Non-excavation lining repairing robot for water supply pipeline and using method of non-excavation lining repairing robot

Abstract

The invention discloses a non-excavation lining repairing robot for a water supply pipeline and a using method of the non-excavation lining repairing robot, and belongs to the technical field of welding robots. The device comprises a walking structure; walking wheels are arranged at the bottom of the walking structure; a welding machine; the welding machine is arranged on the walking structure; a support structure; the supporting structure is arranged at one end of the walking structure; a movable structure; one end of the movable structure is connected with the supporting structure, and the other end is connected with a welding gun of the welding machine; the movable structure drives the welding gun to move; a control system; the control system is arranged on the walking structure; the control system is in circuit connection with the welding machine, the supporting structure and the movable structure. The manual participation degree is low, the automatic welding degree is high mainly through mechanical welding, the welding construction difficulty and the working intensity of operators are effectively reduced, and the manual operation workload is reduced.

Description

Technical Field

[0001] This invention belongs to the field of welding robot technology, specifically relating to a trenchless lining repair robot for water supply pipelines and its usage method. Background Technology

[0002] After years of use, water supply pipelines inevitably experience problems such as internal wall damage and leakage due to corrosion and aging, necessitating pipeline repair. Existing water supply pipeline repair is mainly divided into open-cut repair and trenchless repair. Open-cut repair involves excavating the road surface where the pipeline is damaged; this involves a large excavation area, a long timeframe, and significant disruption, and often involves land issues, especially on private land, making communication and resolution difficult.

[0003] Trenchless repair methods primarily involve excavation, with only partial excavation over a small area. The problem is solved by installing a new lining inside the water supply pipeline. Stainless steel lining welding is one such trenchless repair method. It involves welding the stainless steel lining material to the damaged inner wall of the water supply pipeline. This method offers high structural strength, does not affect water quality, ensures water safety, and has a long service life. Currently, stainless steel lining welding is performed inside the water supply pipeline, welding multiple stainless steel sections together. However, it is still mainly done manually, which is difficult due to the harsh environment inside the pipe and requires highly skilled operators.

[0004] Therefore, it is necessary to design a trenchless lining repair robot for water supply pipelines and its usage method to weld and repair the stainless steel cylinder lining of water supply pipelines, thereby reducing the difficulty of welding construction. Summary of the Invention

[0005] This invention provides a trenchless lining repair robot for water supply pipelines and its usage method to solve the technical problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: A trenchless lining repair robot for water supply pipelines includes: a walking structure with wheels at its bottom; a welding machine mounted on the walking structure; a support structure at one end of the walking structure; a movable structure connected at one end to the support structure and at the other end to the welding torch of the welding machine; the movable structure drives the welding torch to move; and a control system mounted on the walking structure, which is electrically connected to the welding machine, the support structure, and the movable structure.

[0007] As a further improvement to the technical solution, the support structure includes a support plate, a first rod, a guide rail, a slider, and a drive assembly; the guide rail is disposed on the surface of the support plate; the slider is slidably connected to the guide rail; one end of the first rod is connected to the end of the slider away from the center line of the support plate; the drive assembly is connected to the slider and drives the slider to move; the drive assembly is connected to the control system circuit.

[0008] As a further improvement to the technical solution, the guide rails are distributed in parallel at intervals along the circumferential direction of the center line of the support plate; the extension line of the guide rail in the length direction intersects the extension line of the center line of the support plate; the length direction of the first rod is consistent with the length direction of the guide rail.

[0009] As a further improvement to the technical solution, the driving assembly includes an arc-shaped plate, a driving linear movement mechanism, and a first sleeve; one end of the first sleeve is hinged to the surface of one end of the arc-shaped plate, and the other end is connected to the movable end of the driving linear movement mechanism; the arc-shaped plate and the corresponding sliders are distributed in parallel and at intervals along the circumferential direction of the axis of the first sleeve; the end of the arc-shaped plate away from the first sleeve is hinged to the slider; the driving linear movement mechanism pushes the first sleeve to rotate; the driving linear movement mechanism is connected to the control system circuit.

[0010] As a further improvement to the technical solution, the driving component also includes a second body; one end of the second body is connected to the support plate, and the other end extends toward the driving linear movement mechanism; the first body is rotatably disposed outside the second body.

[0011] As a further improvement to the technical solution, a connecting plate is provided at one end of the walking structure near the supporting structure; the surface of the connecting plate faces the movable structure; the supporting structure is mounted on the walking structure via the connecting plate; the supporting structure also includes a second rod; one end of the second rod is connected to the surface of the supporting plate, and the other end is connected to the side of the connecting plate near the movable structure; the driving linear movement mechanism is disposed on the surface of the connecting plate; the length direction of the axis of the second rod is perpendicular to the surfaces of the supporting plate and the connecting plate.

[0012] As a further improvement to the technical solution, the guide rail is located on the surface of the connecting plate near the connecting plate.

[0013] As a further improvement to the technical solution, a first rolling element is provided at the end of the first rod away from the slider.

[0014] As a further improvement to the technical solution, the movable structure includes a fixed plate, a turntable, a clamp, and a motor; the turntable is rotatably mounted on one side of the fixed plate, and the motor is mounted on the other side; the motor is mechanically connected to the turntable to drive the turntable to rotate; the clamp is mounted on the turntable; and the welding torch is connected to the clamp.

[0015] As a further improvement to the technical solution, the movable structure also includes an adjustment component; the clamp is connected to the turntable through the adjustment component; the adjustment component includes a first linear movement mechanism; the first linear movement mechanism is connected to the edge of the turntable away from the fixed plate; the length direction of the first linear movement mechanism is parallel to the plane of the turntable; the clamp is connected to the movable end of the first linear movement mechanism.

[0016] As a further improvement to the technical solution, the adjustment component further includes a second linear movement mechanism; the clamp is connected to the first linear movement mechanism through the second linear movement mechanism; the second linear movement mechanism is disposed on the movable end of the first linear movement mechanism; the clamp is connected to the movable end of the second linear movement mechanism; the length direction of the second linear movement mechanism is consistent with the length direction of the turntable axis.

[0017] The adjustment assembly further includes an adjustment seat; the clamp is connected to the movable end of the second linear motion mechanism via the adjustment seat; the adjustment seat includes a base body, a third rod, a spring, a push plate, a fourth rod, and a second rolling element; the third rod is disposed on the base body; the push plate is slidably disposed on the third rod; the spring is sleeved on the third rod, one end of which is connected to the base body, and the other end of which is connected to the push plate; the spring is located between the push plate and the second linear motion mechanism; one end of the fourth rod is connected to the side of the push plate away from the spring, and the other end of which is provided with the second rolling element; the length direction of the fourth rod and the third rod is consistent with the length direction of the first linear motion mechanism; the clamp is connected to the push plate.

[0018] As a further improvement to the technical solution, the adjustment component also includes a wind deflector; one end of the wind deflector is connected to the seat body, and the other end is close to the second rolling element.

[0019] As a further improvement to the technical solution, the movable structure also includes a fifth rod; one end of the fifth rod is connected to the side of the support plate away from the walking structure, and the other end is connected to the side of the fixed plate away from the turntable.

[0020] As a further improvement to the technical solution, the welding torch's tubing passes through the supporting structure and the movable structure.

[0021] Based on the above-mentioned technical solution for a trenchless lining repair robot for water supply pipelines, a method for using the trenchless lining repair robot for water supply pipelines is also disclosed, including the following steps: Step 1: Lay a stainless steel tube inside the damaged water supply pipe, ensuring that the stainless steel tube is tightly fitted to the inner wall of the water supply pipe. Step 2: Move the walking structure into the stainless steel cylindrical section; Step 3: Start the operation of the support structure, which then contacts the inner wall of the stainless steel cylinder section; Step 4: The control system starts the operation of the movable structure, which drives the welding torch to weld the stainless steel cylinder sections together, thus welding adjacent stainless steel cylinder sections together. Step 5: After the stainless steel cylinder section welding is completed, start the support structure reset and repeat the operations from Step 2 to Step 4 to weld different stainless steel cylinder sections.

[0022] Compared with the prior art, the beneficial effects of the present invention are as follows: This application involves low human intervention, primarily relying on mechanical welding with a high degree of automation. This effectively reduces the difficulty of welding operations and the workload of operators, minimizing manual labor. Before use, a stainless steel cylindrical section is laid inside the damaged section of the water supply pipe, ensuring it adheres tightly to the inner wall of the pipe. During use, the moving structure is moved into the stainless steel cylindrical section. This movement drives the welding machine, support structure, adjustment structure, and control system into the section. The control system activates the support structure, extending the movable end of the linear movement mechanism. This extension causes the first set of components to rotate, with the arc-shaped plates rotating with it. As the arc-shaped plates move away from each other, they push the slider, which moves along the guide rail. The slider then moves the first rod outward, moving it away from the first set of components. The first rolling element moves with the first rod and contacts the stainless steel cylindrical section, providing support for the adjustment structure and ensuring the welding torch remains stable and does not wobble during welding. Subsequently, the control system activates the moving structure, which is driven by a motor to rotate. The first and second linear moving mechanisms and the fixture rotate with the turntable, and the welding torch rotates 30 to 60 degrees with the fixture to perform circumferential welding on the stainless steel cylinder sections, welding the inner linings of the adjacent stainless steel cylinder sections together. The first and second linear moving mechanisms drive the welding torch to move up, down, left, and right, adjusting the position of the welding torch and increasing its flexibility to improve welding quality and weld aesthetics. Because the inner wall of the water supply pipe may be uneven, the position of the weld can be adjusted in real time via remote control of the first and second linear moving mechanisms through the control system, facilitating weld correction. For longitudinal welding, the motor drives the welding torch to rotate to the corresponding position, and then the drive motor on the walking structure of the control system drives the walking wheels to rotate, thereby making the walking structure move in a straight line. The welding torch moves with the walking structure, welding the longitudinal seam of the stainless steel cylinder section while moving, completing the longitudinal seam welding of the stainless steel cylinder section. After the circumferential and longitudinal seam welding is completed, the control system controls the support structure and movable structure to reset, and the walking structure moves forward, repeating the above operation to weld another set of stainless steel cylinder sections. Attached Figure Description

[0023] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a schematic diagram of the structure of a trenchless lining repair robot for water supply pipelines according to the present invention. Figure 1 ; Figure 2 Structural diagram provided for this invention Figure 2 ; Figure 3 for Figure 1 Top view; Figure 4 for Figure 3 Sectional view at point AA; Figure 5 Structural diagram provided for this invention Figure 3 ; Figure 6 for Figure 5 Enlarged view of point B in the middle; Reference numerals: 1-Walking structure, 11-Walking wheel, 12-Connecting plate, 2-Welding machine, 21-Welding torch, 3-Supporting structure, 31-Supporting plate, 32-First rod, 321-First rolling element, 33-Guide rail, 34-Slider, 35-Arc plate, 36-Drive linear movement mechanism, 37-First sleeve, 38-Second sleeve, 39-Second rod, 4-Moving structure, 41-Fixed plate, 42-Turntable, 43-Clamp, 44-Motor, 45-First linear movement mechanism, 46-Second linear movement mechanism, 47-Adjusting seat, 471-Seat body, 472-Third rod, 473-Spring, 474-Push plate, 475-Fourth rod, 476-Second rolling element, 48-Wind deflector, 49-Fifth rod, 5-Control system. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the described embodiments of the present invention without creative effort are within the scope of protection of the present invention. Unless otherwise defined, the technical or scientific terms used herein should have the ordinary meaning understood by those skilled in the art.

[0026] The terms "first," "second," and similar words used in this invention application specification and claims do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Similarly, unless the context clearly indicates otherwise, the singular forms of "an," "a," or "the," etc., do not indicate a quantity limitation, but rather indicate the presence of at least one. Terms such as "comprising" or "including" indicate that the element or object preceding "comprising" encompasses the features, integrals, steps, operations, elements, and / or components listed following "comprising" or "including," and do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or collections thereof. Terms such as "upper," "lower," "left," and "right" are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0027] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, terms such as "installation," "connection," "linking," and "setting" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0028] Example 1: like Figures 1 to 6 As shown, a trenchless lining repair robot for water supply pipelines includes: a walking structure 1, a welding machine 2, a support structure 3, a movable structure 4, and a control system 5. The walking structure 1 has wheels 11 at its bottom, allowing it to be pushed manually. A drive motor is fitted to each wheel 11 to rotate and move it. The drive motor is electrically connected to the control system 5. The control system 5 is mounted on the walking structure 1 and includes a remote control for operator use. The welding machine 2 is mounted on the walking structure 1. The support structure 3 is also mounted on the walking structure 1. One end of the movable structure 4 is connected to the support structure 3, and the other end is connected to the welding torch 21 of the welding machine 2, causing the torch 21 to move. The control system 5 is electrically connected to the welding machine 2, the support structure 3, and the movable structure 4. It should be noted that the connection between the control system and the drive motor, welding machine, support structure, and movable structure is a conventional connection. The control system and welding machine are existing technologies, and the specific models of the control system and welding machine are not improvements of this application and will not be described further.

[0029] like Figures 2 to 5As shown, preferably, the support structure 3 includes a support plate 31, a first rod 32, a guide rail 33, a slider 34, and a drive assembly. The guide rail 33 is disposed on the surface of the support plate 31, and the guide rails 33 are distributed in parallel and at equal intervals along the circumferential direction of the center line of the support plate 31. The extension line of the length direction of the guide rail 33 intersects the extension line of the center line of the support plate 31. The slider 34 is slidably connected to the guide rail 33. One end of the first rod 32 is connected to the end of the slider 34 away from the center line of the support plate 31. The length direction of the first rod 32 is consistent with the length direction of the guide rail 33. The drive assembly is connected to the slider 34, driving the slider 34 to move along the guide rail 33, and the slider 34 then drives the first rod 32 to move. The drive assembly can be a cylinder, an electric push rod, etc. The drive assembly is electrically connected to the control system 5, and the control system 5 drives the drive assembly to operate. In addition, it should be noted that the connection method between the control system and the drive assembly is a conventional connection, which will not be described in detail here.

[0030] like Figures 2 to 5As shown, preferably, the driving assembly includes an arc-shaped plate 35, a driving linear motion mechanism 36, and a first set 37; one end of the first set 37 is hinged to the surface of one end of the arc-shaped plate 35, and the other end is connected to the movable end of the driving linear motion mechanism 36; corresponding sliders 34 of the arc-shaped plate 35 are distributed in parallel and at equal intervals along the circumferential direction of the axis of the first set 37; the end of the arc-shaped plate 35 away from the first set 37 is hinged to the slider 34, and the arc surfaces of the arc-shaped plate 35 face the same direction; the driving linear motion mechanism 36 pushes the first set 37 to rotate. The driving linear motion mechanism 36 can be a cylinder, hydraulic cylinder, or electric push rod, etc.; the driving linear motion mechanism 36 is electrically connected to the control system 5, and the control system 5 controls the operation of the driving linear motion mechanism 36; the driving assembly also includes a second sleeve 38; one end of the second sleeve 38 is connected to the support plate 31, and the other end extends toward the driving linear motion mechanism 36; the first sleeve 37 is rotatably disposed outside the second sleeve 38, and the second sleeve 38 supports the first sleeve 37; at the same time, the pipelines of the welding machine 2, etc., pass through the second sleeve 38. Preferably, a first rolling element 321 is provided at the end of the first rod 32 away from the slider 34. The first rolling element 321 can be a bullseye bearing, which is easy to install. The balls on the bullseye bearing can roll freely. The first rolling element 321 contacts the stainless steel cylinder section, and the balls on the bullseye bearing can roll freely on the stainless steel cylinder section. Optionally, the first rolling element 321 can also be a ball directly, with the ball movably disposed at the end of the first rod 32. Initially, the arc-shaped plates 35 are close together, and the driving linear motion mechanism 36 is in a retracted state. In the first state, the first rod 32 is close to the first sleeve 37 and is in a retracted state. When the support is extended, the driving linear motion mechanism 36 extends, and the movable end of the driving linear motion mechanism 36 pushes the first sleeve 37 to rotate. The arc plate 35 rotates with the first sleeve 37, and the arc plates 36 move away from each other. At the same time, the arc plate 35 pushes the slider 34, and the slider 34 moves along the guide rail 33. The slider 34 drives the first rod 32 to move, and the first rod 32 moves away from the first sleeve 37, moves outward, and contacts the stainless steel cylinder section to form a support. In addition, it should be noted that the connection between the control system and the driving linear motion mechanism is a conventional connection. The specific model of the driving linear motion mechanism is not an improvement point of this application and will not be described here.

[0031] like Figures 1 to 5As shown, preferably, a connecting plate 12 is provided at one end of the walking structure 1 near the supporting structure 3; the plate surface of the connecting plate 12 faces the movable structure 4, and the connecting plate 12 provides support force for the supporting structure 3; the supporting structure 3 is mounted on the walking structure 1 through the connecting plate 12; the supporting structure 3 also includes a second rod 39; one end of multiple second rods 39 is connected to the plate surface of the supporting plate 31, and the other end is connected to the side of the connecting plate 12 near the movable structure 4, and the length direction of the second rods 39 is consistent with the length direction of the walking structure 1; a driving linear movement mechanism 36 is provided on the plate surface of the connecting plate 12, and the driving linear movement mechanism 36 has a mounting seat, which is provided on the connecting plate 12; one end of the driving linear movement mechanism 36 is hinged to the mounting seat, and the other end is hinged to the first sleeve 37; the length direction of the axis of the second sleeve 38 is perpendicular to the plate surfaces of the supporting plate 31 and the connecting plate 12; the guide rail 33 is located on the plate surface of the connecting plate 12 near the connecting plate 12, so as to facilitate the connection between the guide rail 33 and the slider 34.

[0032] like Figures 2 to 4 , Figure 6 As shown, preferably, the movable structure 4 includes a fixed plate 41, a turntable 42, a clamp 43, and a motor 44; the turntable 42 is rotatably mounted on one side of the fixed plate 41, and the motor 44 is mounted on the other side; the motor 44 is mechanically connected to the turntable 42, driving the turntable 42 to rotate; the motor 44 is a servo motor, and the servo motor is electrically connected to the control system 5; gears are mounted on the turntable 42, and the motor 44 is mechanically connected to the gears on the turntable 42 through a planetary reducer, driving the turntable 42 to rotate; through holes are opened in the center of the fixed plate 41 and the turntable 42 to allow the welding machine 2's pipeline to pass through the fixed plate 41 and the turntable 42; the clamp 43 is mounted on the turntable 42 and rotates with the turntable 42; the welding torch 21 is detachably connected to the clamp 43, the clamp 43 clamps the welding torch 21, and the turntable 42 drives the clamp 43 and the welding torch 21 to rotate, so that the welding torch 21 can perform 360-degree welding. Additionally, it should be noted that the connection between the motor and the control system is a conventional connection, and the specific model of the motor is not an improvement point of this application, so it will not be elaborated here.

[0033] like Figures 2 to 4 , Figure 6As shown, preferably, the movable structure 4 further includes an adjustment component; the clamp 43 is connected to the turntable 42 via the adjustment component; the adjustment component includes a first linear motion mechanism 45; the first linear motion mechanism 45 is connected to the edge of the turntable 42 away from the fixed plate 41, and the first linear motion mechanism 45 can be a lead screw slide, etc., and is electrically connected to the control system 5; the length direction of the first linear motion mechanism 45 is parallel to the plane of the turntable 42, and the movable end of the first linear motion mechanism 45 moves in a vertical plane; the clamp 43 is connected to the movable end of the first linear motion mechanism 45, that is, the first linear motion mechanism 45 drives the clamp 43 to move in a vertical plane, and the first linear motion mechanism 45 is electrically connected to the control system 5. Additionally, it should be noted that the connection method between the control system and the first linear motion mechanism is a conventional connection, and the specific model of the first linear motion mechanism is not an improvement point of this application, and will not be elaborated here.

[0034] like Figures 2 to 4 , Figure 6 As shown, preferably, the adjustment assembly further includes a second linear movement mechanism 46; the clamp 43 is connected to the first linear movement mechanism 45 via the second linear movement mechanism 46; the second linear movement mechanism 46 is disposed on the movable end of the first linear movement mechanism 45, and the movable end of the first linear movement mechanism 45 drives the second linear movement mechanism 46 to move; the clamp 43 is connected to the movable end of the second linear movement mechanism 46; the length direction of the second linear movement mechanism 46 is consistent with the length direction of the axis of the turntable 42, that is, the second linear movement mechanism 46 drives the clamp 43 to move along the length direction of the axis of the turntable 42, and the second linear movement mechanism 46 can be a lead screw slide; the second linear movement mechanism 46 is electrically connected to the control system 5. Furthermore, it should be noted that the connection method between the second linear movement mechanism and the control system is a conventional connection, and the specific model of the second linear movement mechanism is not an improvement point of this application, and will not be elaborated here.

[0035] like Figures 2 to 6As shown, preferably, the adjusting assembly further includes an adjusting seat 47; the clamp 43 is connected to the movable end of the second linear motion mechanism 46 through the adjusting seat 47, and the movable end of the second linear motion mechanism 46 drives the adjusting seat 47 to move; the adjusting seat 47 includes a seat body 471, a third rod 472, a spring 473, a push plate 474, a fourth rod 475, and a second rolling element 476; the third rod 472 is disposed on the seat body 471, and the seat body 471 is disposed on the movable end of the second linear motion mechanism 46; the push plate 474 is slidably disposed on the seat body 471. A spring 473 is placed on the third rod 472 and slides along the length of the third rod 472; one end of the spring 473 is connected to the seat 471, and the other end is connected to the push plate 474; the spring 473 is located between the push plate 474 and the second linear movement mechanism 46, and the spring 473 pushes the push plate 474, causing the push plate 474 to move away from the second linear movement mechanism 46; one end of the fourth rod 475 is connected to the side of the push plate 474 away from the spring 473, and the other end is provided with a second rolling element 476. The rolling element 476 can be a bullseye bearing, which is easy to install, and the balls on the bullseye bearing can roll freely. The second rolling element 476 also contacts the stainless steel cylinder section, and the balls on the bullseye bearing can roll freely on the stainless steel cylinder section. Optionally, the second rolling element 476 can also be a straight ball, with the ball movably positioned at the end of the fourth rod 475. When the second rolling element 476 presses against the stainless steel cylinder section, the spring 473 pushes the push plate 474, ensuring that the second rolling element 476 always presses against the stainless steel cylinder section. The steel cylinder section is provided with a certain tracking space, and can be finely adjusted left and right during the welding process to make the weld bead shape beautiful. The second rolling body 476 can move with the turntable 42, the first linear moving mechanism 35, and the second linear moving mechanism 46. When the second rolling body 476 is pressed against the stainless steel cylinder section, the second rolling body 476 can move while pressing against the stainless steel cylinder section, ensuring that the welding torch 21 always maintains the optimal distance and angle with the stainless steel cylinder section during the welding process, without causing fluctuations in current and voltage, making the welding process very stable and the weld bead shape beautiful.

[0036] like Figures 4 to 6 As shown, preferably, the adjustment component also includes a wind deflector 48; one end of the wind deflector 48 is connected to the base 471, and the other end is close to the second rolling element 476; construction in the water supply pipeline requires maintaining safe ventilation standards, and gas shielded welding is required during welding. Therefore, the wind deflector 48 moves synchronously with the base 471 to block the external gas at the welding torch 21, ensuring that the welding is not interfered with by the external gas and ensuring the welding quality.

[0037] like Figure 3 and Figure 5As shown, preferably, the movable structure 4 also includes a fifth rod 49; one end of the fifth rod 49 is connected to the side of the support plate 31 away from the walking structure 1, and the other end is connected to the side of the fixed plate 41 away from the turntable 42, and the fixed plate 41 is supported by the fifth rod 49.

[0038] Work style: Before use, a stainless steel cylindrical section is laid inside the damaged area of ​​the water supply pipe, ensuring it fits tightly against the inner wall of the pipe. During use, the moving structure 1 is moved into the stainless steel cylindrical section. The moving structure 1 then moves the welding machine 2, support structure 3, adjustment structure 4, and control system 5 into the stainless steel cylindrical section. The control system 5 activates the support structure 3, driving the movable end of the linear moving mechanism 36 to extend. This extension causes the movable end of the linear moving mechanism 36 to rotate the first set of bodies 37. The arc-shaped plates 35 rotate with the first set of bodies 37, moving away from each other. Simultaneously, the arc-shaped plates 35 push the slider 34, causing the slider to slide... Block 34 moves along guide rail 33, slider 34 drives first rod 32 to move outward, first rod 32 moves away from first sleeve 37, first rolling body 321 moves with first rod 32 and contacts stainless steel cylinder section, pressing against stainless steel cylinder section to provide support for adjustment structure 4, ensuring that welding torch 21 remains stable and does not shake during welding. Then, through control system 5, moving structure 4 operates, motor 44 drives rotation 42 to rotate, first linear movement mechanism 45, second linear movement mechanism 46 and clamp 43 rotate with turntable 42, welding torch 21 rotates 30-60 degrees with clamp 43, pressing stainless steel cylinder section. For circumferential welding, the inner linings of the adjacent stainless steel cylindrical sections are welded together. The first linear movement mechanism 45 and the second linear movement mechanism 46 drive the welding torch 21 to move up, down, left, and right, adjusting the position of the welding torch 21 and increasing its flexibility to improve welding quality and weld aesthetics. Because the inner wall of the water supply pipe may be uneven, the position of the weld can be adjusted in real time via the first linear movement mechanism 45 and the second linear movement mechanism 46 through the remote control system 5, facilitating weld correction. For longitudinal welding, the motor 44 drives the welding torch 21 to rotate to the corresponding position, and then the control system 5 moves the welding torch. The drive motor on the 1 drives the walking wheel 11 to rotate, thereby making the walking structure 1 move in a straight line. The welding torch 21 moves with the walking structure 1 and welds the longitudinal seam of the stainless steel cylinder section while moving. After the longitudinal seam welding of the stainless steel cylinder section is completed, the control system 5 controls the support structure 3 and the movable structure 4 to reset. The walking structure 1 moves forward and repeats the above operation to weld another set of stainless steel cylinder sections. In the welding process, the degree of manual participation is low, and mechanical welding is mainly used. The degree of automated welding is high, which effectively reduces the difficulty of welding construction and the workload of operators, and reduces the amount of manual work.

[0039] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A trenchless water service pipe lining rehabilitation robot, characterized in that, The utility model relates to a welding machine, which comprises: a walking structure (1); a welding machine (2) arranged on the walking structure (1); a support structure (3) arranged on one end of the walking structure (1); a movable structure (4) with one end connected to the support structure (3) and the other end connected to a welding torch (21) of the welding machine (2), which drives the welding torch (21) to move; a control system (5) arranged on the walking structure (1) and electrically connected to the welding machine (2), the support structure (3) and the movable structure (4).

2. The water service pipe trenchless inliner rehabilitation robot of claim 1, wherein, The support structure (3) comprises a support plate (31), a first rod (32), a guide rail (33), a sliding block (34) and a driving assembly. The guide rail (33) is arranged on the surface of the support plate (31). The sliding block (34) is slidably connected to the guide rail (33). One end of the first rod (32) is connected to the end of the sliding block (34) away from the center line of the support plate (31). The driving assembly is connected to the sliding block (34) to drive the sliding block (34) to move. The driving assembly is electrically connected to the control system (5).

3. The water service pipe trenchless inliner rehabilitation robot of claim 2, wherein, The driving assembly comprises an arc-shaped plate (35), a driving straight-line moving mechanism (36) and a first sleeve (37). One end of the first sleeve (37) is hingedly connected to the surface of one end of the arc-shaped plate (35), and the other end is connected to the movable end of the driving straight-line moving mechanism (36). The arc-shaped plate (35) is parallel and spaced apart along the circumferential direction of the axis of the first sleeve (37) corresponding to the sliding block (34). The end of the arc-shaped plate (35) away from the first sleeve (37) is hingedly connected to the sliding block (34). The driving straight-line moving mechanism (36) drives the first sleeve (37) to rotate. The driving straight-line moving mechanism (36) is electrically connected to the control system (5).

4. The water service pipe trenchless inliner rehabilitation robot of claim 3, wherein, The driving assembly further comprises a second sleeve (38). One end of the second sleeve (38) is connected to the support plate (31), and the other end extends towards the driving straight-line moving mechanism (36). The first sleeve (37) is rotatably arranged outside the second sleeve (38).

5. The water service pipe trenchless inliner rehabilitation robot of claim 4, wherein, One end of the walking structure (1) close to the support structure (3) is provided with a connecting plate (12). The surface of the connecting plate (12) faces the movable structure (4). The support structure (3) is arranged on the walking structure (1) through the connecting plate (12). The support structure (3) further comprises a second rod (39). One end of the second rod (39) is connected to the surface of the support plate (31), and the other end is connected to the surface of the connecting plate (12) close to the movable structure (4). The driving straight-line moving mechanism (36) is arranged on the surface of the connecting plate (12). The length direction of the axis of the second sleeve (38) is perpendicular to the surfaces of the support plate (31) and the connecting plate (12).

6. The water service pipe trenchless inliner rehabilitation robot of claim 2, wherein, The active structure (4) comprises a fixed plate (41), a rotating disc (42), a clamp (43) and a motor (44); one side of the fixed plate (41) is provided with the rotating disc (42) in a rotating mode, and the other side is provided with the motor (44); the motor (44) is in mechanical transmission connection with the rotating disc (42) to drive the rotating disc (42) to rotate; the clamp (43) is arranged on the rotating disc (42); and the welding gun (21) is connected with the clamp (43).

7. The water service pipe trenchless inliner rehabilitation robot of claim 6, wherein, The active structure (4) further comprises an adjusting assembly; the clamp (43) is connected with the rotating disc (42) through the adjusting assembly; the adjusting assembly comprises a first linear moving mechanism (45); the first linear moving mechanism (45) is connected with an edge of the rotating disc (42) away from the fixed plate (41); the length direction of the first linear moving mechanism (45) is parallel to the plane of the rotating disc (42); and the clamp (43) is connected with the moving end of the first linear moving mechanism (45).

8. The water service pipe trenchless inliner rehabilitation robot of claim 7, wherein, The adjusting assembly further comprises a second linear moving mechanism (46); the clamp (43) is connected with the first linear moving mechanism (45) through the second linear moving mechanism (46); the second linear moving mechanism (46) is arranged on the moving end of the first linear moving mechanism (45); the clamp (43) is connected with the moving end of the second linear moving mechanism (46); and the length direction of the second linear moving mechanism (46) is consistent with the length direction of the axis of the rotating disc (42).

9. The water service pipe trenchless inliner rehabilitation robot of claim 8, wherein, The adjusting assembly further comprises an adjusting seat (47); the clamp (43) is connected with the moving end of the second linear moving mechanism (46) through the adjusting seat (47); the adjusting seat (47) comprises a seat body (471), a third rod body (472), a spring (473), a push plate (474), a fourth rod body (475) and a second rolling body (476); the third rod body (472) is arranged on the seat body (471); the push plate (474) is arranged on the third rod body (472) in a sliding mode; the spring (473) is sleeved on the third rod body (472), one end of the spring (473) is connected with the seat body (471), and the other end of the spring (473) is connected with the push plate (474); the spring (473) is located between the push plate (474) and the second linear moving mechanism (46); one end of the fourth rod body (475) is connected with the side of the push plate (474) away from the spring (473), and the other end of the fourth rod body (475) is provided with the second rolling body (476); the length directions of the fourth rod body (475) and the third rod body (472) are consistent with the length direction of the first linear moving mechanism (45); and the clamp (43) is connected with the push plate (474).

10. A method of using a water supply pipeline trenchless inliner rehabilitation robot according to any one of claims 1-9, characterized in that, The method comprises the following steps: Step one: lay a stainless steel cylinder section in the damaged water supply pipeline, so that the stainless steel cylinder section is in close contact with the inner wall of the water supply pipeline; Step two: move the walking structure into the stainless steel cylinder section; Step three: start the support structure (3) running, the support structure (3) is in contact with the inner wall of the stainless steel cylinder section; Step four: start the movable structure (4) running through the control system (5), the movable structure (4) drives the welding gun (21) to weld the stainless steel cylinder section, and the adjacent stainless steel cylinder sections are welded; Step five: after the stainless steel cylinder section is welded, the support structure (3) is reset, and the operations of steps two to four are repeated to weld different stainless steel cylinder sections.

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