A pipe repair robot suitable for dark environments

Abstract

This invention relates to the technical field of pipeline inspection and repair, and in particular to a pipeline damage repair robot suitable for use in dark environments. The robot includes a housing and a controller. The controller is mounted on the housing. The robot also includes: multiple walking components circumferentially arranged on the outer wall of the housing for movement within the pipeline; a scanning and repair component mounted on the housing for leak detection and paint application; and a water spraying component mounted on the housing for spraying water onto the applied paint to accelerate its solidification. The controller is electrically connected to the walking components, scanning and repair components, and water spraying component. In operation, the pipeline is stopped, and after the water inside the pipeline is drained, workers first use a pipeline cleaning machine to clean impurities from the inner wall of the pipeline. After cleaning, leaks on the inner wall of the pipeline are quickly located and repaired, improving repair efficiency.

Description

Technical Field

[0001] This invention relates to the technical field of pipeline inspection and repair, and in particular to a pipeline damage repair robot suitable for use in dark environments. Background Technology

[0002] Municipal sewage pipelines, as a crucial component of urban infrastructure, are subjected to long-term corrosion from sewage, geological subsidence, and external impacts. The inner walls of these pipelines are prone to cracks, holes, and other defects, leading to sewage leakage and causing serious problems such as ground subsidence, environmental pollution, and groundwater deterioration. Therefore, regular inspection and timely repair of sewage pipelines are critical to ensuring the safe operation of cities.

[0003] Currently, the detection and repair of damaged sewage pipes mainly employs the following two methods: (a) Manual well entry operations Workers enter the pipeline to identify defects visually or with handheld inspection equipment, then repair them using cement mortar, quick-drying cement, or chemical grouting materials. This method poses serious safety hazards—sewage pipelines commonly contain toxic and harmful gases such as hydrogen sulfide and methane, have insufficient oxygen levels, and are often confined to narrow spaces with extremely poor visibility, making workers highly susceptible to poisoning, suffocation, or entrapment. Furthermore, manual inspection is inefficient, heavily influenced by lighting conditions and subjective experience, prone to missed or false detections, and the quality of repairs is difficult to guarantee.

[0004] (ii) Pipeline inspection robot (CCTV robot) In existing technologies, pipeline inspection robots are typically equipped with high-definition cameras, transmitting images of the pipeline's inner wall to a ground control terminal via wired or wireless means. Defect types and locations are then determined manually or through image recognition algorithms. These robots only have inspection capabilities and cannot perform on-site repairs. After inspection, a separate construction team must be dispatched to the pipeline for repairs, presenting the following significant problems: 1. Relies on external lighting and has poor adaptability to low-light environments. Cameras must rely on auxiliary lighting equipment in the dark or low light environment, but the inner wall of sewage pipes is often covered with dark sludge, which absorbs a lot of light, resulting in blurry images, low contrast, difficulty in identifying tiny cracks, and a high rate of missed detection.

[0005] "Inspection without repair" leads to long work cycles. The detection and repair processes are separated, requiring two or even more site visits. After defects are detected, data needs to be manually analyzed, repair plans developed, and repair work organized. The entire process takes several days to several weeks, during which time the leakage problem continues to worsen.

[0006] Detection accuracy is greatly affected by environmental interference. Suspended solids in sewage, deposits on the inner walls of pipes, and specular reflections on the water surface can severely interfere with the imaging quality of cameras, leading to misjudgments or omissions of defects.

[0007] To address the aforementioned issues, a few studies in recent years have attempted to integrate detection and repair functions onto the same robotic platform. However, existing integration solutions still have significant shortcomings: First, detection methods still rely on visual imaging, which cannot fundamentally solve the identification difficulties in low-light and sewage environments. Second, repair materials mostly use ordinary cement-based or epoxy materials, which are difficult to bond effectively to the inner walls of damp pipes with water flow, have long curing times, and are easily washed away by water flow. Third, the detection and positioning accuracy is insufficient, making it difficult to achieve precise spraying of repair materials, resulting in material waste and unreliable repair effects.

[0008] Therefore, there is an urgent need for a pipeline damage repair robot that can adapt to environments with no light, humidity, and limited space, and integrates high-precision detection and rapid repair, in order to solve the problems of inaccurate detection, difficult repair, and long operation cycle in existing technologies. Summary of the Invention

[0009] To address the aforementioned technical problems, this invention provides a pipeline damage repair robot suitable for use in dark environments.

[0010] The present invention discloses a pipe rupture repair robot suitable for use in dark environments, comprising a housing and a controller, wherein the controller is disposed on the housing, and further comprising: Multiple sets of walking components are arranged circumferentially on the outer wall of the housing for the housing to move inside the pipe; The scanning and repair component, mounted on the housing, is used for leak detection and paint application on the pipeline. The water spray assembly, which is mounted on the housing, is used to spray water onto the applied paint, causing the paint to solidify quickly. The controller is electrically connected to the walking component, the scanning and repair component, and the water spraying component. During use, the pipeline is stopped, and after the water inside the pipeline is drained, the operator first cleans the inner wall of the pipeline using a pipeline cleaning machine. After cleaning, the operator places the housing inside the pipeline and uses the controller to operate multiple walking components to make frictional contact with the inner wall of the pipeline. The controller then activates these walking components to move along the inner wall of the pipeline, further enabling the housing to move inside the pipeline. The scanning and repair component then extends to the outside of the housing to scan the leak point on the inner wall of the pipeline to determine its size, location, and angle. Repair coating is then sprayed onto the leak point. After spraying, the walking component moves the housing, and the water spraying component is activated to spray water onto the repair coating, promoting rapid solidification. If the inside of the pipeline is still damp after cleaning with water, the water spraying component can be left undone. This flexible approach allows for rapid location and repair of leaks on the inner wall of the pipeline, improving repair efficiency.

[0011] Preferably, the walking assembly includes a first axle pin, a first connecting plate, a second axle pin, a mounting base, a first hinge seat, a second hinge seat, a first electric push rod, and an electric moving trolley. The first ends of the two sets of first connecting plates are respectively hinged to the outer wall of the housing via first axle pins, and the second ends of the two sets of first connecting plates are hinged to the bottom end of the mounting base via second axle pins. An electric moving trolley is provided at the top of the mounting base. The first end of the first electric push rod is hinged to the outer wall of the housing via first hinge seat, and the second end of the first electric push rod is hinged to the bottom end of the mounting base via second hinge seat. The two sets of first connecting plates are respectively hinged to the outer wall of the housing via first hinge seat, and the second end of the first electric push rod is hinged to the bottom end of the mounting base via second hinge seat. The plate remains parallel, and the first electric actuator is electrically connected to the controller. Multiple sets of first electric actuators are in a retracted state, placing the housing inside the pipe. The controller operates the multiple sets of first electric actuators to extend synchronously, thereby causing multiple sets of mounting seats to drive the corresponding electric moving trolleys to move away from the housing synchronously. The multiple sets of electric moving trolleys make rolling contact with the inner wall of the pipe. Then, the controller synchronously starts the electric moving trolleys. The multiple sets of electric moving trolleys cooperate with each other to move the housing inside the pipe, adapting to various pipe specifications and improving the flexibility of use.

[0012] Preferably, the scanning and repair component includes a mounting plate, a sealing plate, a second electric push rod, a moving plate, a light bar, a hollow circular plate, a transparent protective cover, and a spraying component. The mounting plate is fixedly installed inside the housing. A second electric push rod is located at the left end of the mounting plate. A moving plate is located at the moving end of the second electric push rod. A light bar is located at the left end of the moving plate. The light bar is slidably connected to the mounting plate and fixedly connected to the hollow circular plate. A transparent protective cover is located at the left end of the hollow circular plate. A sealing plate is located at the left end of the transparent protective cover. A first circular hole is located at the left end of the housing, and the sealing plate seals the first circular hole. The spraying component is installed on the hollow circular plate. A lidar is installed inside the transparent protective cover. In normal operation, the transparent protective cover, lidar, and hollow circular plate are all located inside the housing. The unit also seals the No. 1 circular hole with a mounting plate to prevent the transparent protective cover or lidar from being bumped during the relocation of the housing. When the housing moves inside the pipeline via multiple sets of electric moving trolleys, the No. 2 electric push rod is shortened, causing the moving plate to drive the hollow circular plate through the No. 1 circular hole via the light bar. At this time, the transparent protective cover and lidar are on the outside of the housing. The lidar performs a 360-degree scan of the inner wall of the pipeline, identifying the shape, size, angle, and orientation of leaks on the inner wall. Then, the controller operates the spraying assembly to spray paint on the leaks at the corresponding angles, enabling the spraying of leaks on the inner wall of the pipeline in a dark environment. After use, the transparent protective cover and lidar re-enter the housing to improve safety.

[0013] Preferably, the spraying assembly includes a storage tank, a first pump body, a first telescopic hose, nozzles, and solenoid valves. The storage tank is located inside the housing, and the first pump body is mounted on it. The input end of the first pump body is connected to the output end of the storage tank, and the output end of the first pump body is connected to the input end of the first telescopic hose. The output end of the first telescopic hose is connected to the input end of the hollow circular plate. Multiple sets of nozzles are circumferentially arranged on the outer wall of the hollow circular plate, and each set of nozzles is equipped with a solenoid valve. The first pump body and the solenoid valves are electrically connected to a controller. The storage tank contains coating material, which is a single-component water-activated polyurethane grouting material or a fast-setting epoxy material. When the second electric push rod is shortened... The hollow circular plate, transparent protective cover, and lidar move through the first circular hole to the outside of the housing. The lidar detects and locates leaks on the inner wall of the pipe, and then sends the detection signal to the controller. The controller opens the corresponding solenoid valve and starts the first pump, allowing the paint inside the storage tank to enter the hollow circular plate through the first telescopic hose. The paint is then sprayed onto the corresponding leaks through the nozzles that keep the solenoid valves open. When the inside of the pipe is damp, the paint solidifies quickly upon contact with water, achieving rapid repair of the leaks. When the inside of the pipe is dry, after the paint has been sprayed onto the leaks, the water spray assembly is operated to spray the paint, shortening the paint solidification time and improving the flexibility of use.

[0014] Preferably, the water spray assembly includes a water storage tank, a second pump body, a water outlet hard pipe, a fixed plate, a second telescopic hose, a movable plate, a water delivery hard pipe, a spring-loaded check valve, atomizing nozzles, a tension spring, and a baffle. The water storage tank is located inside the housing, and the second pump body is mounted on the water storage tank. A fixed plate is located inside the housing, and a guide rod is fixedly mounted between the fixed plate and the housing. A movable plate slides on the guide rod, and a second telescopic hose is positioned between the movable plate and the fixed plate. The water outlet hard pipe is located at the output end of the second pump body, and its output end connects to the input end of the second telescopic hose. A water delivery hard pipe is mounted on the movable plate, and its input end connects to the output end of the second telescopic hose. A tension spring head is located between the fixed plate and the movable plate, and the tension spring is fitted onto the outside of the second telescopic hose. A spring-loaded check valve is mounted on the water delivery hard pipe. Multiple atomizing nozzles are arranged in a circumferential array on the outer wall of the water delivery hard pipe. A baffle is located at the end of the water delivery hard pipe furthest from the fixed plate. A second spring is located at the right end of the housing. The first circular hole is sealed by a baffle. After the paint is sprayed onto the leak point on the inner wall of the pipe, the controller starts the second pump. Water from the storage tank enters the second telescopic hose through the outlet hard pipe. When the water pressure is less than the opening pressure of the spring check valve, the second telescopic hose lengthens as the water inside increases. This causes the movable plate, guided by the guide rod, to move the water supply hard pipe and the baffle to the right, releasing the seal on the second circular hole. At this time, the atomizing nozzle is on the outside of the housing. When the water pressure inside the second telescopic hose exceeds the opening pressure of the spring check valve, water passes through the spring check valve into the water supply hard pipe and is atomized and sprayed 360 degrees onto the inner wall of the pipe through multiple sets of atomizing nozzles, thus allowing the water to contact the paint and shortening the paint's setting time. After spraying, the second water pump is turned off, the tension spring moves the movable plate, allowing multiple sets of atomizing nozzles to re-enter the housing, and the baffle re-seals the second circular hole.

[0015] Preferably, it also includes a housing, a cutting block, and a pull rod. The housing is installed on the water outlet hard pipe, the cutting block is slidably installed inside the housing, and the pull rod is installed on the cutting block. The pull rod is slidably connected to the housing, and one end of the pull rod is connected to the moving plate. In the normal state, the second electric push rod is kept in the extended state, so that the pull rod drives the cutting block to cut off the water outlet hard pipe inside the housing. When the second electric push rod is shortened, the pull rod drives the cutting block to move to the left inside the housing, and the cutting block releases the cutting off of the water outlet hard pipe, thus forcing the pipe to be scanned and sprayed before the water spraying operation.

[0016] Preferably, it also includes a sealing gasket, and a sealing gasket is provided on the sealing plate; the sealing gasket seals the gap between the sealing plate and the housing, thereby improving the sealing performance.

[0017] Preferably, it also includes a housing with a handle; workers can move the housing by using the handle, improving the ease of moving.

[0018] Preferably, it also includes a handle cover, with a handle cover fixedly fitted on the outside of the handle; the staff can grip the handle tightly by using the handle cover to reduce the occurrence of the handle slipping.

[0019] Preferably, the transparent protective cover is made of quartz glass.

[0020] Compared with the prior art, the beneficial effects of this invention are as follows: When in use, the pipeline is stopped, and after the water inside the pipeline is drained, the operator first cleans the inner wall of the pipeline using a pipeline cleaning machine to remove impurities. After cleaning, the operator places the housing inside the pipeline and operates multiple sets of walking components to make frictional contact with the inner wall of the pipeline using a controller. Then, the controller activates these multiple sets of walking components to move along the inner wall of the pipeline, further enabling the housing to move inside the pipeline. The scanning and repair components then extend to the outside of the housing, scanning the leak point to be repaired on the inner wall of the pipeline to determine its size and location angle. Repair coating is then sprayed onto the leak point. After spraying, the walking components move the housing, and the water spraying components are activated to spray water onto the repair coating, promoting rapid solidification. Even if the inside of the pipeline is damp after being cleaned with water, the water spraying components can be left undone, allowing for flexible operation and enabling rapid location and repair of leaks on the inner wall of the pipeline, thus improving repair efficiency. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the isometric structure of the present invention; Figure 2 This is a cross-sectional axonometric structural schematic diagram of the present invention; Figure 3 This is an exploded structural diagram of the present invention; Figure 4 This is an enlarged structural diagram of the sealing plate and baffle, etc. Figure 5 This is an exploded structural diagram of the mounting plate and water storage tank, etc. Figure 6 This is an enlarged structural diagram of the hollow circular plate and the No. 2 electric push rod, etc. Figure 7 yes Figure 6 A partially enlarged structural diagram of section A in the middle; Figure 8 This is an enlarged structural diagram of the No. 2 pump body and the No. 2 telescopic hose, etc. Figure 9 It is a cross-sectional structural diagram of the outer shell and water outlet hard pipe, etc. Figure 10 This is a side view of the structure of the present invention; Figure 11 This is a cross-sectional structural diagram of the present invention.

[0022] In the attached diagram, the following markings are used: 101, housing; 102, controller; 103, handle; 104, grip; 201, first pivot pin; 202, first connecting plate; 203, second pivot pin; 204, mounting base; 205, first hinge base; 206, second hinge base; 207, first electric push rod; 208, electric moving trolley; 301, mounting plate; 302, sealing plate; 303, second electric push rod; 304, moving plate; 305, light bar; 306, hollow circular plate; 307, transparent protective cover; 3 08. Sealing gasket; 401. Storage tank; 402. Pump body No. 1; 403. Telescopic hose No. 1; 404. Nozzle; 405. Solenoid valve; 501. Water storage tank; 502. Pump body No. 2; 503. Water outlet rigid pipe; 504. Fixing plate; 505. Telescopic hose No. 2; 506. Movable plate; 507. Water supply rigid pipe; 508. Spring-loaded check valve; 509. Atomizing nozzle; 510. Tension spring; 511. Baffle; 512. Guide rod; 601. Housing; 602. Cut-off block; 603. Pull rod. Detailed Implementation

[0023] To facilitate understanding of the present invention, a more complete description will be given below with reference to the accompanying drawings. The present invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

[0024] like Figures 1 to 11 As shown, the present invention discloses a pipe damage repair robot suitable for use in dark environments, comprising a housing 101 and a controller 102. The controller 102 is mounted on the housing 101. The robot also includes multiple walking components, scanning and repair components, and a water spraying component. The walking components are circumferentially arranged on the outer wall of the housing 101 and used for the housing 101 to move within the pipe. The scanning and repair components are mounted on the housing 101 and used for leak detection and paint spraying. The water spraying component is mounted on the housing 101 and used to spray water onto the applied paint to accelerate its solidification. The controller 102... Electrically connected to the walking component, scanning and repair component, and water spray component, it is important to understand that the controller 102 uses a commercially available programmable logic controller or microcontroller module, which has a built-in walking control program, a lidar data processing program, a solenoid valve selection program, and a water pump start / stop program. These control programs are existing technologies that can be directly written by those skilled in the art according to functional requirements. The connection cables between the controller 102 and each electrical component are all introduced into the housing 101 through waterproof sealing joints, and a centralized wiring trough is provided inside the housing 101 to avoid loose or short-circuited cables. Furthermore, the walking assembly includes a first axle pin 201, a first connecting plate 202, a second axle pin 203, a mounting base 204, a first hinge seat 205, a second hinge seat 206, a first electric push rod 207, and an electric moving trolley 208. The first ends of the two sets of first connecting plates 202 are respectively hinged to the outer wall of the housing 101 via the first axle pin 201, and the second ends of the two sets of first connecting plates 202 are hinged to the bottom end of the mounting base 204 via the second axle pin 203. An electric moving trolley 208 is installed at the top of 04. The first end of the first electric push rod 207 is hinged to the outer wall of the housing 101 via the first hinge seat 205, and the second end of the first electric push rod 207 is hinged to the bottom end of the mounting base 204 via the second hinge seat 206. The two sets of first connecting plates 202 are kept in a parallel state to form a parallelogram linkage mechanism. The first electric push rod 207 is electrically connected to the controller 102. It should be noted that the first electric push rod 207... 7. The No. 1 shaft pin 201, the No. 2 shaft pin 203, and each hinge seat are all moving parts exposed to the pipeline environment. To prevent mud and sand in sewage from entering the hinge gap, lip-shaped sealing rings are provided at both ends of the No. 1 shaft pin 201 and the No. 2 shaft pin 203, and waterproof lubricant is filled in the movable gap of each hinge seat. The telescopic rod of the No. 1 electric push rod 207 is fitted with a foldable dustproof rubber cover. One end of the dustproof rubber cover is fixed to the housing of the No. 1 electric push rod 207, and the other end is fixed to the end of the telescopic rod, so as to always isolate external dirt during the extension and retraction process. As an alternative, the No. 1 electric push rod 207 can also be replaced by an electric screw mechanism or a hydraulic push rod, as long as it can achieve linear extension and retraction drive. The electric mobile trolley 208 is a tracked or wheeled independent drive trolley purchased from the market. It has a built-in geared motor and encoder, and can walk autonomously on the inner wall of the pipeline and feed back the walking status signal to the controller 102. Furthermore, the scanning and repair assembly includes a mounting plate 301, a sealing plate 302, a second electric push rod 303, a moving plate 304, a light bar 305, a hollow circular plate 306, a transparent protective cover 307, and a spraying assembly. The mounting plate 301 is fixedly installed inside the housing 101. A second electric push rod 303 is installed at the left end of the mounting plate 301. A moving plate 304 is installed at the moving end of the second electric push rod 303. A light bar 305 is installed at the left end of the moving plate 304. The light bar 305 is slidably connected to the mounting plate 301 and fixedly connected to the hollow circular plate 306. A light bar 305 is installed at the left end of the hollow circular plate 306. A transparent protective cover 307 is provided, with a sealing plate 302 at its left end. A circular hole (number one) is located at the left end of the housing 101, and the sealing plate 302 seals this hole. A spraying assembly is mounted on the hollow circular plate 306. A laser radar is installed inside the transparent protective cover 307. It is important to note that a self-lubricating copper sleeve or linear bearing is installed at the sliding joint between the laser rod 305 and the mounting plate 301, and an O-ring seal is installed in the sliding gap to prevent moisture from inside the housing 101 or externally seeping sewage from entering the electrical cavity on the right side of the mounting plate 301. The second electric push rod 30... The telescopic rod 3 is also fitted with a dustproof telescopic cover to prevent jamming due to mud and sand accumulation after long-term use. The sealing plate 302 moves as a whole with the extension and retraction of the second electric push rod 303. When the second electric push rod 303 is in the extended state, the sealing plate 302 is tightly pressed against the end face of the first round hole on the left end of the housing 101 to form a seal. When the second electric push rod 303 is shortened, the sealing plate 302 moves to the left along with the transparent protective cover 307 and disengages from the first round hole, thereby releasing the seal. The lidar installed inside the transparent protective cover 307 is a 360° mechanical rotating lidar, which integrates a rotating motor and a rangefinder. The module can emit laser pulses to the inner wall of the pipe and receive echo signals under no light conditions, thereby generating three-dimensional point cloud data of the inner wall of the pipe. After receiving the point cloud data, the controller 102 calculates the location, size and circumferential angle of the damage crack relative to the robot axis through the built-in defect recognition algorithm. As an alternative, the second electric push rod 303 can also adopt a combination structure of electric lead screw and guide rod, as long as it can drive the moving plate 304 to move back and forth in a straight line. The lidar can also adopt a solid-state lidar combined with an external rotating gimbal to achieve 360° scanning. Furthermore, the spraying assembly includes a storage tank 401, a primary pump body 402, a primary telescopic hose 403, a spray nozzle 404, and a solenoid valve 405. The storage tank 401 is located inside the housing 101. The primary pump body 402 is mounted on the storage tank 401. The input end of the primary pump body 402 is connected to the output end of the storage tank 401, and the output end of the primary pump body 402 is connected to the input end of the primary telescopic hose 403. The output end of the primary telescopic hose 403 is connected to the input end of the hollow circular plate 306. Multiple sets of spray nozzles 404 are arranged circumferentially on the outer wall of the hollow circular plate 306. Each set of spray nozzles... A set of solenoid valves 405 are respectively installed on the head 404. Both the first pump body 402 and the solenoid valves 405 are electrically connected to the controller 102. The storage tank 401 is filled with coating material, which is preferably a single-component water-reactive polyurethane grouting material or a fast-setting epoxy material. It should be noted that since the coating material stored in the storage tank 401 is a water-reactive material, a desiccant filter and a one-way breather valve are installed at the opening of the storage tank 401 to prevent moisture in the air from entering the tank and causing the coating to cure prematurely. The first telescopic hose 403 is made of polytetrafluoroethylene with a smooth inner wall. Made of ethylene material, it is covered with a stainless steel braided layer and a waterproof protective layer to resist sewage corrosion and mechanical wear. An annular flow channel is provided inside the hollow circular plate 306, which is connected to the inlet of each nozzle 404. When the controller 102 opens the corresponding solenoid valve 405 based on the damage angle detected by the laser radar, the first pump 402 starts. The paint in the storage tank 401 enters the annular flow channel of the hollow circular plate 306 through the first telescopic hose 403, and is sprayed outward from the corresponding nozzle 404 through the open solenoid valve 405. Since the nozzles 404 are evenly arranged around the circumference of the hollow circular plate 306 and each nozzle 404 corresponds to a fixed spray angle, the controller 102 only needs to select the nozzle 404 closest to the damage angle and open its solenoid valve 405 to achieve directional spraying without any rotating mechanism. As an alternative, the solenoid valve 405 can be a normally closed direct-acting solenoid valve, and its valve body and nozzle 404 are quickly connected by threads for easy replacement. The first pump body 402 can be a diaphragm pump or a gear pump, as long as it can provide a stable paint delivery pressure. Furthermore, the water spray assembly includes a water storage tank 501, a second pump body 502, a water outlet hard pipe 503, a fixed plate 504, a second telescopic hose 505, a movable plate 506, a water delivery hard pipe 507, a spring-loaded check valve 508, an atomizing nozzle 509, a tension spring 510, and a baffle 511. The water storage tank 501 is located inside the housing 101, and the second pump body 502 is mounted on the water storage tank 501. The fixed plate 504 is located inside the housing 101, and a guide rod 512 is fixedly mounted between the fixed plate 504 and the housing 101. A movable plate 506 is slidably mounted on the guide rod 512. A second telescopic hose 505 is positioned between the movable plate 506 and the fixed plate 504. The output end of the second pump body 502 is equipped with a water outlet hard pipe 503, which delivers water... The outlet is connected to the inlet of the second telescopic hose 505. A water supply rigid pipe 507 is installed on the movable plate 506, and the inlet of the water supply rigid pipe 507 is connected to the outlet of the second telescopic hose 505. A tension spring 510 is installed between the fixed plate 504 and the movable plate 506, and the tension spring 510 is fitted on the outside of the second telescopic hose 505. A spring-loaded check valve 508 is installed on the water supply rigid pipe 507. The spring-loaded check valve 508 contains a valve core and a return spring. When the water pressure before the valve is lower than the preload of the return spring, the valve core remains closed, thus cutting off the water flow. When the water pressure before the valve exceeds the preload of the return spring, the valve core is pushed open, allowing the water to flow through. After the water pressure disappears, the return spring automatically pushes the valve core back to the closed state. Multiple sets of atomizing nozzles 509 are installed in a circumferential array on the water supply hose. On the outer wall of the water pipe 507, a baffle 511 is provided at the end of the water pipe 507 away from the fixed plate 504. A second circular hole is provided at the right end of the housing 101. The baffle 511 seals the second circular hole. It should be noted that the sliding fit between the guide rod 512 and the movable plate 506 is also provided with a self-lubricating bearing and a dustproof sealing ring to prevent sewage from entering the cavity on the right side of the movable plate 506. The second telescopic hose 505 is a corrugated polyurethane hose, which is fitted with a steel wire sheath to enhance its pressure resistance. When the second pump body 502 is started, the water in the water storage tank 501 enters the interior of the second telescopic hose 505 through the outlet water pipe 503. As the water pressure increases, the second telescopic hose 505 expands axially and elongates, thereby pushing the movable plate 506 to the right along the guide rod 512. The movable plate 506 moves the water supply pipe 507 and baffle 511 to the right, causing baffle 511 to disengage from the second circular hole. The water supply pipe 507 continues to move to the right until the atomizing nozzle 509 is fully extended outside the housing 101. When the water pressure further increases to the opening pressure of the spring-loaded check valve 508, water enters the water supply pipe 507 and is atomized and sprayed outward in a 360° circumference from the multiple atomizing nozzles 509. When the second pump body 502 is closed, the water pressure disappears, and the return spring inside the spring-loaded check valve 508 pushes the valve core to close. At the same time, the tension of the tension spring 510 pulls the movable plate 506 back to the left, causing the water supply pipe 507 and atomizing nozzle 509 to retract into the housing 101. The baffle 511 then presses against the second circular hole to form a seal. This is an alternative solution.The second pump body 502 can also be a pneumatic diaphragm pump or a plunger pump. The tension spring 510 can also be replaced by a compression spring installed on the right side of the movable plate 506, as long as it can provide a restoring force. The spring-loaded check valve 508 can also be replaced by a gravity check valve or a lift check valve, but the spring type is the preferred option because its installation direction is not restricted and its closing response is rapid. Furthermore, the present invention also includes a housing 601, a cutting block 602, and a pull rod 603. The housing 601 is mounted on the water outlet hard pipe 503, the cutting block 602 is slidably mounted inside the housing 601, and the pull rod 603 is mounted on the cutting block 602. The pull rod 603 is slidably connected to the housing 601, and one end of the pull rod 603 is connected to the moving plate 304. It should be noted that this cutting mechanism is used to force the implementation of the timing logic of "detecting spraying first, then spraying water". In the normal state, the second electric push rod 303 is in the extended state, at which time the moving plate 304 is located on the right side. The position is such that the cut-off block 602 is driven by the pull rod 603 to be in the position of cutting off the water outlet hard pipe 503 inside the housing 601, thereby cutting off the water flow channel. When the second electric push rod 303 is shortened to push out the laser radar and the nozzle 404 for detection and spraying, the moving plate 304 moves to the left, and the cut-off block 602 is driven to the left by the pull rod 603, thereby releasing the cut-off of the water outlet hard pipe 503. At this time, the water spraying assembly can flow water normally. This linkage structure ensures that the water spraying assembly cannot be started when the laser radar is not extended or the spraying operation is not completed, avoiding misoperation. Furthermore, a sealing gasket 308 is provided on the sealing plate 302. The sealing gasket 308 is made of fluororubber or silicone rubber material that is resistant to sewage corrosion. When the sealing plate 302 presses against the first circular hole at the left end of the housing 101, the sealing gasket 308 fills the tiny gap between the sealing plate 302 and the housing 101 to form a reliable seal. In addition, a handle 103 is provided on the housing 101. A handle sleeve 104 is fixedly fitted on the outside of the handle 103 to facilitate the movement and gripping by the staff. The transparent protective cover 307 is preferably made of quartz glass. Quartz glass has extremely high light transmittance and extremely low coefficient of thermal expansion, which can effectively resist the deformation caused by temperature changes in the pipeline and ensure the stability of the optical path of the lidar. As an alternative, the transparent protective cover 307 can also be made of high borosilicate glass or polycarbonate material with a hardened coating on the surface, as long as it can meet the requirements of light transmittance and scratch resistance.

[0025] like Figures 1 to 11As shown, this invention discloses a pipe repair robot suitable for use in dark environments. During operation, the pipe is first stopped and the water drained. Workers then use an external pipe cleaning machine to clean impurities from the inner wall of the pipe. After cleaning, the housing 101 is placed inside the pipe. The controller 102 controls multiple sets of first-stage electric push rods 207 to extend synchronously. The first-stage electric push rod 207 pushes the mounting base 204 outwards via first-stage hinge 205 and second-stage hinge 206. Under the constraint of two sets of parallel first-stage connecting plates 202, the mounting base 204 maintains a fixed posture and moves away from the housing 101, causing the electric moving trolley 208 to roll into contact with the inner wall of the pipe. After adapting to different pipe diameters, the controller 102 synchronously starts the electric... The mobile trolley 208, driven by an electric motor, moves the housing 101 inside the pipe to the position to be repaired. Subsequently, the controller 102 controls the second electric push rod 303 to shorten. The second electric push rod 303 then moves the moving plate 304, the light bar 305, the hollow circular plate 306, the transparent protective cover 307, and the sealing plate 302 to the left as a whole. The sealing plate 302 disengages from the first circular hole, releasing the seal. The transparent protective cover 307 and its internal lidar extend through the first circular hole to the outside of the housing 101. The lidar begins a 360° rotation scan of the inner wall of the pipe, emitting laser pulses and receiving echo signals to generate three-dimensional point cloud data, which is transmitted to the controller 102. The controller 102 analyzes the specific damage and cracks using a built-in defect identification algorithm. The position, size, and circumferential angle relative to the robot axis are determined. Simultaneously, when the moving plate 304 moves to the left, it drives the cutting block 602 to move to the left via the pull rod 603, releasing the cutoff of the water outlet hard pipe 503 and preparing for subsequent water spraying. Then, the controller 102 opens the solenoid valve 405 corresponding to the detected damage angle based on the detected damage angle, subsequently starting the first pump body 402. The single-component water-activated polyurethane grouting material or fast-setting epoxy material in the storage tank 401 enters the annular flow channel of the hollow circular plate 306 through the first telescopic hose 403, and is directionally sprayed from the corresponding nozzle 404 onto the damaged area of ​​the pipe inner wall through the open solenoid valve 405. The coating begins to rapidly solidify after contacting the natural water film or leaking water on the inner wall of the pipe. If the pipe... After the interior of the coating is relatively dry following cleaning, controller 102 starts pump 502 after spraying. Water from storage tank 501 enters flexible hose 505 via outlet pipe 503. Under water pressure, flexible hose 505 expands axially, pushing movable plate 506 to the right along guide rod 512. Movable plate 506 moves water supply pipe 507 and baffle 511 to the right, causing atomizing nozzles 509 to extend outside housing 101. As water pressure continues to rise until check valve 508 opens, water enters water supply pipe 507 and is sprayed from multiple atomizing nozzles 509 in a 360° omnidirectional atomization pattern. The water mist evenly covers the sprayed coating surface, promoting rapid solidification. After spraying is complete, controller 102 shuts off pump 502.Tension spring 510 pulls movable plate 506 back to the left, atomizing nozzle 509 retracts into housing 101, baffle 511 reseals the second circular hole, and finally controller 102 controls the extension of electric push rod 303 to retract the laser radar and nozzle 404 into housing 101. Sealing plate 302 re-presses the first circular hole, completing the detection and repair of one damage point. The robot continues to the next damage point and repeats the above operation. After all operations are completed, the robot exits the pipeline. This integrated operation process enables rapid location and repair of leaks on the inner wall of the pipeline in a dark environment, without the need for manual entry into the pipeline, fundamentally avoiding the safety hazards caused by toxic and harmful gases and confined spaces.

[0026] The main functions achieved by this invention are: 1. The laser radar non-light detection technology and the directional spraying repair technology of water-based rapid solidification materials are organically integrated into the same robot platform, realizing the integrated operation of detection-positioning-repair; 2. The water pressure driven telescopic mechanism of the 509 atomizing nozzle also eliminates the need for a motor to extend and retract the nozzle; 3. The water spraying is achieved by first scanning and repairing through the truncated block 602.

[0027] The present invention discloses a pipeline damage repair robot suitable for use in dark environments. Its installation, connection, or setting methods are all common mechanical methods, and any method that can achieve its beneficial effects can be implemented. The controller 102, the first electric push rod 207, the electric mobile trolley 208, the second electric push rod 303, the laser radar, the transparent protective cover 307, the coating, the first pump body 402, the solenoid valve 405, the second pump body 502, and the spring check valve 508 of the pipeline damage repair robot suitable for use in dark environments are all commercially available. Technical personnel in this industry only need to install and operate it according to the accompanying instruction manual, without requiring any creative work from those skilled in the art.

[0028] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A pipe breakage repair robot suitable for use in dark environments, characterized in that, The system includes a housing (101) and a controller (102), wherein the controller (102) is disposed on the housing (101), and further includes: Multiple sets of walking components are arranged circumferentially on the outer wall of the housing (101) for the housing (101) to move inside the pipe; A scanning and repair assembly, which is mounted on the housing (101), is used for leak detection and paint spraying on the pipeline; A water spraying assembly, which is mounted on the housing (101), is used to spray water onto the coated paint to make the paint solidify quickly. The controller (102) is electrically connected to the walking component, the scanning and repair component and the water spraying component.

2. The pipeline repair robot suitable for use in dark environments as described in claim 1, characterized in that, The walking assembly includes a first axle pin (201), a first connecting plate (202), a second axle pin (203), a mounting base (204), a first hinge base (205), a second hinge base (206), a first electric push rod (207), and an electric moving trolley (208). The first ends of the two sets of first connecting plates (202) are respectively hinged to the outer wall of the housing (101) through the first axle pin (201), and the second ends of the two sets of first connecting plates (202) are connected to the mounting base through the second axle pin (203). The bottom end of (204) is hinged, and the top end of the mounting base (204) is provided with an electric moving trolley (208). The first end of the first electric push rod (207) is hinged to the outer wall of the housing (101) through the first hinge seat (205). The second end of the first electric push rod (207) is hinged to the bottom end of the mounting base (204) through the second hinge seat (206). The two sets of first connecting plates (202) are kept in parallel. The first electric push rod (207) is electrically connected to the controller (102).

3. The pipeline repair robot suitable for use in dark environments as described in claim 1, characterized in that, The scanning repair component includes a mounting plate (301), a sealing plate (302), a second electric push rod (303), a moving plate (304), a light bar (305), a hollow circular plate (306), a transparent protective cover (307), and a spraying component. The mounting plate (301) is fixedly installed inside the housing (101). A second electric push rod (303) is installed at the left end of the mounting plate (301). A moving plate (304) is installed at the moving end of the second electric push rod (303). The left end of the moving plate (304) is equipped with... A light bar (305) is provided, which is slidably connected to the mounting plate (301) and fixedly connected to the hollow circular plate (306). A transparent protective cover (307) is provided at the left end of the hollow circular plate (306), and a sealing plate (302) is provided at the left end of the transparent protective cover (307). A first circular hole is provided at the left end of the housing (101), and the sealing plate (302) seals the first circular hole. A spraying assembly is provided on the hollow circular plate (306), and a laser radar is provided inside the transparent protective cover (307).

4. The pipe damage repair robot suitable for use in dark environments as described in claim 3, characterized in that, The spraying assembly includes a storage tank (401), a first pump body (402), a first telescopic hose (403), a spray nozzle (404), and a solenoid valve (405). The storage tank (401) is located inside the housing (101). The first pump body (402) is mounted on the storage tank (401). The input end of the first pump body (402) is connected to the output end of the storage tank (401), and the output end of the first pump body (402) is connected to the input end of the first telescopic hose (403). The output end of the telescopic hose (403) is connected to the input end of the hollow circular plate (306). Multiple sets of nozzles (404) are arranged circumferentially on the outer side wall of the hollow circular plate (306). Each set of nozzles (404) is equipped with a set of solenoid valves (405). The pump body (402) and the solenoid valves (405) are electrically connected to the controller (102). The storage tank (401) is filled with coating material, which is a single-component water-active polyurethane grouting material or a fast-setting epoxy material.

5. A pipe breakage repair robot suitable for use in dark environments as described in claim 3, characterized in that, The water spray assembly includes a water storage tank (501), a second pump body (502), a water outlet hard pipe (503), a fixed plate (504), a second telescopic hose (505), a movable plate (506), a water supply hard pipe (507), a spring-loaded check valve (508), an atomizing nozzle (509), a tension spring (510), and a baffle (511). The water storage tank (501) is located inside the housing (101), and the second pump body (502) is mounted on the water storage tank (501). A fixed plate (504) is located inside the housing (101), and a guide rod (512) is fixedly mounted between the fixed plate (504) and the housing (101). A movable plate (506) is slidably mounted on the guide rod (512), and a second telescopic hose (505) is mounted between the movable plate (506) and the fixed plate (504). The second pump body (502) supplies water to the... A water outlet hard pipe (503) is provided at the outlet end. The output end of the water outlet hard pipe (503) is connected to the input end of the second telescopic hose (505). A water supply hard pipe (507) is provided on the movable plate (506). The input end of the water supply hard pipe (507) is connected to the output end of the second telescopic hose (505). A tension spring head (510) is provided between the fixed plate (504) and the movable plate (506). The tension spring (510) is fitted on the outside of the second telescopic hose (505). A spring-type check valve (508) is provided on the water supply hard pipe (507). Multiple sets of atomizing nozzles (509) are installed in a circumferential array on the outer wall of the water supply hard pipe (507). A baffle (511) is provided at the end of the water supply hard pipe (507) away from the fixed plate (504). A second round hole is provided at the right end of the housing (101). The baffle (511) seals the second round hole.

6. The pipeline repair robot suitable for use in dark environments as described in claim 5, characterized in that, It also includes a housing (601), a cutting block (602) and a pull rod (603). The housing (601) is installed on the water outlet hard pipe (503). The cutting block (602) is slidably installed inside the housing (601). The pull rod (603) is installed on the cutting block (602). The pull rod (603) is slidably connected to the housing (601). One end of the pull rod (603) is connected to the moving plate (304).

7. A pipe breakage repair robot suitable for use in dark environments as described in claim 3, characterized in that, It also includes a sealing gasket (308), which is provided on the sealing plate (302).

8. The pipe breakage repair robot as described in claim 1, characterized in that, It also includes a housing (101) on which a handle (103) is provided.

9. A pipe breakage repair robot suitable for use in dark environments as described in claim 7, characterized in that, It also includes a grip sleeve (104), which is fixedly fitted on the outside of the handle (103).

10. A pipe breakage repair robot suitable for use in dark environments as described in claim 3, characterized in that, The transparent protective cover (307) is made of quartz glass.

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