Auxiliary positioning device for underground pipeline well repair

Abstract

The utility model discloses a kind of auxiliary positioning device for underground pipeline well adding repair, including cross bar, guide rod, telescopic column, light source guiding mechanism and light source transfer mechanism, after telescopic column is vertically extended to set position to wellhead after being installed in position in adjacent telescopic column, cross bar and guide rod are installed between adjacent telescopic column and located in well down;Light source guiding mechanism is installed between adjacent telescopic column and located in well, and light source transfer mechanism is located on cross bar, the utility model uses the structure for installing light source guiding mechanism and light source transfer mechanism and telescopic in well adding place setting, not only can solve deviation big, low efficiency and poor adaptability etc. In manual wire drop positioning mode, accurate orientation and positioning of underground pipeline are realized, construction quality of well adding repair operation is also guaranteed, labor cost and excavation cost are reduced, and construction efficiency is improved.

Description

Technical Field

[0001] This utility model relates to the field of building construction, and in particular to an auxiliary positioning device for repairing underground pipeline wells. Background Technology

[0002] The unobstructed flow of underground drainage pipes directly affects urban flood control and drainage capabilities and residents' quality of life. As underground drainage pipes age, they are susceptible to problems such as bulges, depressions, or cracks due to geological subsidence, media corrosion, or external pressure. This leads to poor water flow and blockages, requiring excavation, repair, or replacement of the underground pipes through manhole repair operations. The prerequisite for manhole repair is accurately determining the actual route of the underground pipes. Traditional methods of locating underground pipes mainly rely on manual estimation of the pipe opening position using a plumb line at the manhole opening, combined with experience to determine the pipe's direction. However, manual plumb line positioning is limited by manhole space, visual errors, and underground environmental interference, resulting in significant positioning deviations. Often, even after excavating several meters deep, the original pipe cannot be found, causing construction delays and increased excavation costs. Furthermore, many early urban underground drainage pipes used non-metallic corrugated pipes, and some original design drawings are missing or deviate from the actual construction conditions, increasing the difficulty of manual positioning and failing to meet the comprehensive requirements of modern municipal engineering for construction accuracy and efficiency. Therefore, this has driven the development of underground pipe positioning technology.

[0003] Existing underground pipeline location technologies generally employ underground pipeline detection equipment for pipeline routing, but these are mostly suitable for large-scale surface pipeline surveys and cannot accurately orient pipelines in small areas around manholes. Furthermore, they are difficult to integrate directly with the excavation and location requirements for manhole repair operations. They also lack standardized auxiliary equipment, relying heavily on the experience of workers, resulting in inconsistent positioning results and a high risk of errors. This can lead to safety hazards such as accidental damage to surrounding pipelines or underground infrastructure during excavation. In addition, traditional positioning methods are inefficient; locating pipelines in a single manhole often requires significant time for repeated adjustments, and the positioning results cannot directly provide precise guidance for subsequent excavation, resulting in slow overall progress of manhole repair operations.

[0004] Therefore, it is necessary to improve the existing underground pipeline positioning technology. This will not only solve the problems of large deviation, low efficiency and poor adaptability in the traditional manual plumb line positioning method, but also achieve accurate orientation and positioning of underground pipelines. It will also ensure the construction quality of well repair operations, avoid the problem of rework after excavating to the design elevation but not finding the pipeline, reduce labor and excavation costs, improve construction efficiency, and meet the comprehensive requirements of modern municipal engineering for the accuracy, efficiency and safety of underground pipeline repair operations. Utility Model Content

[0005] In view of the shortcomings of current underground pipeline positioning technology, the purpose of this utility model is to provide an auxiliary positioning device for underground pipeline well repair. It can not only solve the problems of large deviation, low efficiency and poor adaptability in the traditional manual plumb bob positioning method, but also achieve accurate orientation and positioning of underground pipelines. It can also ensure the construction quality of well repair operations, avoid the problem of rework after excavation to the design elevation without finding the pipeline, reduce labor and excavation costs, improve construction efficiency, and meet the comprehensive requirements of modern municipal engineering for the accuracy, efficiency and safety of underground pipeline repair operations.

[0006] This utility model discloses an auxiliary positioning device for underground pipeline well repair, comprising a crossbar, a guide rod, a retractable column, a light source guiding mechanism, and a light source transfer mechanism. After adjacent retractable columns are installed in place at the wellhead, the retractable columns extend vertically downwards towards the wellhead to a set position. The crossbar and guide rod are installed between adjacent retractable columns and located below the well. The light source guiding mechanism is installed between adjacent retractable columns and located above the well. The light source transfer mechanism is located on the crossbar.

[0007] Furthermore, the crossbar is fixedly connected between adjacent retractable columns, the guide rod is detachably installed on the crossbar, and the end of the guide rod away from the crossbar extends into the underground pipe and can extend and retract along the length direction within the underground pipe.

[0008] Furthermore, the crossbar is provided with a scale and a sliding groove. The scale is located on the outer surface of the crossbar and is distributed along the length of the crossbar. The sliding groove is located on the top surface of the crossbar and its distribution corresponds to the scale. The guide rod can be driven to slide within the sliding groove along the length of the crossbar.

[0009] Furthermore, there are two guide rods, which are symmetrically distributed on the crossbar. In use, the guide rods are in contact with the inner wall of the underground pipeline.

[0010] The crossbar is also equipped with a reference platform for placing the robot. In use, the robot enters the underground pipeline from the reference platform and is located in the space between adjacent guide bars.

[0011] Furthermore, it also includes connecting strips, which include a first connecting strip and a second connecting strip. The first connecting strip is fixedly connected laterally between adjacent retractable columns, and the adjacent second connecting strips form an X-shaped connection and are fixedly connected between adjacent retractable columns.

[0012] Furthermore, it also includes a stabilizing rod and an adjusting rod. The stabilizing rod is arranged laterally along the telescopic column and fixedly connected between adjacent telescopic columns. The adjusting rod passes through the stabilizing rod and can move along the length of the stabilizing rod.

[0013] One end of the adjusting rod is equipped with a figure-eight clip.

[0014] Furthermore, it also includes a column connecting cap and a column cap connecting strip. The column connecting cap is fastened to the top of the telescopic column and adjacent column connecting caps are connected by the column cap connecting strip. The column cap connecting strip is provided with a light source guiding mechanism mounting rod for installing the light source guiding mechanism.

[0015] Furthermore, the light source guiding mechanism includes a light source emitter and a control unit. The light source emitter can be controlled to rotate synchronously with the robot's movement, and the light source emitted by the light source emitter is directed towards the robot. The control unit is used to receive image data from the data acquisition unit on the robot and issue control commands to the light source emitter.

[0016] Furthermore, the light source transfer mechanism is located at the midpoint of the crossbar, and the center of the light source transfer mechanism is coplanar with the longitudinal direction of the light source emitter.

[0017] Furthermore, the retractable column has mounting holes along its width direction, including crossbar mounting holes and connecting strip mounting holes, and several connecting strip mounting holes are arranged side by side along the length direction of the retractable column;

[0018] The crossbar is provided with a column mounting rod, which passes through the mounting hole of the crossbar and is fixed by bolts.

[0019] The beneficial effects of this utility model are as follows: This utility model provides an auxiliary positioning device for underground pipeline well repair. It adopts a retractable structure with a light source guiding mechanism and a light source transfer mechanism installed at the well location. This not only solves the problems of large deviation, low efficiency and poor adaptability in the traditional manual plumb bob positioning method, but also achieves accurate orientation and positioning of underground pipelines. It also ensures the construction quality of well repair operations, avoids the problem of rework when the pipeline is not found after excavation to the design elevation, reduces labor and excavation costs, improves construction efficiency, and meets the comprehensive requirements of modern municipal engineering for the accuracy, efficiency and safety of underground pipeline repair operations. Attached Figure Description

[0020] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0021] Figure 1 This is a schematic diagram of the auxiliary positioning device for underground pipeline well repair according to the present invention;

[0022] Figure 2 This is a schematic diagram showing the connection between the crossbar and the guide bar;

[0023] Figure 3 A top view of the connection between the stabilizing rod and the adjusting rod;

[0024] Figure 4 This is a side view of the stabilizer rod and the adjusting rod after they are connected.

[0025] Figure 5 This is a schematic diagram showing the connection between the light source guiding mechanism and the retractable column.

[0026] Reference numerals: 1. Telescopic column; 101. Horizontal bar mounting hole; 102. Connecting strip mounting hole; 2. Horizontal bar; 201. Scale; 202. Sliding groove; 203. Column mounting rod; 204. Reference platform; 3. Guide rod; 4. Connecting strip; 401. First connecting strip; 402. Second connecting strip; 5. Light source guiding mechanism; 501. Light source emitter; 502. Control unit; 6. Light source transfer mechanism; 7. Stabilizing rod; 8. Adjusting rod; 9. Figure-eight clip; 10. Column connecting cap; 11. Column cap connecting strip; 1101. Light source guiding mechanism mounting rod; 12. Anti-loosening bolt; 13. U-shaped clip; 14. Adjusting bolt. Detailed Implementation

[0027] The following is in conjunction with the appendix Figure 1-5 The present invention will be described in further detail below.

[0028] This utility model discloses an auxiliary positioning device for underground pipeline well repair, including a crossbar 2, a guide rod 3, a retractable column 1, a light source guiding mechanism 5, and a light source transfer mechanism 6. After adjacent retractable columns 1 are installed in place at the wellhead, the retractable columns 1 extend vertically downwards to a set position. The crossbar 2 and guide rod 3 are installed between adjacent retractable columns 1 and located below the wellhead. The light source guiding mechanism 5 is installed between adjacent retractable columns 1 and located above the wellhead. The light source transfer mechanism 6 is located on the crossbar 2. The column adopts a retractable structure and is equipped with mounting holes, allowing for flexible adjustment of the entire device. The height and installation spacing are adapted to different working heights. The horizontal bar 2 and guide bar 3 can also be adjusted in installation position through the mounting holes, improving the versatility of the entire positioning device. Standardized components such as the horizontal bar 2 and guide bar 3 are prefabricated and can be directly assembled on site without temporary processing, reducing on-site construction preparation time. The set position refers to the vicinity of underground pipelines. Assembling the horizontal bar 2 and guide bar 3 underground can accurately fit the working environment inside the well, forming a rigidly connected positioning frame. This provides a stable reference benchmark for subsequent well repair procedures, reducing positioning errors. The light source guiding mechanism 5 and the light source transfer machine... The configuration of structure 6 ensures the stability and accuracy of the received or output light source, which will not be elaborated further here. After installation, the robot is placed inside the underground pipeline and manipulated to move along the length of the underground pipeline until it detects the defective section. The robot can move continuously along the underground pipeline for detection, eliminating the need for frequent entry and exit from the manhole and position adjustments required by manual inspection, thus improving the speed of identifying defective sections in underground pipelines. When the robot stops moving, the position of the light source emitted by the light source guiding mechanism 5 pointing towards the robot is the location of the defective section in the underground pipeline. Traditional manual well-drilling detection is not only difficult to operate, but also highly prone to causing poisoning or injury to construction workers. In the event of a safety accident, the robot can be used to move and inspect underground pipelines. Workers do not need to enter the well; they can remotely operate the robot from the surface to inspect the damaged sections. The robot uses a light source trajectory for positioning, eliminating the need for personnel to risk going down into the well to verify the location, thus avoiding the safety hazards of underground operations and ensuring the personal safety of construction workers. The robot is generally equipped with high-definition cameras and other detection equipment, and can move flexibly in underground pipelines. Compared with manual visual inspection or simple tool detection, it can achieve all-round detection, pinpointing the precise location of the damaged section of the underground pipeline by the endpoint of the light source, and can even help determine the specific location of the defect. This solves the problems of vague defect location and easy omission in traditional detection.

[0029] This also includes directional surveying of underground pipelines and calculation of the location of damaged sections. Directional surveying can use professional surveying tools to calibrate the direction of underground pipelines, and then use data calculation to correct the deviation of the damaged section location, thereby improving the positioning accuracy. In addition to the pipelines to be repaired, there are also various pipelines such as power, communication and gas pipelines densely distributed underground in cities. By directional surveying to clarify the precise direction and burial depth of the pipeline to be repaired, and combined with the calculation of the location of the damaged section, the spatial relationship between the pipeline and the surrounding pipelines can be clearly identified. Before construction, the safe construction area can be delineated based on this, such as determining the drilling angle for trenchless repair, avoiding contact with adjacent gas pipelines during repair work. At the same time, it can also predict in advance whether the damage may have affected the surrounding pipelines, formulate protective measures in advance, prevent the construction from causing a chain of failures, and ensure the overall stable operation of the underground pipeline network. This will not be elaborated further here.

[0030] In this embodiment, the crossbar 2 is fixedly connected between adjacent retractable columns 1. The guide rod 3 is detachably installed on the crossbar 2. The end of the guide rod 3 away from the crossbar 2 extends into the underground pipeline and can extend and retract along its length within the underground pipeline. The crossbar 2 is fixedly connected between adjacent retractable columns 1, which can form a complete and stable frame from the dispersed retractable columns 1. In the underground environment, there is a risk of soil loosening or slight collapse. Independent retractable columns 1 are prone to swaying and displacement, while the fixed crossbar 2 can form lateral support, offsetting the lateral forces underground and preventing the retractable columns from shifting. The support column 1 may tilt or shift, and this stable frame also provides a solid reference carrier for the subsequent installation of guide rod 3, so that the guide rod 3 will not deviate in position due to carrier shaking after installation, laying a stable foundation for subsequent robot operation and light source positioning; the pipes in the underground pipeline network have different lengths, and some pipes have slight bends. The guide rod 3 can extend and retract along the length of the pipe, which can extend into the interior of the pipe over a long distance to provide a continuous guiding reference for the robot moving over long distances. It can also be finely adjusted to adapt to the pipe trajectory when there is a small deviation in the direction of the pipe. This will not be elaborated further here.

[0031] In this embodiment, the crossbar 2 is provided with a scale 201 and a sliding groove 202. The scale 201 is located on the outer surface of the crossbar 2 and is distributed along the length direction of the crossbar 2. The sliding groove 202 is located on the top surface of the crossbar 2 and its distribution corresponds to that of the scale 201. The guide rod 3 can be driven to slide within the sliding groove 202 along the length direction of the crossbar 2. The sliding groove 202 provides a stable lateral movement trajectory for the guide rod 3, avoiding problems such as deviation or tilting when the guide rod 3 slides, and ensuring that it always moves smoothly along the length direction of the crossbar 2. The corresponding scale 201 allows the operator to intuitively read the sliding distance and real-time position of the guide rod 3 without having to carry additional measuring tools for repeated measurements. This shortens the installation and debugging time of the guide rod 3. After the guide rod 3 is adjusted in position with the sliding groove 202, its precise coordinates can be recorded by the scale 201. Combined with the length of the guide rod 3 extending into the underground pipe, it can be verified with the robot detection data and the light source positioning trajectory to improve the positioning accuracy. The end of the guide rod 3 can be provided with a sliding groove mounting hole that matches the sliding groove 202. The sliding groove mounting hole is fitted into the sliding groove 202 and fixed to the sliding groove 202 by the anti-loosening bolt 12. The tightness of the two can be adjusted. The scale 201 usually has an origin, that is, the position of the center point, which makes it easy to directly observe whether the guide rod 3 is symmetrically distributed on the crossbar 2. This will not be elaborated here.

[0032] In this embodiment, there are two guide rods 3, which are symmetrically distributed on the crossbar 2. In use, the guide rods 3 are in contact with the inner wall of the underground pipeline. The crossbar 2 is also provided with a reference platform 204 for placing the robot. In use, the robot enters the underground pipeline through the reference platform 204 and is located in the space between adjacent guide rods 3. The reference platform 204 provides a fixed starting position for the robot, avoiding repeated adjustments to the robot's initial posture during each construction, and achieving the effect of immediate placement. Meanwhile, the fixed relative positions of the reference platform 204 and the symmetrically distributed guide rods 3 form a standardized starting reference for operations, reducing manual calibration steps and shortening the preparation time before construction. The reference platform 204 serves as a reference point underground. Before the robot moves, it is positioned on the reference platform 204; after the robot moves, the light source guiding mechanism 5 begins to emit light towards the robot. Alternatively, the light source guiding mechanism 5 can also begin emitting light towards the robot after the robot has moved 1-2 meters into the underground pipeline, which will not be elaborated further here. The robot is located in the space between adjacent guide rods 3, with the guide rods 3 fitting against the inner wall of the underground pipeline, effectively forming a buffer between the robot and the underground pipeline. This prevents the robot from directly colliding and rubbing against damaged areas or sharp protrusions in the underground pipeline, protecting the robot's detection lens and other precision components. The symmetrical distribution of the two guide rods 3... The spacing can be adjusted via the sliding groove 202, and combined with its own telescopic characteristics, it can adapt to underground pipes of different diameters. Simply adjust the sliding distance and insertion length of the guide rod 3 according to the pipe diameter to ensure that both remain in contact with the inner wall of the underground pipe. This eliminates the need for custom-designed guide structures for different pipe diameters, reducing equipment investment costs. The symmetrically distributed guide rods 3 do not require repeated angle adjustments during installation; they can be positioned symmetrically according to the scale 201 on the crossbar 2, simplifying the underground installation and commissioning process, shortening operation time, and preventing the robot from avoiding the guide rods 3 in the middle channel, thus avoiding unilateral jamming and smoother movement. This reduces the risk of equipment jamming or cable entanglement, lowers the difficulty of remote manual control, and improves construction safety. In this embodiment, one end of the guide rod 3 can extend and retract along the length of the underground pipe, and a sleeve structure can be used. Adjacent sleeves can be fixed with bolts, which is a conventional technique in existing technology and will not be elaborated further here.

[0033] In this embodiment, a connecting strip 4 is also included. The connecting strip 4 includes a first connecting strip 401 and a second connecting strip 402. The first connecting strip 401 is fixedly connected laterally between adjacent retractable columns 1. The adjacent second connecting strip 402 forms an X-shaped connection and is fixedly connected between adjacent retractable columns 1. The adjacent retractable columns 1 are fixedly connected by the connecting strip 4. The first connecting strip 401 is fixedly connected laterally between adjacent retractable columns 1, which can directly offset the lateral displacement force of the retractable columns 1, and prevent the retractable columns 1 from swaying left and right when the soil layer is loose or slightly vibrates in the well. It also strengthens the installation reference of the crossbar 2 and the guide rod 3. The X-shaped cross structure of the second connecting strip 402 can form diagonal support, which can effectively resist the torsional deformation of the frame. During underground construction, operations such as material hoisting will generate longitudinal or oblique forces. The X-shaped structure can transmit the dispersed forces to the retractable columns. 1. To avoid excessive local stress leading to frame tilting and collapse; the first horizontal connecting strip 401 and the X-shaped second connecting strip 402 form a three-dimensional support network, making the dispersed retractable columns 1 a rigid whole rather than independent load-bearing units. This structure can improve the vertical load-bearing capacity and horizontal impact resistance of the frame. Whether it is the installation of the light source guide mechanism 5 and the light source transfer mechanism 6, or the gravity loading of the downhole crossbar 2 and guide rod 3, it can stably bear the load, avoiding bending or breakage of the retractable columns 1 due to local overload, and ensuring the safe installation and use of the entire auxiliary positioning device. The first connecting strip 401 and the second connecting strip 402 have simple structures and are standardized components. During installation, they only need to be fixed through the mounting holes on the retractable columns 1, which is convenient and does not require complicated on-site processing. The two ends of the first connecting strip 401 and the second connecting strip 402 can be fixed to the retractable columns 1 by bolts, which will not be described in detail here.

[0034] In this embodiment, a stabilizing rod 7 and an adjusting rod 8 are also included. The stabilizing rod 7 is arranged laterally along the telescopic column 1 and fixedly connected between adjacent telescopic columns 1. The adjusting rod 8 passes through the stabilizing rod 7 and can move along the length of the stabilizing rod 7. One end of the adjusting rod 8 is provided with a figure-eight clip 9. The stabilizing rod 7 is fixed laterally along the telescopic column 1, forming a three-dimensional reinforcement network with the connecting strip 4, further offsetting the lateral displacement force of the telescopic column 1, and preventing the telescopic column 1 from shaking due to vibrations caused by personnel operation or equipment hoisting in the wellhead area. The adjusting rod 8 passes through the stabilizing rod 7 and can move, without damaging the lateral support structure of the stabilizing rod 7, while ensuring the reinforcement system... It is more flexible, maintaining the rigidity of the frame while adapting to subsequent limiting requirements, allowing the auxiliary positioning device to withstand additional external impacts while supporting the light source guide mechanism 5 and the light source transfer mechanism 6. The figure-eight clip 9 at one end of the adjusting rod 8 is also fixed to the well wall. The direction in which the figure-eight clip 9 is fixed to the well wall is perpendicular to the horizontal plane where the retractable column 1 is located, fixing the entire auxiliary positioning device from three directions and enhancing the stability of the structure. Of course, the end of the stabilizing rod 7 can be fixed to the retractable column 1 by a U-shaped clip 13 and a fastening bolt. The adjusting rod 8 can be inserted into the stabilizing rod 7 by an adjusting bolt 14, which is a conventional setting in the prior art and will not be described in detail here.

[0035] In this embodiment, it also includes a column connecting cap 10 and a column cap connecting strip 11. The column connecting cap 10 is fastened to the top of the retractable column 1, and adjacent column connecting caps 10 are connected by the column cap connecting strip 11. The column cap connecting strip 11 is provided with a light source guiding mechanism mounting rod 1101 for installing the light source guiding mechanism 5. Adjacent retractable columns 1 are connected by the column cap connecting strip 11, which is equivalent to forming a horizontally stable structure at the top of the frame. Together with the first connecting strip 401 and the second connecting strip 402 below, it forms a three-dimensional reinforcement system that echoes each other, further preventing the retractable columns from... If the top of column 1 wobbles or tilts, the stability of the entire frame from bottom to top should be maintained. The mounting rod 1101 of the light source guide mechanism provides a dedicated installation position for the light source guide mechanism 5, avoiding positional deviations caused by directly installing the light source guide mechanism 5 on the crossbar 2 or the telescopic column 1. Furthermore, the column cap connecting strip 11 is located at the top of the frame and its position is relatively fixed, which can reduce the impact of soil fluctuations at the bottom of the well on the installation accuracy of the light source guide mechanism 5. The light source guide mechanism 5 can be fixed to the top of the mounting rod 1101 of the light source guide mechanism by bolts, which will not be described in detail here.

[0036] In this embodiment, the light source guiding mechanism 5 includes a light source emitter 501 and a control unit 502. The light source emitter 501 can be controlled to rotate synchronously with the robot's movement, and the light source emitted by the light source emitter 501 points towards the robot. The control unit 502 is used to receive image data from the data acquisition unit on the robot and send control commands to the light source emitter 501. The light source emitter 501 rotates synchronously with the robot's movement and always points towards the robot, forming a following guidance path. Even if the robot encounters bends, slopes, or slight deviations in the underground pipeline, the light source can correct its direction in real time, improving positioning accuracy. The control unit 502 receives the robot's image data and sends control commands, enabling dynamic adjustment of the illumination. This intelligent linkage eliminates the need for manual remote control of the light source, ensuring that the illumination always adapts to the robot's detection status and reducing labor costs. The emission trajectory of the directional light source can serve as a visual reference for the underground pipeline's direction, corroborating the robot's movement trajectory and assisting in calibrating the underground pipeline's direction data. There is no need to separately arrange personnel to operate the light source; the control unit 502 automatically links with the robot, reducing the workload of the wellhead workers. The staff only need to perform image analysis and robot operation, which will not be elaborated further here.

[0037] In this embodiment, the light source emitter 501 can be hinged to a support base and driven by a drive motor to achieve pitching motion. The support base can then swing left and right through a bracket and a drive motor, thereby enabling the light source emitter 501 to rotate synchronously with the robot's movement. This will not be elaborated further here.

[0038] In this embodiment, the light source transfer mechanism 6 is located at the midpoint of the crossbar 2, and the center of the light source transfer mechanism 6 is coplanar with the longitudinal direction of the light source emitter 501. The center of the light source emission port of the light source emitter 501 is also coplanar with the longitudinal direction of the light source transfer mechanism 6, which facilitates the benchmark positioning on the ground and improves the measurement accuracy. This will not be elaborated further here. Of course, a pulley driven by a motor can also be set on the crossbar 2, or a reel machine in the prior art can be used. The connecting line on the reel machine is connected to the robot and can be used as an auxiliary measure to measure the distance of the damaged section of the underground pipeline. This will not be elaborated further here.

[0039] In this embodiment, the retractable column 1 has mounting holes along its width direction. The mounting holes include crossbar mounting holes 101 and connecting strip mounting holes 102. Several connecting strip mounting holes 102 are arranged side by side along the length direction of the retractable column 1. The targeted mounting hole design allows the crossbar 2 and connecting strip 4 to be quickly aligned and installed without the need for on-site adjustment of hole positions or additional drilling, reducing installation errors, ensuring that the crossbar 2 is horizontal and the connecting strip 4 is stable, and further consolidating the reference accuracy of the positioning frame. Multiple connecting strip mounting holes 102 allow the connecting strip 4 to be installed at different heights of the retractable column 1, forming a multi-layer horizontal reinforcement structure. Compared with a single-layer connection, multi-layer reinforcement can more evenly distribute external forces and improve the overall structural stability, which will not be elaborated further here.

[0040] The crossbar 2 is equipped with a column mounting rod 203, which passes through the crossbar mounting hole 101 and is fixed with bolts. The column mounting rod 203 and the crossbar mounting hole 101 form a dedicated mating structure. During installation, simply inserting the column mounting rod 203 into the crossbar mounting hole 101 can quickly achieve the positioning alignment of the crossbar 2 and the retractable column 1. This precise alignment ensures that the crossbar 2 always remains horizontal, providing a unified reference plane for subsequent components such as the guide rod 3 and the light source transfer mechanism 6, reducing positioning errors caused by the tilt of the crossbar 2, and indirectly improving the accuracy of robot detection and defect segment positioning. After the column mounting rod 203 is inserted into the crossbar mounting hole 101, it is fixed by bolts. Compared with a simple bolt connection, the contact area is larger and the force is more even, which can effectively resist the lateral force and torque that the crossbar 2 is subjected to during downhole operation. Further details are omitted here.

[0041] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model and are not intended to limit it. Although this utility model has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of this utility model without departing from the spirit and scope of the technical solutions of this utility model, and all such modifications or substitutions should be covered within the scope of the claims of this utility model.

Claims

1. An auxiliary positioning device for repairing underground pipelines with manholes, characterized in that: The system includes a crossbar, a guide rod, a retractable column, a light source guiding mechanism, and a light source transfer mechanism. After adjacent retractable columns are installed in place at the wellhead, the retractable columns extend vertically downwards towards the wellhead to a set position. The crossbar and guide rod are installed between adjacent retractable columns and located downhole. The light source guiding mechanism is installed between adjacent retractable columns and located above the well. The light source transfer mechanism is located on the crossbar.

2. The auxiliary positioning device for underground pipeline well repair according to claim 1, characterized in that: The crossbar is fixedly connected between adjacent retractable columns. The guide rod is detachably installed on the crossbar. The end of the guide rod away from the crossbar extends into the underground pipe and can extend and retract along the length direction within the underground pipe.

3. The auxiliary positioning device for underground pipeline well repair according to claim 2, characterized in that: The crossbar is provided with a scale and a sliding groove. The scale is located on the outer surface of the crossbar and is distributed along the length of the crossbar. The sliding groove is located on the top surface of the crossbar and its distribution corresponds to the scale. The guide rod can be driven to slide within the sliding groove along the length of the crossbar.

4. The auxiliary positioning device for underground pipeline well repair according to claim 3, characterized in that: There are two guide rods, which are symmetrically distributed on the crossbar. In use, the guide rods are in contact with the inner wall of the underground pipeline. The crossbar is also equipped with a reference platform for placing the robot. In use, the robot enters the underground pipeline from the reference platform and is located in the space between adjacent guide bars.

5. The auxiliary positioning device for underground pipeline well repair according to claim 1, characterized in that: It also includes connecting strips, which include a first connecting strip and a second connecting strip. The first connecting strip is fixedly connected to adjacent retractable columns in the horizontal direction, and the adjacent second connecting strips form an X-shaped connection and are fixedly connected to adjacent retractable columns.

6. The auxiliary positioning device for underground pipeline well repair according to claim 1, characterized in that: It also includes a stabilizing rod and an adjusting rod. The stabilizing rod is arranged laterally along the telescopic column and fixedly connected between adjacent telescopic columns. The adjusting rod passes through the stabilizing rod and can move along the length of the stabilizing rod. One end of the adjusting rod is equipped with a figure-eight clip.

7. The auxiliary positioning device for underground pipeline well repair according to claim 1, characterized in that: It also includes a column connecting cap and a column cap connecting strip. The column connecting cap is fastened to the top of the telescopic column and adjacent column connecting caps are connected by the column cap connecting strip. The column cap connecting strip is provided with a light source guiding mechanism mounting rod for installing the light source guiding mechanism.

8. The auxiliary positioning device for underground pipeline well repair according to claim 1, characterized in that: The light source guiding mechanism includes a light source emitter and a control unit. The light source emitter can be controlled to rotate synchronously with the robot's movement, and the light source emitted by the light source emitter is directed towards the robot. The control unit is used to receive image data from the data acquisition unit on the robot and issue control commands to the light source emitter.

9. The auxiliary positioning device for underground pipeline well repair according to claim 8, characterized in that: The light source transfer mechanism is located at the midpoint of the crossbar, and the center of the light source transfer mechanism is coplanar with the longitudinal direction of the light source emitter.

10. The auxiliary positioning device for underground pipeline well repair according to claim 1, characterized in that: The retractable column has mounting holes along its width direction. The mounting holes include crossbar mounting holes and connecting strip mounting holes. Several connecting strip mounting holes are arranged side by side along the length direction of the retractable column. The crossbar is provided with a column mounting rod, which passes through the mounting hole of the crossbar and is fixed by bolts.

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