coupling to absorb vibration and improve transmission stability.

[0046] The principle of the axial drive component 7 in this embodiment is as follows: During kerf grinding, the axial motor 73 drives the bidirectional screw 72 to rotate, which in turn drives the two sliding blocks 71 to move towards or away from each other along the guide groove inside the positioning seat 8 through threaded transmission, thereby adjusting the axial distance between the two circular blade assemblies 2. This design not only improves the flexibility of the equipment but also ensures the accuracy and stability of the kerf grinding process, further enhancing maintenance efficiency and quality.

[0047] In this embodiment, after the cut is ground, the moving carrier 1 drives the pipe stabilizing assembly 4 downward to force the cut of the pipe 5 to tilt downward, thereby allowing residual water in the pipe 5 to pour out from the cut. Furthermore, the moving carrier 1 is also equipped with a hot air blower 12, the outlet of which is connected to several flexible hoses 13. The outlets of the flexible hoses 13 are connected to the clamps 41 and positioned towards the outer periphery of the cut of the pipe 5. After the cut is ground, the hot air generated by the hot air blower 12 is output through the flexible hoses 13 to the outer periphery of the cut of the pipe 5 to clean and dry the outer periphery of the cut.

[0048] Specifically, the hot air blower 12 uses a combination of a small blower and a heating element, which has the advantages of small size and light weight. The heating element can be a ceramic heating element or a PTC heater, which features rapid heating and low energy consumption. The hose 13 is made of high-temperature resistant silicone material, which is flexible and not prone to aging. It has internal spiral reinforcing ribs to prevent deformation due to excessive hot air pressure. The hose 13 is connected to the clamp 41 by a clamp, which is convenient to install and has good sealing performance. In actual operation, after the hot air blower 12 is started, hot air is evenly blown through the hose 13 to the outer periphery of the pipe 5 cut, which can not only quickly remove surface moisture, but also further clean residual dust and dirt, ensuring that the pipe 5 cut is in a clean and dry state.

[0049] The operating principle of the hot air blower 12 in conjunction with the pipe stabilizing device is as follows: the downward movement of the pipe stabilizing assembly 4 forces the cut of the pipe 5 to tilt downwards, thereby using gravity to drain residual water from the pipe 5. Simultaneously, the hot air generated by the hot air blower 12 is blown through the hose 13 to the outer periphery of the pipe 5 cut, achieving cleaning and drying of the cut. This solution not only solves the problem of residual wastewater affecting the adhesive bonding performance in traditional methods, but also significantly improves the reliability of the pipe 5 connection, further enhancing maintenance quality.

[0050] 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 cutting and grinding device for a pipe burst repair robot, characterized in that: The device includes a mobile carrier (1), a pipe stabilizing assembly (4) for stabilizing the pipe (5), and two symmetrically distributed circular blade assemblies (2) for radially cutting the pipe (5). The mobile carrier (1) is used to adjust the position of the pipe stabilizing assembly (4) and the circular blade assembly (2). A grinding cylinder assembly (3) is provided on the opposite side of the two circular blade assemblies (2) for grinding the outer periphery of the pipe (5) cut. The grinding cylinder assembly (3) is coaxially fixedly connected to the circular blade assembly (2). The mobile carrier (1) is provided with a radial drive (6). When the pipe (5) is cut, the two circular knife assemblies (2) move radially along the pipe (5) under the drive of the radial drive (6) and cut off the leaking section of the pipe (5) to form two pipe (5) cuts at the pipe (5). An axial drive (7) is provided between the two circular cutter assemblies (2) to adjust the axial distance between the two circular cutter assemblies (2) so that the two circular cutter assemblies (2) and the grinding cylinder assembly (3) can extend into the gap between the two cuts. When grinding the cuts, the axial drive (7) drives the two circular cutter assemblies (2) to move along the axial direction of the pipe (5) until the grinding cylinder assembly (3) is fitted 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 cutter assembly (2) and completes the grinding action of the cut of the pipe (5). The grinding cylinder assembly (3) includes a sleeve (31) for fitting around the outer periphery of the pipe (5) cut, and a frosted layer (33) disposed inside the sleeve (31). When the sleeve (31) is fitted around the outer periphery of the pipe (5) cut, the frosted layer (33) abuts against the outer periphery of the pipe (5) cut. An elastic layer (32) is provided between the sleeve (31) and the abrasive layer (33). When the sleeve (31) is fitted around the cut of the pipe (5), the abrasive layer (33) is pressed against the cut of the pipe (5) by the elastic force of the elastic layer (32). A positioning seat (8) is provided at the pushing position of the radial drive member (6). The two ends of the positioning seat (8) extend along the axis parallel to the pipe (5). The circular blade 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 sliding seat (23), and a cutting motor (22) provided at the sliding seat (23). The output shaft of the cutting motor (22) is coaxially and fixedly connected to the circular blade (21) and the grinding cylinder assembly (3). The axial drive 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) disposed 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) are threaded through the two sliding blocks (71) respectively. A mounting bracket (9) is provided between the circular knife assembly (2) and the sliding block (71). A linkage component (74) is provided between the output shaft of the axial motor (73) and the bidirectional screw (72).

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

3. The cutting and grinding device for the pipe burst repair robot according to claim 1, characterized in that: After the cut is polished, the moving carrier (1) drives the pipe stabilizing assembly (4) to move down to force the cut position of the pipe (5) to tilt downward so that the residual water in the pipe (5) can be poured out from the cut.

4. The cutting and grinding device for the pipe burst repair robot according to claim 3, characterized in that: The mobile carrier (1) is equipped with a hot air blower (12), and the air outlet of the hot air blower (12) is connected to several hoses (13). The air outlets of the hoses (13) are connected to the clamps (41) and are positioned towards the outer periphery of the pipe (5) cut. After the cut is polished, the hot air generated by the hot air blower (12) is output through the hoses (13) to the outer periphery of the pipe (5) cut to clean and dry the outer periphery of the pipe (5) cut.

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