Repairing device for high-pressure pipeline of compressed air energy storage system

Abstract

The invention discloses a high-pressure pipeline repairing device for a compressed air energy storage system, and mainly relates to the technical field of pipeline repairing. Comprising a cleaning and polishing part and a coating and rolling part which are sequentially arranged from front to back, the cleaning and polishing part is connected with the coating and rolling part through a spherical joint, and walking mechanisms are arranged at the front end of the cleaning and polishing part and the rear end of the coating and rolling part; a controller, a wireless transmission module, a camera and an illuminating lamp are arranged on the cleaning and polishing part and / or the coating and rolling part, and the cleaning mechanism, the polishing mechanism, the aluminum foil adhesive tape coating mechanism, the aluminum foil adhesive tape rolling mechanism, the wireless transmission module, the camera and the illuminating lamp are all in signal connection with the controller. The structural strength of the abraded position is improved by adhering the aluminum foil adhesive tape to the abraded position, so that the anti-wear requirement of the pipeline turning position is met.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline repair, and particularly to a repair device for a high-pressure pipeline of a compressed air energy storage system. Background Art

[0002] At present, the high-pressure pipelines used in compressed air energy storage systems are generally composed of steel pipes and inner lining pipes arranged inside the steel pipes. The material of the inner lining pipes is often epoxy resin. During the operation of the compressed air energy storage system, the inner wall of the high-pressure pipeline will inevitably be worn, and the local pipe wall of the inner lining pipe becomes thinner. When cracks or the like on the inner lining pipe penetrate the inner lining pipe, the gas inside the high-pressure pipeline comes into contact with the external steel pipe, causing corrosion of the steel pipe. In severe cases, it will lead to air leakage in the high-pressure pipeline. Especially at the turning points of the high-pressure pipeline, the wear of the inner wall of the inner lining pipe is more prominent. The traditional repair method is to form a new repair coating on the inner wall of the inner lining pipe by spraying. However, the gas impact force at the turning points of the high-pressure pipeline is greater than that at the straight pipe sections, which is also the reason why the inner wall of the pipeline at the turning points is worn more severely. Merely using the spraying repair method is difficult to meet the anti-wear requirements at the turning points of the pipeline. Summary of the Invention

[0003] The purpose of the present invention is to solve the problems existing in the prior art, and provide a repair device for a high-pressure pipeline of a compressed air energy storage system, which increases the structural strength of the worn part by pasting aluminum foil tape at the worn part, so as to meet the anti-wear requirements at the turning points of the pipeline.

[0004] To achieve the above object, the present invention is realized through the following technical solutions: A repair device for a high-pressure pipeline of a compressed air energy storage system, including a cleaning and grinding part and a coating and rolling part arranged in sequence from front to back. The cleaning and grinding part and the coating and rolling part are connected by a spherical joint. Walking mechanisms are provided at the front end of the cleaning and grinding part and the rear end of the coating and rolling part; The cleaning and grinding part includes a horizontally arranged first support seat, a first rotating seat sleeved on the first support seat, and a first driving mechanism for driving the first rotating seat to rotate around the axis of the first support seat. A cleaning mechanism, a grinding mechanism, and a first switching mechanism for switching between the cleaning mechanism and the grinding mechanism are provided on the first rotating seat. Among them, the cleaning mechanism cleans the position to be repaired through a cleaning head; the grinding mechanism grinds out an annular groove on the inner wall of the pipeline at the position to be repaired through a grinding head; the function switching is completed by adjusting the distance between the grinding head, the cleaning head and the axis of the first support seat through the first switching mechanism; The coating and rolling part includes a horizontally arranged second support seat, a second rotating seat sleeved on the second support seat, and a second driving mechanism for driving the second rotating seat to rotate around the axis of the second support seat. An aluminum foil tape coating mechanism, an aluminum foil tape rolling mechanism, and a second switching mechanism for switching between the aluminum foil tape coating mechanism and the aluminum foil tape rolling mechanism are provided on the second rotating seat. Among them, the aluminum foil tape coating mechanism pastes the aluminum foil tape into the annular groove through a tape coating head; the aluminum foil tape rolling mechanism applies pressure to the aluminum foil tape adhered in the annular groove through a tape rolling head, so that the aluminum foil tape is tightly connected to the inner wall of the pipeline; the function switching is completed by adjusting the distances between the tape coating head, the tape rolling head and the axis of the second support seat through the second switching mechanism. A controller, a wireless transmission module, a camera, and a lighting lamp are provided on the cleaning and grinding part and / or the coating and rolling part. The cleaning mechanism, the grinding mechanism, the aluminum foil tape coating mechanism, the aluminum foil tape rolling mechanism, the wireless transmission module, the camera, and the lighting lamp are all signal-connected to the controller.

[0005] Preferably, the first rotating seat includes a first support tube sleeved on the first support seat and rotatably connected to the first support seat, a first support sleeve sleeved on the first support tube and slidably connected to the first support tube, a first support ring arranged on the outer side of the first support sleeve, and a plurality of first connecting rods for connecting the first support sleeve and the first support ring.

[0006] Preferably, the cleaning mechanism includes a plurality of cleaning rods uniformly arranged on the first support ring. The cleaning rods are arranged along the radial direction of the first support ring, and the cleaning rods can slide along the radial direction of the first support ring. A cleaning head is arranged at the end of the cleaning rod far from the first support sleeve; the grinding mechanism includes a plurality of grinding rods uniformly arranged on the first support ring. The grinding rods are arranged along the radial direction of the first support ring, and the grinding rods can slide along the radial direction of the first support ring. A grinding head is arranged at the end of the grinding rod far from the first support sleeve.

[0007] Preferably, the first switching mechanism includes a cleaning connecting rod arranged at the end of the cleaning rod far from the cleaning head, a grinding connecting rod arranged at the end of the grinding rod far from the grinding head, and a first pushing and pulling device for pushing and pulling the first support sleeve. The first pushing and pulling device is arranged on the first support tube. One end of the cleaning connecting rod is hinged to the cleaning rod, and the other end is hinged to the first support tube. One end of the grinding connecting rod is hinged to the grinding rod, and the other end is hinged to the first support tube.

[0008] Preferably, the surface of the grinding head far from the grinding rod is an arc surface, and a plurality of conical tips are arranged on the arc surface. The grinding head is detachably connected to the grinding rod.

[0009] Preferably, the second rotating base includes a second support tube sleeved on the second support base and rotatably connected to the second support base, a second support sleeve sleeved on the second support tube and slidably connected to the second support tube, a second support ring disposed on the outer side of the second support sleeve, and a plurality of second connecting rods for connecting the second support sleeve and the second support ring.

[0010] Preferably, the aluminum foil tape coating mechanism includes a sliding frame arranged along the radial direction of the second support ring, and the sliding frame can slide along the radial direction of the second support ring. The tape coating head is disposed at one end of the sliding frame away from the second support sleeve. The aluminum foil tape rolling mechanism includes a plurality of rolling brackets evenly arranged on the second support ring. The rolling brackets are arranged along the radial direction of the second support ring and can slide along the radial direction of the second support ring. The tape rolling head is disposed at one end of the rolling bracket away from the second support sleeve.

[0011] Preferably, the second switching mechanism includes a coating connecting rod disposed at one end of the sliding frame away from the tape coating head, a rolling connecting rod disposed at one end of the rolling bracket away from the tape rolling head, and a second pushing and pulling device for pushing and pulling the second support sleeve. The second pushing and pulling device is disposed on the second support tube. One end of the coating connecting rod is hinged to the sliding frame, and the other end is hinged to the second support tube. One end of the rolling connecting rod is hinged to the rolling bracket, and the other end is hinged to the second support tube.

[0012] Preferably, the tape coating head includes a housing. One end of the housing is open, and an installation shaft for loading aluminum foil tape is provided inside the housing. A tape outlet is provided on the outer wall of the housing. A pressing plate is hinged to one side of the tape outlet. A torsion spring is provided between the pressing plate and the housing. An electric retractable knife is provided on the side of the tape outlet away from the pressing plate. The electric retractable knife is located inside the housing, and a blade inlet and outlet for the blade of the electric retractable knife is provided on the outer wall of the housing.

[0013] Preferably, the traveling mechanism includes a support shaft. An adjusting sleeve, a spring, a moving seat, and a fixed seat are sequentially arranged on the support shaft. The adjusting sleeve and the moving seat are both slidably connected to the support shaft, and a locking mechanism is provided between the adjusting sleeve and the support shaft. The fixed seat is fixedly connected to the support shaft. A plurality of groups of X-shaped brackets are provided between the moving seat and the fixed seat. The X-shaped bracket includes two support rods. The middle parts of the two support rods are hinged by a hinge. One end of one of the support rods is hinged to the moving seat, and one end of the other support rod is hinged to the fixed seat. Traveling wheels are provided at one ends of the two support rods away from the support shaft.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. The present invention sweeps the position to be repaired through a cleaning mechanism, grinds an annular groove on the inner wall of the pipeline at the position to be repaired through a grinding mechanism, and pastes an aluminum foil tape into the annular groove through an aluminum foil tape coating mechanism; the aluminum foil tape rolling mechanism applies pressure to the aluminum foil tape adhered in the annular groove to make the aluminum foil tape tightly connected to the inner wall of the pipeline. By pasting the aluminum foil tape at the worn part, the structural strength of the worn part is increased to meet the anti-wear requirements at the pipeline turning part.

[0015] 2. The cleaning and grinding part and the coating and rolling part of the present invention can be switched by the movement of the traveling mechanism, and the cleaning and grinding part and the coating and rolling part can be sequentially moved to the position to be repaired; the cleaning mechanism and the grinding mechanism are switched through a first switching mechanism, and the tape coating head and the tape rolling head are switched through a second switching mechanism; through one position movement and two function switches, the repair work of the pipeline can be completed.

[0016] 3. Both the first switching mechanism and the second switching mechanism can complete the function switching by pushing and pulling, which is convenient and fast. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is the structural schematic diagram of the present invention; Figure 2 is the structural schematic diagram of the cleaning and grinding part; Figure 3 is the structural schematic diagram of the first rotating seat; Figure 4 is the structural schematic diagram of the coating and rolling part; Figure 5 is the structural schematic diagram of the second rotating seat; Figure 6 is the structural schematic diagram of the tape coating head; Figure 7 is the structural schematic diagram of the traveling mechanism; Reference numerals in the drawings: 1. Cleaning and grinding part; 11. First support seat; 12. First rotating seat; 121. First support tube; 122. First support sleeve; 123. First support ring; 124. First connecting rod; 13. Cleaning mechanism; 131. Cleaning head; 132. Cleaning rod; 14. Grinding mechanism; 141. Grinding head; 1411. Conical tip; 142. Grinding rod; 15. Cleaning connecting rod; 16. Grinding connecting rod; 17. First push-pull device; 18. First driving mechanism; 181. First bevel gear; 19. First flange; 191. First thrust ball bearing; 2. Coating and rolling part; 21. Second support seat; 22. Second rotating seat; 221. Second support tube; 222. Second support sleeve; 223. Second support ring; 224. Second connecting rod; 23. Aluminum foil tape coating mechanism; 231. Tape coating head; 2311. Housing; 2312. Mounting shaft; 2313. Pressure plate; 2314. Electric retractable knife; 232. Sliding frame; 24. Aluminum foil tape rolling mechanism; 241. Tape rolling head; 242. Rolling support; 25. Coating connecting rod; 26. Rolling connecting rod; 27. Second push-pull device; 28. Second driving mechanism; 281. Second bevel gear; 29. Second flange; 291. Second thrust ball bearing; 3. Spherical joint; 4. Traveling mechanism; 41. Support shaft; 42. Adjusting sleeve; 43. Spring; 44. Moving seat; 45. Fixed seat; 46. Locking mechanism; 47. X-shaped bracket; 48. Traveling wheel; 49. Third flange; 5. Camera; 6. Lighting lamp. Detailed implementation mode

[0018] The following further elaborates the present invention in conjunction with specific embodiments. It should be understood that these embodiments are only used to illustrate the present invention and not to limit the scope of the present invention. In addition, it should be understood that after reading the content taught by the present invention, those skilled in the art can make various changes or modifications to the present invention, and these equivalent forms also fall within the scope defined by this application.

[0019] Embodiment: As shown in the attached Figure 1-7 figures, the device for repairing high-pressure pipelines of a compressed air energy storage system described in the present invention includes a cleaning and grinding part 1 and a coating and rolling part 2 arranged in sequence from front to back. The cleaning and grinding part 1 and the coating and rolling part 2 are connected by a spherical joint 3. Flanges are welded at both ends of the spherical joint 3, and the spherical joint 3 is connected to the cleaning and grinding part 1 and the coating and rolling part 2 through flanges.

[0020] Traveling mechanisms 4 are provided at the front end of the cleaning and grinding part 1 and the rear end of the coating and rolling part 2. The traveling mechanism 4 can adopt the traveling mechanism on an existing pipeline robot or other traveling mechanisms.

[0021] Preferably, the traveling mechanism 4 includes a support shaft 41. A third flange 49 is welded to one end of the support shaft 41. An adjusting sleeve 42, a spring 43, a moving seat 44, and a fixed seat 45 are sequentially arranged on the support shaft 41. Both the adjusting sleeve 42 and the moving seat 44 are sleeved on the support shaft 41 and are slidably connected to the support shaft 41. A locking mechanism 46 is provided between the adjusting sleeve 42 and the support shaft 41. The fixed seat 45 is fixedly connected to the support shaft 41. The locking mechanism 46 includes an adjusting screw provided on the adjusting sleeve 42 and a plurality of adjusting holes arranged on the support shaft 41. The plurality of adjusting holes are arranged along the axial direction of the support shaft 41. By screwing the adjusting screw into the corresponding adjusting hole, the position of the adjusting sleeve 42 can be locked. A plurality of groups of X-shaped brackets 47 are provided between the moving seat 44 and the fixed seat 45. The plurality of groups of X-shaped brackets 47 are evenly arranged along the circumferential direction of the support shaft 41. The X-shaped bracket 47 includes two support rods. The middle parts of the two support rods are hinged by a hinge. One end of one of the support rods is hinged to the moving seat 44, and one end of the other support rod is hinged to the fixed seat 45. Traveling wheels 48 are provided at the ends of the two support rods away from the support shaft 41. One end of the spring 43 abuts against the adjusting sleeve 42, and the other end abuts against the moving seat 44. By adjusting the position of the adjusting sleeve 42, the distance between the traveling wheel 48 and the axis of the support shaft 41 can be adjusted. When encountering an obstacle during traveling, the spring 43 is compressed, and the distance between the traveling wheel 48 and the axis of the support shaft 41 becomes smaller, so as to avoid the obstacle.

[0022] Further, the traveling wheel 48 is a traveling wheel with a hub motor.

[0023] Further, an electromagnet is provided on the traveling wheel 48. By controlling the energization and de-energization of the electromagnet, the traveling wheel 48 can be adsorbed on the inner wall of the pipeline to complete parking and ensure the stability of the overall structure during repair.

[0024] The cleaning and grinding part 1 includes a horizontally arranged first support seat 11, a first rotating seat 12 sleeved on the first support seat 11, and a first driving mechanism 18 for driving the first rotating seat 12 to rotate around the axis of the first support seat 11. The first driving mechanism 18 can adopt a motor, a motor, etc. A bevel gear transmission can be adopted between the first driving mechanism 18 and the first rotating seat 12. The main structure of the first support seat 11 can adopt a shaft with first flanges 19 welded to both ends. The first flanges 19 are connected to the third flange 49 or the flange on the spherical joint 3 by bolts.

[0025] A cleaning mechanism 13, a grinding mechanism 14, and a first switching mechanism for switching between the cleaning mechanism 13 and the grinding mechanism 14 are provided on the first rotating base 12. Among them, the cleaning mechanism 13 cleans the position to be repaired through the cleaning head 131; the grinding mechanism 14 grinds an annular groove on the inner wall of the pipeline at the position to be repaired through the grinding head 141; the function switching is completed by adjusting the distance between the grinding head 141, the cleaning head 131 and the axis of the first support base 11 through the first switching mechanism.

[0026] Preferably, the first rotating base 12 can adopt a wheel-shaped structure. The first rotating base 12 includes a first support tube 121 sleeved on the first support base 11 and rotatably connected to the first support base 11, a first support sleeve 122 sleeved on the first support tube 121 and slidably connected to the first support tube 121, a first support ring 123 arranged on the outer side of the first support sleeve 122, and a plurality of first connecting rods 124 for connecting the first support sleeve 122 and the first support ring 123. The first connecting rods 124 are welded between the first support sleeve 122 and the first support ring 123.

[0027] Preferably, the cleaning mechanism 13 includes a plurality of cleaning rods 132 uniformly arranged on the first support ring 123. The cleaning rods 132 are arranged along the radial direction of the first support ring 123, and the cleaning rods 132 can slide along the radial direction of the first support ring 123. The cleaning head 131 is arranged at the end of the cleaning rod 132 away from the first support sleeve 122. The cleaning head 131 can be a wire brush fixed to the end of the cleaning rod 132 by screws. A first guiding hole adapted to the cleaning rod 132 is provided on the first support ring 123, and the cleaning rod 132 can slide along the first guiding hole; the grinding mechanism 14 includes a plurality of grinding rods 142 uniformly arranged on the first support ring 123. The grinding rods 142 are arranged along the radial direction of the first support ring 123, and the grinding rods 142 can slide along the radial direction of the first support ring 123. A second guiding hole adapted to the grinding rod 142 is provided on the first support ring 123, and the grinding head 141 is arranged at the end of the grinding rod 142 away from the first support sleeve 122.

[0028] Preferably, the surface of the grinding head 141 away from the grinding rod 142 is an arc surface, and a plurality of conical tips 1411 are provided on the arc surface. The grinding head 141 is detachably connected to the grinding rod 142, and the width of the grinding head 141 is the same as the width of the cleaning head 131.

[0029] The first switching mechanism can adopt a linear translation mechanism or other adjustment mechanisms that can adjust the distance between the grinding head 141, the cleaning head 131 and the axis of the first support base 11. Preferably, the first switching mechanism includes a cleaning link 15 arranged at one end of the cleaning rod 132 away from the cleaning head 131, a grinding link 16 arranged at one end of the grinding rod 142 away from the grinding head 141, and a first pushing and pulling device 17 for pushing and pulling the first support sleeve 122. The first pushing and pulling device 17 is arranged on the first support tube 121. One end of the cleaning link 15 is hinged to the cleaning rod 132, and the other end is hinged to the first support tube 121. One end of the grinding link 16 is hinged to the grinding rod 142, and the other end is hinged to the first support tube 121. Specifically, as shown in the appendix Figure 2 As shown, all the cleaning links 15 are located on the right side of the first support ring 123, all the grinding links 16 are located on the left side of the first support ring 123, and the cleaning links 15 and the grinding links 16 are both inclined. The first pushing and pulling device 17 can adopt a servo electric push rod, a servo hydraulic cylinder, a servo pneumatic cylinder, etc., and is correspondingly equipped with a storage battery, a high-pressure oil delivery pipeline, a compressed gas delivery pipeline, etc., which can be selected and installed according to needs. One end of the first pushing and pulling device 17 is fixed on the first support tube 121, and the other end is connected to the first support sleeve 122. By pushing and pulling the first support sleeve 122 with the first pushing and pulling device 17, the function can be switched. When pulling the first support sleeve 122 to the left, the grinding head 141 extends outwards and the cleaning head 131 retracts; when pushing the first support sleeve 122 to the right, the grinding head 141 retracts and the cleaning head 131 extends outwards.

[0030] The coating and rolling part 2 includes a horizontally arranged second support base 21, a second rotating seat 22 sleeved on the second support base 21, and a second driving mechanism 28 for driving the second rotating seat 22 to rotate around the axis of the second support base 21. The second support base 21 can be a shaft with second flanges 29 welded at both ends. The second driving mechanism 28 can adopt a motor, a motor, etc., and a bevel gear transmission can be adopted between the second driving mechanism 28 and the second rotating seat 22.

[0031] An aluminum foil tape coating mechanism 23, an aluminum foil tape rolling mechanism 24 and a second switching mechanism for switching between the aluminum foil tape coating mechanism 23 and the aluminum foil tape rolling mechanism 24 are arranged on the second rotating seat 22. Among them, the aluminum foil tape coating mechanism 23 pastes the aluminum foil tape in the annular groove through the tape coating head 231; the aluminum foil tape rolling mechanism 24 applies pressure to the aluminum foil tape adhered in the annular groove through the tape rolling head 241 to make the aluminum foil tape tightly connected to the inner wall of the pipeline; the function is switched by adjusting the distance between the tape coating head 231, the tape rolling head 241 and the axis of the second support base 21 through the second switching mechanism; the structure of the second switching mechanism is the same as that of the first switching mechanism. Specifically: The second rotating base 22 includes a second support tube 221 sleeved on the second support base 21 and rotatably connected to the second support base 21, a second support sleeve 222 sleeved on the second support tube 221 and slidably connected to the second support tube 221, a second support ring 223 disposed outside the second support sleeve 222, and a plurality of second connecting rods 224 for connecting the second support sleeve 222 and the second support ring 223.

[0032] The aluminum foil tape coating mechanism 23 includes a sliding frame 232 arranged radially along the second support ring 223, and the sliding frame 232 can slide along the radial direction of the second support ring 223. The tape coating head 231 is disposed at one end of the sliding frame 232 away from the second support sleeve 222. The aluminum foil tape rolling mechanism 24 includes a plurality of rolling brackets 242 evenly arranged on the second support ring 223. The rolling brackets 242 are arranged radially along the second support ring 223, and the rolling brackets 242 can slide along the radial direction of the second support ring 223. The tape rolling head 241 is disposed at one end of the rolling bracket 242 away from the second support sleeve 222, and the tape rolling head 241 adopts a roller structure.

[0033] Preferably, an electric heating device is provided on the inner wall of the roller of the tape rolling head 241. While rolling the aluminum foil tape, the aluminum foil tape and the nearby inner lining tube are heated, so that the inner lining tube melts and the aluminum foil tape is more tightly connected to the inner lining tube.

[0034] The second switching mechanism includes a coating connecting rod 25 disposed at one end of the sliding frame 232 away from the tape coating head 231, a rolling connecting rod 26 disposed at one end of the rolling bracket 242 away from the tape rolling head 241, and a second pushing and pulling device 27 for pushing and pulling the second support sleeve 222. The second pushing and pulling device 27 is disposed on the second support tube 221. One end of the coating connecting rod 25 is hinged to the sliding frame 232, and the other end is hinged to the second support tube 221. One end of the rolling connecting rod 26 is hinged to the rolling bracket 242, and the other end is hinged to the second support tube 221.

[0035] The tape coating head 231 includes a housing 2311. One end of the housing 2311 is open, and a mounting shaft 2312 for loading aluminum foil tape is provided inside the housing 2311. A tape outlet is provided on the outer wall of the housing 2311. A pressing plate 2313 is hinged to one side of the tape outlet. A torsion spring is provided between the pressing plate 2313 and the housing 2311. An electric retractable knife 2314 is provided on the side of the tape outlet away from the pressing plate 2313. The electric retractable knife 2314 is located inside the housing 2311, and a blade inlet and outlet for the blade of the electric retractable knife 2314 is provided on the outer wall of the housing 2311. The aluminum foil tape is a paperless aluminum foil tape and is made of pure aluminum. The aluminum foil tape is loaded on the mounting shaft 2312, and the tape body of the aluminum foil tape is passed outwards from the tape outlet by a certain length. At this time, the pressing plate 2313 presses the aluminum foil tape. At the same time, an arc-shaped protrusion is provided at the tape outlet, and a part of the aluminum foil tape extending out of the tape outlet is laid on the arc-shaped protrusion. Since the aluminum foil tape itself has a certain stiffness, it can be ensured that the adhesive surface of the aluminum foil tape faces upwards during the running process.

[0036] A controller, a wireless transmission module, a camera 5, and a lighting lamp 6 are provided on the cleaning and grinding part 1 and / or the coating and rolling part 2. The cleaning mechanism 13, the grinding mechanism 14, the aluminum foil tape coating mechanism 23, the aluminum foil tape rolling mechanism 24, the wireless transmission module, the camera 5, and the lighting lamp 6 are all signal-connected to the controller.

Claims

1. A repair device for high-pressure pipelines of a compressed air energy storage system, characterized in that: It includes a cleaning and grinding part (1) and a coating and rolling part (2) arranged successively from front to back. The cleaning and grinding part (1) is connected to the coating and rolling part (2) through a spherical joint (3). Walking mechanisms (4) are provided at the front end of the cleaning and grinding part (1) and the rear end of the coating and rolling part (2). The cleaning and grinding part (1) includes a horizontally arranged first support seat (11), a first rotating seat (12) sleeved on the first support seat (11), and a first driving mechanism (18) for driving the first rotating seat (12) to rotate around the axis of the first support seat (11). A cleaning mechanism (13), a grinding mechanism (14), and a first switching mechanism for switching between the cleaning mechanism (13) and the grinding mechanism (14) are provided on the first rotating seat (12). Among them, the cleaning mechanism (13) cleans the position to be repaired through a cleaning head (131); the grinding mechanism (14) grinds an annular groove on the inner wall of the pipeline at the position to be repaired through a grinding head (141); the function switching is completed by adjusting the distance between the grinding head (141), the cleaning head (131), and the axis of the first support seat (11) through the first switching mechanism. The coating and rolling part (2) includes a horizontally arranged second support seat (21), a second rotating seat (22) sleeved on the second support seat (21), and a second driving mechanism (28) for driving the second rotating seat (22) to rotate around the axis of the second support seat (21). An aluminum foil tape coating mechanism (23), an aluminum foil tape rolling mechanism (24), and a second switching mechanism for switching between the aluminum foil tape coating mechanism (23) and the aluminum foil tape rolling mechanism (24) are provided on the second rotating seat (22). Among them, the aluminum foil tape coating mechanism (23) pastes the aluminum foil tape into the annular groove through a tape coating head (231); the aluminum foil tape rolling mechanism (24) applies pressure to the aluminum foil tape adhered in the annular groove through a tape rolling head (241) to make the aluminum foil tape closely connected to the inner wall of the pipeline; the function switching is completed by adjusting the distance between the tape coating head (231), the tape rolling head (241), and the axis of the second support seat (21) through the second switching mechanism. A controller, a wireless transmission module, a camera (5), and a lighting lamp (6) are provided on the cleaning and grinding part (1) and / or the coating and rolling part (2). The cleaning mechanism (13), the grinding mechanism (14), the aluminum foil tape coating mechanism (23), the aluminum foil tape rolling mechanism (24), the wireless transmission module, the camera (5), and the lighting lamp (6) are all signal-connected to the controller.

2. The high-pressure pipeline repair device for a compressed air energy storage system according to claim 1, characterized in that: The first rotating seat (12) includes a first support tube (121) sleeved on the first support seat (11) and rotatably connected to the first support seat (11), a first support sleeve (122) sleeved on the first support tube (121) and slidably connected to the first support tube (121), a first support ring (123) disposed on the outer side of the first support sleeve (122), and a plurality of first connecting rods (124) for connecting the first support sleeve (122) and the first support ring (123).

3. The high-pressure pipeline repair device for a compressed air energy storage system according to claim 2, wherein: The cleaning mechanism (13) includes a plurality of cleaning rods (132) evenly arranged on the first support ring (123). The cleaning rods (132) are arranged along the radial direction of the first support ring (123), and the cleaning rods (132) can slide along the radial direction of the first support ring (123). A cleaning head (131) is disposed at one end of the cleaning rod (132) away from the first support sleeve (122). The grinding mechanism (14) includes a plurality of grinding rods (142) evenly arranged on the first support ring (123). The grinding rods (142) are arranged along the radial direction of the first support ring (123), and the grinding rods (142) can slide along the radial direction of the first support ring (123). A grinding head (141) is disposed at one end of the grinding rod (142) away from the first support sleeve (122).

4. A high-pressure pipeline repair device for a compressed air energy storage system according to claim 3, characterized in that: The first switching mechanism includes a cleaning link rod (15) disposed at one end of the cleaning rod (132) away from the cleaning head (131), a grinding link rod (16) disposed at one end of the grinding rod (142) away from the grinding head (141), and a first pushing and pulling device (17) for pushing and pulling the first support sleeve (122). The first pushing and pulling device (17) is disposed on the first support tube (121). One end of the cleaning link rod (15) is hinged to the cleaning rod (132), and the other end is hinged to the first support tube (121). One end of the grinding link rod (16) is hinged to the grinding rod (142), and the other end is hinged to the first support tube (121).

5. A high-pressure pipeline repair device for a compressed air energy storage system according to claim 1, characterized in that: The surface of the grinding head (141) away from the grinding rod (142) is an arc surface, and a plurality of conical tips (1411) are provided on the arc surface. The grinding head (141) is detachably connected to the grinding rod (142).

6. The high-pressure pipeline repair device for a compressed air energy storage system according to claim 1, characterized in that: The second rotating seat (22) includes a second support tube (221) sleeved on the second support seat (21) and rotatably connected to the second support seat (21), a second support sleeve (222) sleeved on the second support tube (221) and slidably connected to the second support tube (221), a second support ring (223) disposed on the outer side of the second support sleeve (222), and a plurality of second connecting rods (224) for connecting the second support sleeve (222) and the second support ring (223).

7. A high-pressure pipeline repair device for a compressed air energy storage system according to claim 6, characterized in that: The aluminum foil tape coating mechanism (23) includes a sliding frame (232) arranged radially along the second support ring (223), and the sliding frame (232) can slide along the radial direction of the second support ring (223). The tape coating head (231) is arranged at one end of the sliding frame (232) away from the second support sleeve (222). The aluminum foil tape rolling mechanism (24) includes a number of rolling brackets (242) evenly arranged on the second support ring (223). The rolling brackets (242) are arranged radially along the second support ring (223), and the rolling brackets (242) can slide along the radial direction of the second support ring (223). The tape rolling head (241) is arranged at one end of the rolling bracket (242) away from the second support sleeve (222).

8. A high-pressure pipeline repair device for a compressed air energy storage system according to claim 7, characterized in that: The second switching mechanism includes a coating connecting rod (25) arranged at one end of the sliding frame (232) away from the tape coating head (231), a rolling connecting rod (26) arranged at one end of the rolling bracket (242) away from the tape rolling head (241), and a second pushing and pulling device (27) for pushing and pulling the second support sleeve (222). The second pushing and pulling device (27) is arranged on the second support pipe (221). One end of the coating connecting rod (25) is hinged to the sliding frame (232), and the other end is hinged to the second support pipe (221). One end of the rolling connecting rod (26) is hinged to the rolling bracket (242), and the other end is hinged to the second support pipe (221).

9. A high-pressure pipeline repair device for a compressed air energy storage system according to claim 1, characterized in that: The tape coating head (231) includes a housing (2311). One end of the housing (2311) is open, and an installation shaft (2312) for loading aluminum foil tape is arranged in the housing (2311). A tape outlet is arranged on the outer wall of the housing (2311). A pressing plate (2313) is hinged to one side of the tape outlet. A torsion spring is arranged between the pressing plate (2313) and the housing (2311). An electric retractable knife (2314) is arranged on the side of the tape outlet away from the pressing plate (2313). The electric retractable knife (2314) is located in the housing (2311), and a blade inlet and outlet for the blade of the electric retractable knife (2314) is arranged on the outer wall of the housing (2311).

10. A high-pressure pipeline repair device for a compressed air energy storage system according to claim 1, characterized in that: The traveling mechanism (4) includes a support shaft (41). An adjusting sleeve (42), a spring (43), a moving seat (44), and a fixed seat (45) are successively arranged on the support shaft (41). The adjusting sleeve (42) and the moving seat (44) are both slidably connected to the support shaft (41), and a locking mechanism (46) is arranged between the adjusting sleeve (42) and the support shaft (41). The fixed seat (45) is fixedly connected to the support shaft (41). A number of X-shaped brackets (47) are arranged between the moving seat (44) and the fixed seat (45). The X-shaped bracket (47) includes two support rods. The middle parts of the two support rods are hinged by a hinge. One end of one of the support rods is hinged to the moving seat (44), and one end of the other support rod is hinged to the fixed seat (45). Walking wheels (48) are arranged at the ends of the two support rods away from the support shaft (41).

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