Pipeline non-excavation detection and repair device and method

Abstract

The invention belongs to the technical field of pipeline repairing, and discloses a pipeline non-excavation detecting and repairing device and method.The pipeline non-excavation detecting and repairing device comprises two circular mounting plates and further comprises a repairing mechanism, the repairing mechanism comprises a driving motor fixedly mounted on the corresponding circular mounting plate, and a rotating shaft is fixedly mounted on an output shaft of the driving motor; the other end of the rotating shaft is rotationally connected to the other circular mounting plate, and the rotating shaft is fixedly sleeved with a circular limiting block; and the laminating mechanism comprises a rectangular groove formed in the rotating shaft. The arc-shaped plate rotates to open the resin hose arranged on the arc-shaped plate in a sleeving mode, the opened resin hose can be attached to the inner wall of a pipeline needing to be repaired, when the hose is completely attached to the inner wall of the pipeline, the heating pipe can electrically heat liquid in the arc-shaped plate, and heat is transferred to the resin hose through heat conduction of the arc-shaped plate; and the resin hose is cured on the inner wall of the pipeline, so that the rapid repairing function is achieved, and the pipeline repairing efficiency is improved.

Description

Technical Field

[0001] This invention belongs to the field of pipeline repair technology, specifically a trenchless pipeline inspection and repair device and method. Background Technology

[0002] With the aging of urban underground pipe networks, problems such as damage, leakage, and corrosion of drainage, sewage, and industrial pipelines are occurring frequently, necessitating efficient and reliable repair methods. Traditional open-cut repair methods are not only time-consuming and costly, but also severely impact road traffic, residents' lives, and the ecological environment. Therefore, trenchless repair technology is gradually becoming the mainstream approach for pipeline maintenance.

[0003] Existing repair devices mostly rely on rubber airbags to expand and adhere the hoses. Rubber airbags are prone to aging, deformation, or even rupture under high temperatures (such as above 80°C) or complex chemical environments, resulting in uneven adhesion. Especially in elliptical, deformed, or partially collapsed pipes, it is difficult to achieve 360° uniform adhesion, which can easily lead to defects such as air pockets and delamination, affecting the quality of repair. Summary of the Invention

[0004] To address the issues raised in the structural diagrams in the background section, this invention provides a trenchless pipeline inspection and repair device and method.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a trenchless pipeline inspection and repair device, comprising two circular mounting plates, and further comprising: The repair mechanism includes a drive motor fixedly mounted on a corresponding circular mounting plate, a rotating shaft fixedly mounted on the output shaft of the drive motor, the other end of the rotating shaft being rotatably connected to another circular mounting plate, and a circular limiting block fixedly sleeved on the rotating shaft; A bonding mechanism, comprising a rectangular groove formed on a rotating shaft, a circular movable block slidably sleeved on the rectangular groove, a threaded shaft, and an internally threaded block sleeved on the rotating shaft; Two connecting mechanisms are provided, each including an L-shaped limiting slide plate fixedly installed on one side of a circular mounting plate. A counterweight is provided on one side of the circular mounting plate, and limiting grooves are formed in the two counterweights.

[0006] Preferably, the repair mechanism further includes a plurality of rectangular limiting grooves formed on the circular limiting block, each of the plurality of rectangular limiting grooves having a limiting block slidably installed therein, each of the plurality of limiting blocks having a T-shaped limiting plate slidably installed therein, and the ends of the plurality of T-shaped limiting plates that are far apart from each other extending outward from the circular limiting block.

[0007] Preferably, limit springs are fixedly installed on the bottom inner walls of the plurality of T-shaped limiting plates, and the bottom ends of the plurality of limiting springs are fixedly connected to the plurality of limiting blocks.

[0008] Preferably, an arc-shaped plate is fixedly installed on the side of each of the T-shaped limiting plates that is far apart from each other, a plurality of heating tubes are respectively arranged in the plurality of arc-shaped plates, a heating liquid is arranged in the arc-shaped plates, and a connecting plate is hinged to each of the plurality of limiting blocks.

[0009] Preferably, the bonding mechanism further includes a T-shaped annular groove formed on the circular movable block, a T-shaped push plate slidably installed in the T-shaped annular groove, the end of the T-shaped push plate away from the connecting plate extending slidably to the outside of the circular movable block, and several connecting plates are hinged to the circular movable block.

[0010] Preferably, a U-shaped limiting rod is fixedly installed on the corresponding circular mounting plate. The U-shaped limiting rod passes through the internal threaded block and is slidably connected to the internal threaded block. A return spring is fixedly installed on one side of the internal threaded block, and one end of the return spring is fixedly connected to the circular mounting plate near the U-shaped limiting rod.

[0011] Preferably, a telescopic rod is fixedly installed on the side of the internal threaded block away from the return spring, the output end of the telescopic rod is fixedly connected to the circular block, and an adaptive spring is sleeved on the telescopic rod, with the two ends of the adaptive spring connected to the circular block and the internal threaded block respectively.

[0012] Preferably, the connecting mechanism further includes a connecting spring fixedly installed on the inner wall of the top of the L-shaped limiting slide plate, the bottom end of the connecting spring being fixedly connected to the counterweight, and the bottom end of the L-shaped limiting slide plate slidingly extending into the limiting groove.

[0013] Preferably, two drive wheels are rotatably mounted on the counterweight; On the side of each of the two circular mounting plates that are close to each other, annular rotating plates are rotatably mounted, and several connecting rods are fixedly mounted on the two annular rotating plates.

[0014] This invention also proposes a trenchless pipeline inspection and repair method, which is as follows: S1. Repair and positioning: The damaged location is determined by the CCTV inspection robot and the corresponding location is marked on the ground, or the repair device is moved to the designated location inside the pipeline by controlling the travel distance of the repair device through the encoder. S2. Install the hose: Squeeze the counterweight, and the counterweight will move upward. The corresponding connecting spring will be compressed and deformed, making it easier for the hose to be put onto the arc plate. The arc plate will support and fix the hose under the elastic force of the limit spring, preventing the hose from shifting and slipping during the movement of the device. S3, Adhesive Repair: The circular movable block pushes the connecting plate to move, and the connecting plate will cause several limiting blocks to move away from each other. The arc plate will rotate and open the resin hose fitted on the arc plate. The opened resin hose will adhere to the inner wall of the pipe that needs to be repaired. The heat conduction of the arc plate will transfer heat to the resin hose, allowing the resin hose to solidify on the inner wall of the pipe, thereby achieving a rapid repair function. S4. Work completed: When the internal threaded block disengages from the thread on the shaft, the return spring will keep the internal threaded block in a semi-disengaged state under the action of elastic force. After the repair is completed, reverse the drive motor and the internal threaded block will smoothly return through the thread again.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: This invention achieves high-precision positioning and efficient in-situ repair of pipeline ruptures by cleverly designing a repair mechanism that works in conjunction with a CCTV inspection robot. Based on the CCTV robot identifying the defect point and marking it on the ground, or by precisely controlling the travel distance of the repair device using an encoder, once the device reaches the target location, the drive motor is activated to rotate the shaft and circular limit blocks. The shaft, under threaded engagement, pushes the T-shaped annular groove axially. Then, through a multi-stage transmission structure consisting of an internal threaded block, a telescopic rod, an adaptive spring, a circular block, and a T-shaped push plate, the rotational motion is converted into radial expansion force, driving the circular movable block and connecting plate to move. This allows multiple limit blocks to move synchronously under the synergistic action of the T-shaped limit plate and the limit spring. The arc-shaped plate unfolds outwards; simultaneously, the continuous rotation of the circular limiting block causes the arc-shaped plate to rotate circumferentially, thereby evenly and tightly adhering the resin hose fitted on it to the inner wall of the pipe by rotating and expanding it. After the hose is fully attached, the built-in heating tube is activated to electrically heat the heat-conducting liquid inside the arc-shaped plate cavity. The heat is efficiently transferred to the surface of the resin hose through the highly thermally conductive arc-shaped plate, promoting its rapid curing and molding. The entire process requires no excavation and has a high degree of automation, which not only significantly improves the repair accuracy and bonding quality but also greatly shortens the construction cycle. It effectively solves the problems of large positioning deviation, poor bonding, and low curing efficiency in traditional trenchless repair, greatly improving the overall efficiency and reliability of underground pipeline repair.

[0016] This invention, through the cooperation of a fitting mechanism, causes the corresponding return spring to stretch and deform when the rotating shaft drives the internal threaded block to move. When the internal threaded block disengages from the thread on the rotating shaft, the return spring, under the action of elastic force, keeps the internal threaded block in a semi-disengaged state. After the repair is completed, the drive motor is reversed, and the internal threaded block will smoothly return through the thread again. Correspondingly, when the internal threaded block pushes the telescopic rod to move, if the radius of the pipe is small, after the internal threaded block pushes the telescopic rod to the moving distance, the corresponding hose has already adhered to the inner wall of the pipe. At this time, the adapting spring will undergo compression deformation, and the telescopic rod will retract. This structure can expand the applicable range of various pipes and improve the applicability of the device.

[0017] This invention, through the coordinated use of a connecting mechanism, allows the counterweight to be squeezed when the hose is fitted onto the arc-shaped plate outside the pipe. The counterweight moves upward, causing the connecting spring to compress and deform, making it easier for the hose to fit onto the arc-shaped plate. The arc-shaped plate, under the elastic force of the limiting spring, supports and fixes the hose, preventing it from shifting or slipping during device movement. After the hose is fitted, the counterweight is released, and the elastic force of the connecting spring causes it to return to its original position. At this time, the drive wheel descends, facilitating device movement. The corresponding annular rotating plate and connecting rods effectively connect the two circular mounting plates. When the arc-shaped plate rotates, it drives several connecting rods to rotate without affecting the overall integrity of the device. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a side cross-sectional view of the present invention; Figure 3 For the present invention Figure 2 A magnified structural diagram of E in the middle; Figure 4 This is a partial cross-sectional structural schematic diagram of the present invention; Figure 5 For the present invention Figure 4 A magnified structural diagram of A in the middle; Figure 6 For the present invention Figure 4 A magnified structural diagram of B in the diagram; Figure 7 For the present invention Figure 2 A magnified structural diagram of C; Figure 8 For the present invention Figure 4 A magnified structural diagram of D in the diagram; Figure 9 This is a partial structural diagram of the present invention.

[0019] In the diagram: 1. Circular mounting plate; 101. Drive motor; 102. Rotating shaft; 103. Circular limit block; 104. Rectangular limit groove; 105. Limit block; 106. T-shaped limit plate; 107. Limit spring; 108. Arc plate; 109. Heating tube; 110. Connecting plate; 2. Rectangular groove; 201. Circular movable block; 203. T-shaped annular groove; 204. T-shaped push plate; 205. Circular block; 206. Internal thread block; 207. C-shaped limit rod; 208. Return spring; 209. Telescopic rod; 210. Adaptive spring; 3. L-shaped limit sliding plate; 301. Counterweight block; 302. Limit groove; 303. Connecting spring; 304. Drive wheel; 305. Annular rotating plate; 306. Connecting rod. Detailed Implementation

[0020] 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 embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] like Figures 1 to 9 As shown, the present invention provides a trenchless pipeline inspection and repair device, comprising two circular mounting plates 1, and further comprising: a repair mechanism, the repair mechanism comprising a drive motor 101 fixedly mounted on the corresponding circular mounting plate 1, a rotating shaft 102 fixedly mounted on the output shaft of the drive motor 101, the other end of the rotating shaft 102 being rotatably connected to another circular mounting plate 1, and a circular limiting block 103 fixedly sleeved on the rotating shaft 102; the repair mechanism further comprising a plurality of rectangular limiting grooves 104 formed on the circular limiting block 103, and limiting blocks 105 slidably mounted in the plurality of rectangular limiting grooves 104 respectively, and the plurality of limiting blocks 105 being slidably mounted in the plurality of limiting blocks 105. T-shaped limiting plates 106 are slidably installed, and the ends of several T-shaped limiting plates 106 that are far apart from each other slide to the outside of the circular limiting block 103; limiting springs 107 are fixedly installed on the bottom inner walls of several T-shaped limiting plates 106, and the bottom ends of several limiting springs 107 are fixedly connected to several limiting blocks 105; arc-shaped plates 108 are fixedly installed on the sides of several T-shaped limiting plates 106 that are far apart from each other, and several heating tubes 109 are respectively arranged in several arc-shaped plates 108, and heating liquid is arranged in several arc-shaped plates 108; connecting plates 110 are hingedly installed on several limiting blocks 105.

[0022] Using the above scheme: the connecting plate 110 will drive several limiting blocks 105 to move away from each other. Under the action of the T-shaped limiting plate 106 and the limiting spring 107, the limiting blocks 105 will drive several arc plates 108 to move away from each other. When the circular limiting block 103 rotates, it will drive several arc plates 108 to rotate. Therefore, the arc plates 108 will rotate and open the resin hose sleeved on the arc plates 108. The opened resin hose will stick to the inner wall of the pipe that needs to be repaired. When the hose is completely attached to the inner wall of the pipe, the heating tube 109 is turned on. The heating tube 109 will electrically heat the liquid in the arc plates 108 and transfer the heat to the resin hose through the heat conduction of the arc plates 108, so that the resin hose can be cured on the inner wall of the pipe.

[0023] like Figure 6 and Figure 7As shown, the bonding mechanism includes a rectangular groove 2 formed on the rotating shaft 102, on which a circular movable block 201 is slidably fitted. The rotating shaft 102 is threaded, and an internally threaded block 206 is threaded onto it. The bonding mechanism also includes a T-shaped annular groove 203 formed on the circular movable block 201, in which a T-shaped push plate 204 is slidably installed. One end of the T-shaped push plate 204 away from the connecting plate 110 extends slidably beyond the circular movable block 201. Several connecting plates 110 are hinged to the circular movable block 201. A corresponding circular mounting plate 1 is fixedly mounted... A U-shaped limiting rod 207 is installed, which passes through the internal thread block 206 and is slidably connected to the internal thread block 206. A return spring 208 is fixedly installed on one side of the internal thread block 206, and one end of the return spring 208 is fixedly connected to the circular mounting plate 1 near the U-shaped limiting rod 207. A telescopic rod 209 is fixedly installed on the side of the internal thread block 206 away from the return spring 208. The output end of the telescopic rod 209 is fixedly connected to the circular block 205. An adaptation spring 210 is sleeved on the telescopic rod 209, and the two ends of the adaptation spring 210 are respectively connected to the circular block 205 and the internal thread block 206.

[0024] Using the above solution: When the internal threaded block 206 disengages from the thread on the rotating shaft 102, the return spring 208 will keep the internal threaded block 206 in a semi-disengaged state under the action of elastic force. After the repair is completed, the reverse drive motor 101 will reverse, and the internal threaded block 206 will smoothly return through the thread again. Correspondingly, when the internal threaded block 206 pushes the telescopic rod 209 to move, if the radius of the pipe is small, after the internal threaded block 206 pushes the telescopic rod 209 to move a certain distance, the corresponding hose has already adhered to the inner wall of the pipe. At this time, the adaptation spring 210 will undergo compression deformation, and the telescopic rod 209 will retract.

[0025] like Figure 1 , Figure 2 , Figure 3 and Figure 8 As shown, there are two connecting mechanisms. The connecting mechanism includes an L-shaped limiting slide plate 3 fixedly installed on one side of a circular mounting plate 1. A counterweight 301 is provided on one side of the circular mounting plate 1. Limiting grooves 302 are formed in the two counterweights 301. The connecting mechanism also includes a connecting spring 303 fixedly installed on the inner wall of the top of the L-shaped limiting slide plate 3. The bottom end of the connecting spring 303 is fixedly connected to the counterweight 301. The bottom end of the L-shaped limiting slide plate 3 slides into the limiting groove 302. Two drive wheels 304 are rotatably installed on the counterweight 301. Annular rotating plates 305 are rotatably installed on the sides of the two circular mounting plates 1 that are close to each other. Several connecting rods 306 are fixedly installed on the two annular rotating plates 305.

[0026] Using the above scheme: the corresponding arc plate 108 will support and fix the hose under the elastic force of the limiting spring 107 to prevent the hose from shifting and slipping during the movement of the device. After the hose is put in, the counterweight 301 is released, and the counterweight 301 will be reset under the elastic force of the connecting spring 303. At this time, the drive wheel 304 will drop, which facilitates the movement of the device. The corresponding annular rotating plate 305 and connecting rod 306 can effectively connect the two circular mounting plates 1.

[0027] Working principle and usage process of this invention: After determining the location of the pipe rupture, when the flexible hose is fitted onto the arc plate 108 outside the pipe, the counterweight 301 is squeezed, causing it to move upwards. The corresponding connecting spring 303 undergoes compression deformation, making it easier for the hose to fit onto the arc plate 108. The arc plate 108, under the elastic force of the limiting spring 107, supports and fixes the hose, preventing it from shifting or slipping during device movement. After the hose is fitted, the counterweight 301 is released, and the elastic force of the connecting spring 303 causes it to return to its original position. At this time, the drive wheel 304 descends, facilitating subsequent movement of the device by ropes or an external traction mechanism. The corresponding annular rotating plate 305 and connecting rod 306 effectively connect the two circular mounting plates 1. Start the drive motor 101, which drives the rotating shaft 102 to rotate. The rotating shaft 102 drives the circular limit block 103 to rotate. When the rotating shaft 102 rotates, it will drive the internal thread block 206 to move under the action of the thread. The internal thread block 206 will push the circular movable block 201 to move through the telescopic rod 209, the adapting spring 210, the circular block 205 and the T-shaped push plate 204, so that the circular movable block 201 and the T-shaped annular groove 203 move closer to the circular limit block 103. The circular movable block 201 pushes the connecting plate 110 to rotate, and the connecting plate 110 will drive several limit blocks 105 to move away from each other. At this time, the limit blocks 105 will be at the T-shaped limit plate 106 and the limit. Under the action of spring 107, several arc plates 108 are driven to move away from each other. At the same time, when the circular limit block 103 rotates, it will drive several arc plates 108 to rotate, so that several arc plates 108 rotate synchronously when they are opened. Therefore, the arc plates 108 will rotate and open the resin hose sleeved on the arc plates 108. The opened resin hose will completely stick to the inner wall of the pipe that needs to be repaired. When the hose is completely sticking to the inner wall of the pipe, the heating tube 109 is turned on. The heating tube 109 will electrically heat the liquid in the arc plates 108 and transfer the heat to the resin hose through the heat conduction of the arc plates 108, so that the resin hose adheres to the inner wall of the pipe. Finally, the heating is stopped to achieve curing. It is worth noting that when the arc plate 108 rotates, since the connecting rod 306 and the annular rotating plate 305 rotate on the circular mounting plate 1, and with the action of the counterweight 301, the rotation of the arc plate 108 will drive several connecting rods 306 to rotate, so that the connecting rods 306 will not cause obstruction or interference.

[0028] When the rotating shaft 102 drives the internal threaded block 206 to move, the corresponding return spring 208 will undergo tensile deformation. When the internal threaded block 206 disengages from the thread on the rotating shaft 102, the return spring 208 will keep the internal threaded block 206 in a semi-disengaged state under the action of elastic force. After the repair is completed, the reverse drive motor 101 will reverse, and the internal threaded block 206 will smoothly return through the thread again, avoiding the problem of threaded connection disengagement.

[0029] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0030] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A device for trenchless detection and repair of pipelines, comprising two circular mounting plates (1), characterised in that, Also includes: Repair mechanism, the repair mechanism includes the driving motor (101) fixedly installed on the corresponding circular mounting plate (1), the output shaft of the driving motor (101) is fixedly installed with the rotating shaft (102), the other end of the rotating shaft (102) is rotatably connected on another circular mounting plate (1), the rotating shaft (102) is fixedly sleeved with a circular limiting block (103); The fitting mechanism includes a rectangular slot (2) opened on the rotating shaft (102), the rectangular slot (2) is slidably sleeved with a circular movable block (201), the rotating shaft (102) is provided with a thread, and the rotating shaft (102) is threadedly sleeved with an internal threaded block (206); Two connecting mechanisms, the connecting mechanism includes an L-shaped limiting sliding plate (3) fixedly installed on one side of the circular mounting plate (1), one side of the circular mounting plate (1) is provided with a counterweight (301), two counterweights (301) are provided with limiting grooves (302) in the inside.

2. The trenchless pipe inspection and rehabilitation apparatus of claim 1, wherein: The repair mechanism further comprises a plurality of rectangular limiting grooves (104) opened in the circular limiting block (103), a plurality of limiting blocks (105) are slidably installed in the rectangular limiting grooves (104), respectively, a plurality of T-shaped limiting plates (106) are slidably installed in the limiting blocks (105), respectively, and the mutually remote ends of the plurality of T-shaped limiting plates (106) extend out of the circular limiting block (103), respectively.

3. The trenchless pipe inspection and rehabilitation apparatus of claim 2, wherein: A plurality of limiting springs (107) are fixedly installed on the inner walls of the bottoms of the plurality of T-shaped limiting plates (106), respectively, and the bottom ends of the plurality of limiting springs (107) are fixedly connected with the plurality of limiting blocks (105), respectively.

4. The trenchless pipe inspection and rehabilitation apparatus of claim 3, wherein: A plurality of arc-shaped plates (108) are fixedly installed on the sides of the plurality of T-shaped limiting plates (106) away from each other, respectively, a plurality of heating pipes (109) are arranged in the plurality of arc-shaped plates (108), respectively, the arc-shaped plates (108) are provided with heating liquid, and a plurality of connecting plates (110) are hingedly installed on the plurality of limiting blocks (105), respectively.

5. The trenchless pipe inspection and rehabilitation apparatus of claim 4, wherein: The fitting mechanism further comprises a T-shaped ring groove (203) opened in the circular movable block (201), a T-shaped push plate (204) is slidably installed in the T-shaped ring groove (203), the end of the T-shaped push plate (204) away from the connecting plate (110) extends out of the circular movable block (201), and the plurality of connecting plates (110) are hingedly connected with the circular movable block (201).

6. The trenchless pipe inspection and rehabilitation apparatus of claim 5, wherein: The corresponding circular mounting plate (1) is fixedly installed with a N-shaped limiting rod (207), the N-shaped limiting rod (207) penetrates through the internal threaded block (206) and is slidably connected with the internal threaded block (206), one side of the internal threaded block (206) is fixedly installed with a reset spring (208), and one end of the reset spring (208) is fixedly connected with the circular mounting plate (1) close to the N-shaped limiting rod (207).

7. The trenchless pipe inspection and rehabilitation apparatus of claim 6, wherein: The inner threaded block (206) is fixedly installed with a telescopic rod (209) away from one side of the reset spring (208), the output end of the telescopic rod (209) is fixedly connected with the circular block (205), an adaptive spring (210) is sleeved on the telescopic rod (209), and the two ends of the adaptive spring (210) are connected to the circular block (205) and the inner threaded block (206) respectively.

8. The trenchless pipe inspection and rehabilitation apparatus of claim 7, wherein: The connecting mechanism further comprises a connecting spring (303) fixedly installed on the inner wall of the top of the L-shaped limiting sliding plate (3), the bottom end of the connecting spring (303) is fixedly connected with the counterweight block (301), and the bottom end of the L-shaped limiting sliding plate (3) slidably extends into the limiting groove (302).

9. The trenchless pipe inspection and rehabilitation apparatus of claim 8, wherein: Two driving wheels (304) are rotatably installed on the counterweight block (301); Two circular mounting plates (1) are rotatably installed with annular rotating plates (305) on one side of each other, and a plurality of connecting rods (306) are fixedly installed on the two annular rotating plates (305).

10. A method for trenchless detection and repair of a pipe, applied to the trenchless detection and repair device according to any one of claims 1-9, characterized in that: The repairing method is as follows: S1, repairing positioning: determining the damaged position by the CCTV detection robot, marking the corresponding position on the ground, or controlling the traveling distance of the repairing device by the encoder, and moving the device to the specified position in the pipeline; S2, install the hose: squeeze the counterweight block (301), the counterweight block (301) will move upwards, and the corresponding connecting spring (303) will be compressed and deformed, so that the hose is more easily sleeved on the arc-shaped plate (108), and the corresponding arc-shaped plate (108) will be lifted and fixed under the elastic force of the limiting spring (107), preventing the hose from deviating and falling off during the movement of the device; S3, adhere to repair: the circular movable block (201) pushes the connecting plate (110) to move, the connecting plate (110) drives a plurality of limiting blocks (105) to move away from each other, the arc-shaped plate (108) rotates and supports the resin hose sleeved on the arc-shaped plate (108), the resin hose is adhered to the inner wall of the pipeline to be repaired, the heat conduction of the arc-shaped plate (108) transmits heat to the resin hose, and the resin hose is solidified on the inner wall of the pipeline, thereby realizing the function of rapid repair; S4, work is completed: when the inner threaded block (206) is separated from the threads on the rotating shaft (102), the reset spring (208) will make the inner threaded block (206) in a semi-detached threaded state under the action of the elastic force, and after the repair is completed, the driving motor (101) is reversed, and the inner threaded block (206) will smoothly pass through the threads again.

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