Non-excavation bidirectional local repairing device for pipeline

Abstract

The utility model relates to the technical field of pipeline repair, in particular to a trenchless pipeline two-way local repair device which comprises a supporting frame, a ground control system, an electronic visual system, a mechanical arm control system, gas supply equipment, a material supply system and a power supply system, and the electronic visual system, the mechanical arm control system, the gas supply equipment, the material supply system and the power supply system are respectively and wirelessly connected with the ground control system. The power supply system is electrically connected with the electronic visual system, the mechanical arm control system, the gas supply equipment and the material supply system. The air supply equipment comprises an air bag and air supercharging equipment, the air supercharging equipment is connected with the air bag through an air pipeline, and the air supercharging equipment is wirelessly connected with the ground control system; the material supply system comprises a material supply system and a water supply system which are arranged in the supporting frame and connected to the repairing tool through pipelines. The device is operated on the ground and is particularly suitable for pipelines which are difficult to repair manually; the air bag of the device expands in a self-adaptive mode according to the inner diameter of the pipeline, so that the repairing material can be tightly attached to the inner walls of the pipelines in various shapes.

Description

Technical Field

[0001] This utility model relates to the field of pipeline repair technology, specifically to a trenchless bidirectional partial pipeline repair device. Background Technology

[0002] With the continuous development of urban infrastructure, underground pipeline systems are becoming increasingly complex, and aging problems are becoming more and more prominent. Traditional pipeline repair methods usually require large-scale excavation, which is not only time-consuming and costly, but also has a serious impact on the surrounding environment and traffic. When repairing drainage pipelines in busy urban areas, excavation work may cause road congestion and hinder the normal operation of surrounding businesses.

[0003] In recent years, trenchless pipeline repair technologies have emerged, such as lining, winding, and spraying. While these technologies have solved the problems of trenchless repair to some extent, they still have the following limitations: for pipes with small diameters, it is difficult for personnel to enter the pipe for repairs; lining materials are difficult to fit pipes with complex shapes; and existing technologies are not ideal for repairing large damage or cracks, and are prone to re-leakage. Utility Model Content

[0004] To address the shortcomings of existing technologies, this utility model provides a trenchless bidirectional partial pipeline repair device. Operating from the ground significantly improves personnel safety and is particularly suitable for pipelines where manual access is difficult. The device's air bladder adaptively expands according to the pipeline's inner diameter, allowing the repair material to tightly conform to the inner wall of pipelines of various shapes. Utilizing repair tools and a material supply system, the device enables rapid and accurate pipeline repair, ensuring the integrity and reliability of the repair.

[0005] The specific technical solution is as follows:

[0006] A trenchless bidirectional partial pipeline repair device includes a support frame, a ground control system, and an electronic visual system, a robotic arm control system, an air supply device, a material supply system, and a power supply system, all wirelessly connected to the ground control system. The power supply system is electrically connected to the electronic visual system, the robotic arm control system, the air supply device, and the material supply system.

[0007] The support frame is provided with multiple height-adjustable rollers and hydraulic outriggers along the circumference, and the rollers and hydraulic outriggers are wirelessly connected to the ground control system.

[0008] The electronic visual system includes a camera, a supplementary light, and an anti-fog device, with two sets of devices installed at the front and back of the support frame, and the camera is wirelessly connected to the ground control system.

[0009] The robotic arm control system is set in two sets at the front and rear of the support frame. Each set of control systems is equipped with a telescopic operating arm, which is installed on both sides of the support frame.

[0010] The telescopic boom has a detachable mounting base at its front end, and the mounting base is equipped with repair tools.

[0011] The air supply equipment is set up in two sets, each including an airbag and an air booster. Each set of air supply equipment is placed in front of and behind the support frame. The air booster is connected to the airbag through an air pipe and is wirelessly connected to the ground control system.

[0012] The material supply system includes a material supply system and a water supply system installed within the support frame, which are connected to the repair tools via pipes.

[0013] The telescopic operating arm has a standard interface at its front end, which is detachably connected to the mounting base. The mounting base has a rotating chassis at its bottom.

[0014] The repair tools include a rotary scraper, a high-pressure air gun, a water gun, and a repair paint spray gun;

[0015] The rotary scraper is fixed by screwing the scraper handle thread into the threaded hole at the center of the rotating chassis at the bottom of the mounting base. The scraper is driven by an independently set DC geared motor. The DC geared motor is mounted on the side of the rotating chassis through a flange. The output shaft of the DC geared motor is connected to the scraper handle through a synchronous belt transmission mechanism. The DC geared motor is wirelessly connected to the ground control system.

[0016] The high-pressure air gun and water gun are connected by quick-connect method, respectively through quick-connect connectors and quick-connect interfaces, and quick-connect nuts to the air supply equipment and water supply system. The ends of the high-pressure air gun and water gun are respectively connected to the rotating chassis by threads. The air supply equipment and water supply system are both wirelessly connected to the ground control system.

[0017] The repair paint spray gun is fixed to the preset installation interface on the side of the mounting base by a threaded connection, and the inlet of the repair paint spray gun is connected to the material box through a pressure-resistant conveying pipe.

[0018] The telescopic manipulator includes a base, two rotating joints, two fixed bodies, two movable bodies, and two air / liquid pipes. The base is fixed to an underground support frame and electrically connected to a power supply system within the frame via a cable, providing power to the entire telescopic manipulator. The base connects to the first rotating joint, which has a built-in servo motor and is driven by the power supply system to achieve horizontal rotation. Above the first fixed body is the first fixed body, whose internal cavity is pneumatically / hydraulically coupled with the first movable body. The first air / liquid pipe connects to an air pressurization device / pressure water pump, which is wirelessly connected to a ground control system. Injecting gas / liquid propels the first movable body to extend and retract vertically. The end of the first movable body connects to the second rotating joint, which is also driven by the power supply system to achieve pitch adjustment. Above the second rotating joint, the second fixed body and the second movable body are connected in series to form a two-stage telescopic structure, with extension and retraction controlled by the second air / liquid pipe. The end of the second movable body is connected to a mounting base for carrying repair tools.

[0019] The mounting base is fixedly installed at the front end of the telescopic operating arm. The bottom of the mounting base is equipped with a rotating mechanism, which includes a rotating chassis, a drive motor, and a coupling. The rotating chassis is rotatably connected to the front end of the telescopic operating arm through annular ball bearings and is axially fixed by flange bolts. The drive motor is fixedly installed inside the front end of the telescopic operating arm, and its output shaft is rigidly connected to the main shaft of the rotating chassis through the coupling. A conductive plastic angle sensor is installed at the connection point of the mounting base. The drive motor and the angle sensor are connected to the PLC controller in the ground control system through a waterproof cable.

[0020] The feeding system includes a material bin, a conveying pipeline, and a metering pump. The material bin is connected to the repair tool through the conveying pipeline, and the metering pump is installed on the pipeline and wirelessly connected to the ground control system. The material bin is equipped with a heating device and a stirring device.

[0021] The heating device adopts a double-layer jacketed structure and is connected to an external electric heating furnace through a circulating pump. Temperature sensors are evenly distributed on the inner wall of the material box to realize closed-loop control of the heating temperature. The heating device and temperature sensors are wirelessly connected to the ground control system.

[0022] The mixing device adopts a top-mounted dual-shaft design structure. Two geared motors are symmetrically installed on the top of the material box. The geared motors are connected to the mixing shafts through couplings. The two sets of mixing shafts rotate in opposite directions. The speed of the geared motors is independently adjusted by the frequency converter to form cross-convection mixing. A flow meter is connected to the bottom of the material box. The geared motors, frequency converters, and flow meters are all electrically connected to the ground control system.

[0023] The water supply system includes a water storage tank, a water pressure pump, a water supply pipeline, and an electric regulating valve. The water storage tank is connected to the inlet of the water pressure pump through the water supply pipeline, and the outlet of the water pressure pump is connected to the water gun through a pipeline. An electric regulating valve is installed on the outlet pipeline. The water pressure pump and the electric regulating valve are wirelessly connected to the ground control system.

[0024] The adaptive inflation process of the airbag is achieved through an intelligent air pressure regulation system, which includes a pressure sensor and a solenoid valve that are wirelessly connected to the ground control system.

[0025] A pressure sensor is installed inside the airbag to monitor the air pressure inside the airbag in real time, and a solenoid valve is installed on the air duct.

[0026] The power supply system has two sets, installed in the upper and lower areas of the device respectively, and uses lithium battery packs. The output of the lithium battery packs is connected to various electrical components of the device through multiple sets of insulated cables. One set of cables is connected to the robotic arm control system, which is connected to the drive devices of the telescopic manipulator, servo motor, air booster / pressure water pump, rotating motor of the mounting base, rotating scraper, high-pressure air gun, water gun, and repair paint spray gun. The other set of cables is connected to the electronic vision system, which is connected to the 360° camera, supplementary lighting, and anti-fog device. Another set of cables is connected to the air supply equipment and the air booster. In addition, the output of the lithium battery packs is also connected to the material supply system through cables, which is connected to the electric heating furnace of the heating device of the material bin, the motor of the stirring device, the pressure water pump, the metering pump, and the solenoid valve.

[0027] The adjustable height roller is a Mecanum roller, and the height adjustment range of the adjustable height roller is 50mm-150mm.

[0028] The surface of the roller is covered with a rubber layer.

[0029] The beneficial effects of this utility model are:

[0030] This invention is applicable to the repair of rainwater and sewage pipes without excavation: it avoids the damage to ground facilities and the surrounding environment caused by traditional excavation construction, reduces the impact on traffic and residents' lives, and significantly reduces construction costs and time. For example, in the repair of rainwater and sewage pipes under urban main roads, trenchless construction can avoid traffic congestion caused by prolonged road closures. Highly efficient repair: Through replaceable repair tools and a precise material supply system, pipes can be repaired quickly and accurately, improving repair efficiency, quality, and pipe lifespan. Compared with existing trenchless technologies, this device uses airbags to adhere and shape the sprayed material, better addressing different degrees and types of pipe damage, ensuring the integrity and reliability of the repair. Strong adaptability: It is suitable for repairing pipes of various materials and diameters, whether metal, plastic, or concrete, all can be effectively repaired using this device and method. Compared to the poor adaptability of lining materials to pipe shapes in some existing trenchless technologies, the airbags in this technology can adaptively expand according to the pipe's inner diameter, allowing the repair material to tightly adhere to the inner wall of pipes of various shapes, greatly expanding its applicability. Shorter construction period: If manual well-drilling is used for repair, a high-powered blower must be used to ventilate the entire pipeline before and after the workers enter the well, and the gas must be tested and found to be qualified. This device can greatly shorten the construction period. This utility model overcomes the limitations of existing trenchless technology, achieving fast, efficient, low-cost, and environmentally friendly pipeline repair, significantly improving repair quality and pipeline service life. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of the structure of a trenchless bidirectional partial pipeline repair device according to the present invention.

[0032] Figure 2 for Figure 1 Schematic diagram of the structure along direction A;

[0033] Figure 3 This is a schematic diagram of the telescopic operating arm structure in this utility model;

[0034] Figure 4 This is a schematic diagram of the repair tool structure in this utility model;

[0035] The components include: 1. Support frame; 2. Rollers; 3. Telescopic operating arm; 31. Base; 32-1. First rotating joint; 32-2. Second rotating joint; 33-1. First fixed body; 33-2. Second fixed body; 34-1. First moving body; 34-2. Second moving body; 36-1. First air / liquid pipe; 36-2. Second air / liquid pipe; 4. Mounting seat; 40. Pressure-resistant conveying pipeline; 42. Rotating chassis; 43. Connecting hole; 44. Rotating scraper; 45. High-pressure air gun; 46. Air pipe; 47. Water gun; 48. Water pipe; 49. Repair paint spray gun; 8. Material box; 9. Metering pump; 10. Airbag; 11. Hydraulic outrigger; 12. Camera; 13. Air booster; 14. Lithium battery pack; 15. Pressure water pump; 17. Water storage tank. Detailed Implementation

[0036] To better explain and facilitate understanding of this utility model, the technical solution and effects of this utility model will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0037] like Figure 1-4 As shown, this embodiment provides a trenchless bidirectional partial pipeline repair device, including a support frame 1, a ground control system, and an electronic visual system, a robotic arm control system, an air supply device, a material supply system, and a power supply system, all wirelessly connected to the ground control system; the power supply system is electrically connected to the electronic visual system, the robotic arm control system, the air supply device, and the material supply system, respectively.

[0038] The support frame 1 is provided with multiple height-adjustable rollers 2 and hydraulic outriggers 11 along the circumference. The rollers 2 and hydraulic outriggers 11 are wirelessly connected to the ground control system.

[0039] The electronic visual system includes a camera 12, a supplementary light, and an anti-fog device, with two sets of cameras respectively set at the front and back of the support frame 1. The camera 12 is wirelessly connected to the ground control system.

[0040] The robotic arm control system is set in two sets at the front and rear of the support frame 1. Each set of control systems is equipped with a telescopic operating arm 3, which is installed on the top of the support frame 1.

[0041] The telescopic operating arm 3 is detachably connected to the mounting base 4 at its front end, and the mounting base 4 is equipped with repair tools.

[0042] The air supply system is set up in two groups, each including an airbag 10 and an air booster device 13. Each group of air supply systems is placed in front of and behind the support frame 1. The air booster device 13 is connected to the airbag 10 through an air pipe and is wirelessly connected to the ground control system.

[0043] The material supply system includes a material supply system and a water supply system installed within the support frame 1, which are respectively connected to the repair tool via pipes.

[0044] Furthermore, the adaptive inflation process of the airbag 10 is achieved through an intelligent air pressure regulation system, which includes a pressure sensor and a solenoid valve that are wirelessly connected to the ground control system.

[0045] A pressure sensor is installed inside the airbag 10 to monitor the air pressure inside the airbag 10 in real time, and a solenoid valve is installed on the air duct.

[0046] Specifically, this device uses a ground control system to control the electronic visualization system, robotic arm control system, gas supply equipment, and material supply system. The various components work together to repair the pipeline.

[0047] In this embodiment, the support frame 1 has a hexagonal cross-section, facilitating the installation of rollers 2 and hydraulic outriggers 11 on its surfaces and edges. During use, the hexagonal section of the support frame 1 faces the pipe channel. The support frame 1 is equipped with six height-adjustable rollers 2 evenly distributed along its circumference for movement and positioning within the pipe. The support frame 1 is made of high-strength aluminum alloy. The support frame 1 is also equipped with six height-adjustable hydraulic outriggers 11 evenly distributed along its circumference for securing the entire device. The position and number of rollers 2 and hydraulic outriggers 11 can be configured according to the cross-sectional shape for ease of use.

[0048] Two sets of electronic visual systems are respectively set at the front and rear of the support frame 1, so that when the device is placed in the pipe, the electronic visual systems are set along the front and rear of the pipe respectively, including a camera 12, a supplementary light, and an anti-fog device, for observing and recording the internal conditions of the pipe. The camera 12 can capture 360°, and the image of the camera 12 is transmitted to the main controller of the ground control system in real time. The staff can operate the device through the ground control system based on the real-time image. The ground control system preferably adopts Futaba model: T18MZ WC to realize the monitoring and control functions of the device.

[0049] Two sets of robotic arm control systems are respectively set at the front and rear of the support frame 1, so that when the device is placed in the pipe, the robotic arm control systems are set along the front and rear of the pipe. One set is normally on standby, and both sets work simultaneously when the pipe is severely damaged or when there are strict requirements for the construction period. Each control system is equipped with a telescopic operating arm 3, which is centrally and symmetrically installed at the top and bottom of the support frame 1. The mounting base 4 is used to install repair tools. The mounting base 4 is replaceable to adapt to different repair needs.

[0050] The airbag 10 extends forward in accordance with the direction of the pipe. The size of the airbag 10 is designed according to common pipe specifications to ensure effective deployment within the pipe. The airbag 10 is connected to the air pressurization device 13 through an air pipe. The airbag 10 is made of high-strength rubber, with an inflation pressure range of 0.1MPa-0.3MPa. After inflation, the diameter is suitable for pipe diameters of DN200-DN800. The inflation time is 1-2 minutes, and the deflation time is 30-60 seconds.

[0051] The air booster device uses an electric air pump or air compressor, fixed inside the support frame 1. The air booster device 13 must have remote control functionality (e.g., via a relay switch). A pressure sensor is installed inside the airbag 10 (or on the inflation pipe) to detect pressure changes after the airbag 10 contacts the pipe wall. The ground control system includes a main controller (PLC, used for signal processing and logic control), a wireless communication module (transmitter: the wireless module of the ground control system, such as 4G / 5G; receiver: a wireless receiver module installed near the air duct), and a human-machine interface (HMI) (buttons / touchscreen, used to send start commands). The air duct connects the airbag 10 and the air booster device 13. The air duct has a solenoid valve (used to cut off the air path after reaching pressure) and an exhaust valve (used to release air after operation). The main controller is wirelessly connected to the air booster device 13.

[0052] Workflow

[0053] 1. Remote Start

[0054] The ground operator sends a wireless signal via HMI → the receiver module receives the signal → the air pressurization device 13 is activated;

[0055] 2. Inflation and pressure monitoring

[0056] The air booster 13 inflates the airbag 10 through the air tube → the airbag 10 expands and contacts the tube wall → the internal pressure of the airbag 10 increases.

[0057] 3. The pressure sensor feeds back the data inside the airbag to the main controller in real time (e.g., the pressure threshold is set to 5 psi).

[0058] 4. Automatic stop

[0059] When the pressure reaches the set threshold, turn off the air booster device 13 (or open the solenoid valve to release pressure);

[0060] The pressure sensor sends a feedback signal back to the ground control system, and the human-machine interface displays "Inflation complete";

[0061] 5. Exhaust

[0062] The exhaust valve is opened via remote control signal through the human-machine interface, and the airbag 10 is released after it contracts.

[0063] Roller 2 adopts a centralized drive method, with a single motor connected to the input shaft of the transfer case via a coupling. The transfer case distributes power to the drive shafts of each roller 2 through a gear set or chain drive to achieve synchronous rotation. The single motor is wirelessly connected to the wireless remote controller of the ground control system, thereby enabling control by the ground control system.

[0064] The overall drive system of the hydraulic outrigger 11 includes a hydraulic power unit (including an electric hydraulic pump fixed to the support frame 1 via a flange, an oil tank connected via oil pipes, and a control valve group), and a hydraulic actuator (a hydraulic cylinder fixed to the support frame 1 via a flange or hinged support, whose piston rod is rigidly connected to the outrigger rod of the hydraulic outrigger 11 via threads or pins). The control valve group is wirelessly connected to the main controller of the ground control system. The hydraulic pump output port is connected to the control valve group via a high-pressure oil pipe, and the control valve group is then connected to the inlet and outlet ports of the hydraulic cylinder via hydraulic hoses. A rubber pad or pneumatic damper is installed at the end of the hydraulic outrigger 11 via bolts or quick-release interfaces. During operation, the pressure oil output by the hydraulic pump enters the rodless chamber of the hydraulic cylinder through the solenoid valve of the control valve group, pushing the outrigger to extend vertically. After contacting the pipe, the pressure sensor feeds a signal to the ground control system, causing the hydraulic lock to lock the oil circuit. At the same time, the single motor stops, causing the roller 2 to lift off the ground, thus achieving stable fixation of the equipment. The pressure sensor is installed in the oil circuit of the rodless chamber of the hydraulic cylinder, and the measuring rod of the displacement sensor is mechanically connected to the piston rod of the hydraulic cylinder to directly detect the extension length of the piston rod.

[0065] Furthermore, the surface of roller 2 is covered with a rubber layer.

[0066] Specifically, roller 2 has a rubber layer on its surface, which reduces damage to the inner wall of the pipe.

[0067] Furthermore, the telescopic operating arm 3 has a standard interface at its front end, which is detachably connected to the mounting base 4, and the bottom of the mounting base has a rotating base 42.

[0068] The repair tools include a rotary scraper 44, a high-pressure air gun 45, a water gun 47, and a repair paint spray gun 49;

[0069] The rotating scraper 44 is fixed by screwing the handle thread into the threaded hole at the center of the rotating chassis 42 at the bottom of the mounting base 4. The scraper is driven by an independently set DC geared motor, which is mounted on the side of the rotating chassis 42 through a flange. The output shaft of the DC geared motor is connected to the scraper handle through a synchronous belt transmission mechanism. The DC geared motor is wirelessly connected to the ground control system.

[0070] The high-pressure air gun 45 and water gun 47 adopt a quick-connect method, and are connected to the air supply equipment and water supply system respectively through quick-connect connectors and quick-connect interfaces, and quick-connect nuts. The ends of the high-pressure air gun 45 and water gun 47 are connected to the rotating chassis 42 by threads. The air supply equipment and water supply system are wirelessly connected to the ground control system.

[0071] The repair paint spray gun 49 is fixed to the preset installation interface on the side of the mounting base 4 by a threaded connection, and the inlet of the repair paint spray gun 49 is connected to the material box 8 through the pressure-resistant conveying pipe 40.

[0072] Specifically, such as Figure 3 , Figure 4 As shown, the rotating base 42 is provided with a connection hole 43 for connecting repair tools; the rotating scraper 44 is fixed by screwing the handle thread into the threaded hole at the center of the rotating base 42 at the bottom of the mounting base 4, and the threaded hole is coaxial with the rotating base 42 to ensure rotational concentricity; the blade of the rotating shaft scraper 5 is made of carbide, and the speed can be controlled by the motor within the range of 500rpm-1500rpm; the nozzle diameter of the repair paint spray gun 49 is 2mm-5mm, the spraying angle is 30°-90°, and the spraying pressure is 0.5MPa-1.0MPa; the DC geared motor is controlled by the controller of the ground control system through PWM speed regulation to achieve stepless adjustment of the scraper speed; the motor power line and control signal line are led out through the pre-set wiring groove inside the rotating base 42 and connected to the main controller of the ground control system with a waterproof connector to form a complete electrical control circuit, while ensuring that the wiring will not get tangled during the rotation of the rotating mechanism.

[0073] The high-pressure air gun 45 and water gun 47 are connected via quick-connect couplings to the air supply equipment and water supply system, respectively, through quick-connect connectors and quick-connect interfaces, and quick-connect nuts. The high-pressure air gun 45 is connected to the air supply equipment through the air pipe 46, and the water gun 47 is connected to the water supply system through the water pipe 48. After connection, an air supply or water pressure test is required to ensure no leakage. The air equipment and water supply system are wirelessly connected to the main controller of the ground control system to control the air equipment and water supply system. Among them, the rotating scraper 44, used to remove dirt and rust from the inner wall of the pipe, is driven by a motor and can rotate at high speed to effectively remove impurities.

[0074] Furthermore, the telescopic manipulator 3 includes a base 31, two rotating joints, two fixed bodies, two movable bodies, and two air / liquid pipes. The base 31 is fixed to the underground support frame 1 and electrically connected to the power supply system within the frame via a cable, providing power to the entire telescopic manipulator 3. The base 31 is connected to the first rotating joint 32-1, which has a built-in servo motor and is driven by the power supply system to achieve horizontal rotation. Above it is connected the first fixed body 33-1. The internal cavity of the first fixed body 33-1 is pneumatically / hydraulically engaged with the first movable body 34-1, and connected via the first air / liquid pipe 36- 1. Connect the air pressurization device 13 / pressurized water pump 15. The air pressurization device 13 / pressurized water pump 15 is wirelessly connected to the ground control system. The gas / liquid is filled to drive the first mobile body 34-1 to extend and retract vertically. The end of the first mobile body 34-1 is connected to the second rotating joint 32-2. The second rotating joint 32-2 is also driven by the power supply system to achieve pitch adjustment. The second fixed body 33-2 is connected in series above the second rotating joint 32-2 to form a two-stage telescopic structure with the second mobile body 34-2. The extension and retraction are controlled by the second air / liquid pipe 36-2. The end of the second mobile body 34-2 is connected to the mounting base 4 for carrying the repair tools.

[0075] Specifically, the repair tool is electrically driven and connected to the power supply system via a built-in cable. Ground operators send commands to the control system via a wireless remote control to drive the motors of the rotating joints to adjust their orientation, while simultaneously adjusting air / hydraulic pressure to achieve multi-stage extension and retraction. The camera 12 and sensors on the support frame 1 are all powered by the power supply system, capturing real-time images of the telescopic manipulator 3's movement and wirelessly transmitting them to the ground display screen, ultimately enabling the mounting base 4 to accurately locate the underground target position.

[0076] In the robotic arm control system, the telescopic manipulator 3 is the core execution component, precisely transporting repair tools. The telescopic arm is made of high-strength lightweight alloy. The air booster device 13 / pressure water pump 15 is wirelessly connected to the ground control system's wireless remote control. Ground personnel operate the system via the wireless remote control, which is equipped with intuitive buttons and an LCD screen that can display information such as the telescopic arm's current length, working status, and battery level in real time. Ground personnel can remotely control and switch between different operating modes according to actual needs.

[0077] Furthermore, the mounting base 4 is fixedly installed at the front end of the telescopic operating arm 3. The bottom of the mounting base 4 is provided with a rotating mechanism, which includes a rotating chassis 42, a drive motor, and a coupling. The rotating chassis 42 is rotatably connected to the front end of the telescopic operating arm 3 through annular ball bearings and is axially fixed by flange bolts. The drive motor is fixedly installed inside the front end of the telescopic operating arm 3, and its output shaft is rigidly connected to the main shaft of the rotating chassis 42 through a coupling. A conductive plastic angle sensor is provided at the connection point of the mounting base 4. The drive motor and the angle sensor are connected to the main controller in the ground control system through a waterproof cable.

[0078] Specifically, the PLC controller receives real-time position feedback from the angle sensor and uses a PID algorithm to control the speed and direction of the drive motor, achieving 360° precise rotation control of the repair tool carried by the mounting base 4, with a rotation accuracy of ±1°. The flange bolts are only used to fix the axial position of the bearing and do not restrict rotational movement. The telescopic operating arm 3 has flexible telescopic deformation capabilities, with a telescopic range of 0.5-3.0m and a maximum load capacity of 20kg.

[0079] The connection structure between the front end of the telescopic operating arm 3 and the rotating chassis 42 is as follows: The front end of the telescopic operating arm 3 is equipped with a flange (with an array of bolt holes), which is fastened to the corresponding flange at the bottom of the rotating chassis 42 by high-strength bolts (such as M8 grade); a ring ball bearing (such as HRB 619 / 6 type) is set between the two, with its inner ring interference fit with the flange of the telescopic operating arm 3 and its outer ring fixed to the flange of the rotating chassis 42, realizing relative rotation after the bolts are tightened. The drive motor (such as 57BYG stepper motor) drives the main shaft of the rotating chassis 42 through a flexible coupling (such as JMII-40 type), while the angle sensor (such as WDD35D-4 conductive plastic type) is directly installed at the end of the main shaft to detect the rotation angle in real time and feed the signal back to the ground control system; the control system compares the target angle with the sensor feedback value through a PID algorithm (proportional-integral-derivative control), dynamically adjusts the motor speed and direction, and finally realizes 360° rotation control of the repair tool (accuracy ±1°).

[0080] Furthermore, the feeding system includes a material bin 8, a conveying pipeline, and an electric metering pump 9. The material bin 8 is connected to the repair tool through the conveying pipeline, and the electric metering pump 9 is installed on the pipeline and wirelessly connected to the ground control system. The material bin 8 is equipped with a heating device and a stirring device.

[0081] The heating device adopts a double-layer jacketed structure and is connected to an external electric heating furnace through a circulating pump. Temperature sensors are evenly distributed on the inner wall of the material box 8 to realize closed-loop control of the heating temperature. The heating device and temperature sensors are wirelessly connected to the main controller of the ground control system.

[0082] The mixing device adopts a top-mounted dual-shaft design structure. Two geared motors are symmetrically installed on the top of the material box 8. The geared motors are connected to the mixing shafts through couplings. The two sets of mixing shafts rotate in opposite directions. The speed of the geared motors is independently adjusted by the frequency converter to form cross-convection mixing. A flow meter is connected to the bottom of the material box 8. The geared motors, frequency converters, and flow meters are all wirelessly connected to the ground control system.

[0083] The repair paint spray gun 49 is powered by an electric metering pump 9, which is installed on the delivery pipeline at the outlet of the material hopper 8. The electric metering pump 9 is wirelessly controlled by the main controller of the ground control system, and its output flow is controlled via PWM signals. Operators send commands to start the electric metering pump 9 through the ground human-machine interface (HMI), delivering the repair material to the repair tool at a set flow rate. Simultaneously, the flow parameters can be remotely adjusted. The electric metering pump 9 provides real-time flow data feedback to the ground control system; if the flow exceeds the ±0.1 L / min error range, it automatically calibrates or alarms. After the repair tool completes the pipeline repair work, the ground sends a stop signal to shut down the electric metering pump 9, achieving precise material delivery and remote control of the entire process. Specifically, the electromagnetic control valve of the repair paint spray gun 49 and the electric metering pump 9 are connected to the main controller of the ground control system via waterproof cables. The main controller synchronously controls the start and stop of the electric metering pump 9 and the flow regulation, as well as the opening and closing of the electromagnetic control valve, according to a preset program, achieving precise paint spraying control. Simultaneously, the system can monitor and adjust the spraying pressure and flow parameters in real time.

[0084] To meet the needs of repairing sewage pipes of different diameters, the material box 8 is designed with a capacity of 50-200L. The heating device has a power of 500W, a heating temperature range of 50-120℃, and a temperature control accuracy of ±2℃. The inner layer of the double-layer jacket structure is made of high-temperature and corrosion-resistant 316L stainless steel, which is in direct contact with the material. The outer jacket cavity is equipped with a serpentine seamless steel pipe heat transfer oil pipeline.

[0085] Furthermore, the water supply system includes a water storage tank 17, a water pressure pump 15, a water supply pipeline, and an electric regulating valve; the water storage tank 17 is connected to the inlet of the water pressure pump 15 through the water supply pipeline, the outlet of the water pressure pump 15 is connected to the water gun 47 through the water pipe 48, and an electric regulating valve is installed on the outlet pipeline; the water pressure pump 15 and the electric regulating valve are wirelessly connected to the ground control system.

[0086] Specifically, the main controller of the ground control system synchronously controls the start and stop of the pressurized water pump 15 and the opening of the electric regulating valve via wireless signals. First, the pressurized water pump 15 is started to establish water pressure, and then the water flow is precisely controlled by adjusting the opening of the electric regulating valve. The operator can view the water pressure and flow data in real time on the ground monitoring system and remotely adjust the pump power and valve opening. After the operation is completed, the main controller of the ground control system sends a shutdown command, first closing the electric regulating valve and then stopping the pressurized water pump 15, realizing the precise delivery of high-pressure water and remote closed-loop control of the entire process.

[0087] Furthermore, the power supply system has two sets, installed in the upper and lower areas of the device respectively, using lithium battery packs 14. The output end of the lithium battery packs 14 is connected to various electrical components of the device through multiple sets of insulated cables. One set of cables is connected to the robotic arm control system, and is connected to the drive devices of the telescopic operating arm 3, servo motor, air booster device 13 / pressurized water pump 15, rotating motor of mounting base 4, rotating scraper 44, high-pressure air gun 45, water gun 47, and repair paint spray gun 49 respectively. The other set of cables is connected to the electronic visual system, and is connected to the camera 12, supplementary light, and anti-fog device respectively. Another set of cables is connected to the air supply system and connected to the air booster device 13. In addition, the output end of the lithium battery packs 14 is also connected to the material supply system through cables, and is connected to the electric heating furnace of the heating device of the material box 8, the motor of the stirring device, and the electric metering pump 9.

[0088] Specifically, the power supply system uses a lithium battery pack 14 with an output voltage of 36V-48V. In this trenchless bidirectional local pipeline repair device, the lithium battery pack 14 is designed with a compact modular structure to save space and facilitate maintenance. The output of the lithium battery pack 14 is connected to various electrical components of the device via multiple sets of insulated cables. One set of cables connects to the robotic arm control system, which is connected to the drive motors of the telescopic cylinder of the telescopic operating arm 3, the rotary motor of the mounting base 4, and the drive devices of the rotary scraper 44, high-pressure air gun 45, water gun 47, and repair paint spray gun 49, etc., to provide power and ensure that these components can work normally. Another set of cables connects to the electronic visual system, which is connected to the camera 12, the supplementary light, and the anti-fog device, to provide stable power and ensure clear acquisition and transmission of images inside the pipe. Yet another set of cables connects to the air supply system, which is connected to the air pressurization device 13 to provide power and enable the air pressurization device 13 to inflate the airbag 10. In addition, the output of the lithium battery pack 14 is also connected to the material supply system via cables, which is connected to the electric heating furnace of the heating device of the material box 8, the motor of the stirring device, the pressure water pump 15, and the electric metering pump 9, etc., to provide power and ensure the heating, stirring, and precise delivery of the repair materials. With this connection method, the 36-48V voltage output by the lithium battery pack 14 can meet the power requirements of all parts of the device, ensuring the smooth progress of the entire repair operation.

[0089] Furthermore, the adjustable height roller 2 is a Mecanum roller, and the height adjustment range of the adjustable height roller 2 is 50-150mm to adapt to pipes with diameters of DN200-DN800.

[0090] Except for roller 2 and telescopic operating arm 3, the other drive structure, pump body, sensors, valves, etc. of this device are wirelessly connected to the main controller of the ground control system for control.

[0091] The working process of this device includes the following steps:

[0092] Before pipeline repair, the water in the sewage well needs to be pretreated, and the emptying operation can be carried out without external sewage storage equipment by coordinating the upstream and downstream inspection wells. The specific operation is as follows:

[0093] First, install a sealing airbag or mechanical water-blocking device in the upstream inspection well of the pipeline to be repaired to seal the pipeline section and block the upstream water flow. Then, open the downstream inspection well cover and use the slope of the pipeline itself to form a gravity flow channel to divert the sewage in the section to be repaired to the downstream inspection well. If the natural drainage efficiency is low, a submersible pump can be temporarily installed in the downstream inspection well to directly lift the sewage to the downstream municipal pipe network or drainage trunk line.

[0094] 1. A CCTV pipeline inspection robot is used to conduct a comprehensive inspection of the pipeline. Equipped with a high-definition camera and positioning system, the robot captures real-time images of the pipeline's interior during its crawling motion and transmits them to the ground control system. Based on this data, the location of the repair device and the target repair area are determined. Image analysis directly identifies the location of pipeline damage. The degree of damage is classified into four levels according to industry standards: Level 1 is minor damage, characterized by small local cracks, slight corrosion, or a small amount of deposits; Level 2 is moderate damage, including larger cracks, localized thinning of the pipe wall, and misalignment of joints; Level 3 is severe damage, with pipe deformation, collapse, and serious leakage; Level 4 is complete damage, meaning the pipe is broken, collapsed, and blocked, preventing normal flow.

[0095] 2. After the repair device is placed into the pipeline through the wellhead, it moves using six adjustable Mecanum wheels at the bottom. Ground personnel use a wireless remote control from the ground control system to move the Mecanum wheels at a speed of 0.2m / min-0.5m / min to the repair position. The height of roller 2 is adjusted to keep the deviation between the device center and the pipeline center within ±10mm. The hydraulic outriggers 11 are then activated. Controlled by the ground personnel via the main controller, the hydraulic outriggers 11 extend and press against the inner wall of the pipeline, securing the device inside the pipeline.

[0096] 3. Activate the rotating scraper 44 to clean the dirt and rust on the inner wall of the pipe. The cleaning time depends on the severity of the dirt and rust, generally 15-30 minutes. Thin dirt (<5mm), medium-thick dirt (5mm-20mm), and thick dirt (>20mm) require corresponding cleaning times of 15-20 minutes for thin dirt, 20-25 minutes for medium-thick dirt, and 25-30 minutes for thick dirt. While the scraper is working, the pressure pump 15 and water gun 47 are activated simultaneously to cool the scraper and working area with clean water. When the rotating scraper 44 is activated to clean the dirt and rust on the inner wall of the pipe, the ground operator sends commands to the robotic arm control system via a wireless remote control. The motor drives the rotating scraper 44 in the robotic arm control system. The scraper is made of carbide blades and has a spiral or serrated design. This shape can better fit the curved surface of the inner wall of the pipe. Driven by the motor, the rotating scraper 44 rotates at a high speed of 500rpm-1500rpm, thereby effectively removing dirt and rust.

[0097] 4. After cleaning is completed, the ground staff sends instructions to the air supply system and the robotic arm control system again via wireless remote control. The air booster 13 in the air supply system works, delivering compressed air through the pipeline to the high-pressure air gun 45. The pressure of the high-pressure air gun 45 is maintained at 0.3Mpa-0.5MPa. The robotic arm control system controls the position of the high-pressure air gun 45, so that it automatically blows the inner wall of the pipeline to ensure that there are no residual impurities.

[0098] 5. Heat and stir the repair material, and spray it onto the damaged area of ​​the pipe using a repair paint spray gun 49. Specifically, heat the repair material to 80℃-100℃ and maintain the temperature for 10-15 minutes to soften it. During the softening process, use a viscometer to measure the viscosity of the repair material every 3-5 minutes to keep the viscosity of the softened repair material between 500mPa·s and 1000mPa·s.

[0099] If the measured value does not fall within the range of 500 mPa·s-1000 mPa·s:

[0100] If the viscosity is below 500 mPa·s: stop heating and extend the constant temperature time for 5-10 minutes, and observe the viscosity recovery. If it still does not meet the standard, slowly cool down to 60℃-70℃ and stir for 3-5 minutes to improve the cohesion of the material.

[0101] For viscosity higher than 1000 mPa·s: reheat to the upper limit of the target temperature range (90℃-100℃), extend the holding time for 8-12 minutes, and stir at 100rpm-150rpm to assist in softening; if the viscosity is still too high, add 5%-8% diluent (propylene oxide butyl ether) according to the material ratio.

[0102] With real-time monitoring via camera 12 at the ground control center, staff remotely operate high-pressure repair paint spray gun 49 to spray the softened repair material onto the damaged area of ​​the pipe. The spray thickness is 0.5mm-1.0mm, and the spraying speed is 0.1m / min-0.3m / min.

[0103] 6. After spraying, ground personnel, based on the images transmitted from camera 12, remotely control the pipeline repair device to push the airbag 10 to the sprayed repair area, ensuring that the center of the airbag 10 is aligned with the center of the damaged area. The inflation program is then initiated, with the inflation pressure set to 0.2 MPa, inflating for 1-2 minutes, and maintaining the pressure for 30 minutes after expansion to ensure the repair material adheres tightly and cures at room temperature. After spraying the repair material, the airbag 10 is placed inside the pipeline corresponding to the sprayed position. The placement of the airbag 10 is not arbitrary but is precisely controlled by ground personnel using information about the damaged location obtained during pipeline inspection and real-time images transmitted from the electronic visual system on the repair device. This precise control of the robotic arm system pushes the airbag 10 to the center of the damaged area sprayed with repair material. For larger damaged areas, filler material can be used first. For example, fiberglass reinforced resin or other filler materials can be manually applied or filled using the telescopic manipulator 3 before proceeding with the repair process described above.

[0104] 7. The airbag 10 is made of high-strength rubber, which has a smooth surface and a certain degree of non-stick properties. Furthermore, before repair work, a release agent is applied to the surface of the airbag 10. This release agent further reduces the adhesion between the repair material and the airbag 10, allowing the repair material to adhere tightly to the inner wall of the pipe under the expansion and compression of the airbag 10, without excessive adhesion to the airbag 10. After the repair material has cured, when the airbag 10 is deflated and removed from the pipe, it can easily separate from the cured repair material, ensuring the repair effect and the reusability of the airbag 10.

[0105] 8. After repair, a CCTV pipeline inspection robot is used for quality inspection. The robot checks whether the repair quality meets requirements, such as the uniformity of the repair material thickness and the presence of any leaks. Specifically, the robot inspects the repaired area, checking the uniformity of the repair material coverage (thickness deviation not exceeding ±0.2mm), surface flatness (unevenness not exceeding 1mm), and sealing (pressure test, 0.15MPa, pressure held for 5 minutes with no leakage). If any defects are found, a second repair is performed.

[0106] The repair material used in this invention can be an existing repair material, or a mixed material, including a two-component epoxy resin, comprising epoxy resin, a hardener, fillers, and other additives, which is mixed and stirred evenly and then heated before use. Specifically, it includes the following components:

[0107] Epoxy resin (EP): As a matrix resin, it provides high strength and stability.

[0108] Polystyrene (PS): Provides rigidity and toughness while reducing costs.

[0109] Styrene-maleic anhydride copolymer (SMA): Improves compatibility and participates in cross-linking reactions.

[0110] Amine curing agents (DETA): promote the curing of epoxy resins.

[0111] Silicon dioxide (SiO2): Improves strength and thermal stability.

[0112] Calcium carbonate (CaCO3): Reduces costs and improves rigidity.

[0113] Silane coupling agents: improve the compatibility between fillers and the matrix.

[0114] The components are mixed in the following mass fraction ranges:

[0115] Epoxy resin (EP): 1

[0116] Polystyrene (PS): 20%-40%

[0117] Styrene-maleic anhydride copolymer (SMA): 10-20%

[0118] Amine curing agent (DETA): 5%-10%

[0119] Silicon dioxide (SiO2): 20%-30%

[0120] Calcium carbonate (CaCO3): 10%-20%

[0121] Silane coupling agent: 1%-2%

[0122] This utility model's pipe repair device achieves flexible movement and precise positioning within the pipe through adjustable rollers 2 and a telescopic operating arm 3. The design of the material supply system and heating function ensures efficient delivery and precise control of the repair material. This solves the problems of high material costs and complex construction associated with some repair methods.

Claims

1. A trenchless pipe bidirectional localized repair apparatus, characterized by: It includes a support frame, a ground control system, and an electronic visual system, a robotic arm control system, a gas supply device, a material supply system, and a power supply system, all wirelessly connected to the ground control system; the power supply system is electrically connected to the electronic visual system, the robotic arm control system, the gas supply device, and the material supply system, respectively. The support frame is provided with multiple height-adjustable rollers and hydraulic outriggers along the circumference, and the rollers and hydraulic outriggers are wirelessly connected to the ground control system. The electronic visual system includes a camera, a supplementary light, and an anti-fog device, with two sets of devices installed at the front and back of the support frame, and the camera is wirelessly connected to the ground control system. The robotic arm control system is set in two sets at the front and rear of the support frame. Each set of control systems is equipped with a telescopic operating arm, which is installed on both sides of the support frame. The telescopic boom has a detachable mounting base at its front end, and the mounting base is equipped with repair tools. The air supply equipment is set up in two sets, each including an airbag and an air booster. Each set of air supply equipment is placed in front of and behind the support frame. The air booster is connected to the airbag through an air pipe and is wirelessly connected to the ground control system. The material supply system includes a material supply system and a water supply system installed within the support frame, which are connected to the repair tools via pipes.

2. The trenchless bidirectional partial pipeline repair device according to claim 1, characterized in that: The telescopic operating arm has a standard interface at its front end, which is detachably connected to the mounting base. The mounting base has a rotating chassis at its bottom. The repair tools include a rotary scraper, a high-pressure air gun, a water gun, and a repair paint spray gun; The rotary scraper is fixed by screwing the scraper handle thread into the threaded hole at the center of the rotating chassis at the bottom of the mounting base. The scraper is driven by an independently set DC geared motor. The DC geared motor is mounted on the side of the rotating chassis through a flange. The output shaft of the DC geared motor is connected to the scraper handle through a synchronous belt transmission mechanism. The DC geared motor is wirelessly connected to the ground control system. The high-pressure air gun and water gun are connected by quick-connect method, respectively through quick-connect connectors and quick-connect interfaces, and quick-connect nuts to the air supply equipment and water supply system. The ends of the high-pressure air gun and water gun are respectively connected to the rotating chassis by threads. The air supply equipment and water supply system are both wirelessly connected to the ground control system. The repair paint spray gun is fixed to the preset installation interface on the side of the mounting base by a threaded connection, and the inlet of the repair paint spray gun is connected to the material box through a pressure-resistant conveying pipe.

3. The trenchless bidirectional partial pipeline repair device according to claim 2, characterized in that: The telescopic manipulator includes a base, two rotating joints, two fixed bodies, two movable bodies, and two air / liquid pipes. The base is fixed to an underground support frame and electrically connected to a power supply system within the frame via a cable, providing power to the entire telescopic manipulator. The base connects to the first rotating joint, which has a built-in servo motor and is driven by the power supply system to achieve horizontal rotation. Above the first fixed body is the first fixed body, whose internal cavity is pneumatically / hydraulically coupled with the first movable body. The first air / liquid pipe connects to an air pressurization device / pressure water pump, which is wirelessly connected to a ground control system. Injecting gas / liquid propels the first movable body to extend and retract vertically. The end of the first movable body connects to the second rotating joint, which is also driven by the power supply system to achieve pitch adjustment. Above the second rotating joint, the second fixed body and the second movable body are connected in series to form a two-stage telescopic structure, with extension and retraction controlled by the second air / liquid pipe. The end of the second movable body is connected to a mounting base for carrying repair tools.

4. The trenchless bidirectional partial pipeline repair device according to claim 3, characterized in that: The mounting base is fixedly installed at the front end of the telescopic operating arm. The bottom of the mounting base is equipped with a rotating mechanism, which includes a rotating chassis, a drive motor, and a coupling. The rotating chassis is rotatably connected to the front end of the telescopic operating arm through annular ball bearings and is axially fixed by flange bolts. The drive motor is fixedly installed inside the front end of the telescopic operating arm, and its output shaft is rigidly connected to the main shaft of the rotating chassis through the coupling. A conductive plastic angle sensor is installed at the connection point of the mounting base. The drive motor and the angle sensor are connected to the PLC controller in the ground control system through a waterproof cable.

5. The trenchless bidirectional partial pipeline repair device according to claim 3, characterized in that: The feeding system includes a material bin, a conveying pipeline, and a metering pump. The material bin is connected to the repair tool through the conveying pipeline, and the metering pump is installed on the pipeline and wirelessly connected to the ground control system. The material bin is equipped with a heating device and a stirring device. The heating device adopts a double-layer jacketed structure and is connected to an external electric heating furnace through a circulating pump. Temperature sensors are evenly distributed on the inner wall of the material box to realize closed-loop control of the heating temperature. The heating device and temperature sensors are wirelessly connected to the ground control system. The mixing device adopts a top-mounted dual-shaft design structure. Two geared motors are symmetrically installed on the top of the material box. The geared motors are connected to the mixing shafts through couplings. The two sets of mixing shafts rotate in opposite directions. The speed of the geared motors is independently adjusted by the frequency converter to form cross-convection mixing. A flow meter is connected to the bottom of the material box. The geared motors, frequency converters, and flow meters are all electrically connected to the ground control system.

6. The trenchless bidirectional partial pipeline repair device according to claim 4, characterized in that: The water supply system includes a water storage tank, a water pressure pump, a water supply pipeline, and an electric regulating valve. The water storage tank is connected to the inlet of the water pressure pump through the water supply pipeline, and the outlet of the water pressure pump is connected to the water gun through a pipeline. An electric regulating valve is installed on the outlet pipeline. The water pressure pump and the electric regulating valve are wirelessly connected to the ground control system.

7. The trenchless bidirectional partial pipeline repair device according to claim 1, characterized in that: The adaptive inflation process of the airbag is achieved through an intelligent air pressure regulation system, which includes a pressure sensor and a solenoid valve that are wirelessly connected to the ground control system. A pressure sensor is installed inside the airbag to monitor the air pressure inside the airbag in real time, and a solenoid valve is installed on the air duct.

8. A trenchless bidirectional partial pipeline repair device according to claim 6, characterized in that: The power supply system has two sets, installed in the upper and lower areas of the device respectively, and uses lithium battery packs. The output of the lithium battery packs is connected to various electrical components of the device through multiple sets of insulated cables. One set of cables is connected to the robotic arm control system, which is connected to the drive devices of the telescopic manipulator, servo motor, air booster / pressure water pump, rotating motor of the mounting base, rotating scraper, high-pressure air gun, water gun, and repair paint spray gun. The other set of cables is connected to the electronic vision system, which is connected to the 360° camera, supplementary lighting, and anti-fog device. Another set of cables is connected to the air supply equipment and the air booster. In addition, the output of the lithium battery packs is also connected to the material supply system through cables, which is connected to the electric heating furnace of the heating device of the material bin, the motor of the stirring device, the pressure water pump, the metering pump, and the solenoid valve.

9. The trenchless bidirectional partial pipeline repair device according to claim 1, characterized in that: The adjustable height roller is a Mecanum roller, and the height adjustment range of the adjustable height roller is 50mm-150mm.

10. A trenchless bidirectional partial pipeline repair device according to claim 1, characterized in that: The surface of the roller is covered with a rubber layer.

Images