Robot-based underground pipe network repairing method

Abstract

The invention discloses a robot-based underground pipe network repairing method. In the repairing method, a curing robot is used for performing auxiliary repairing on the inner wall of a pipeline. The curing robot comprises a main body, wheels, a camera, a servo motor, a rotating joint, steering rods, annular arc-shaped sheets and pressure applying rollers, wherein the pressure applying rollers, the steering rods and the annular arc-shaped sheets form an annular assembly, the curing robot conducts auxiliary repairing on the urban pipeline through the annular assembly, a cured lining pipe is tightly attached to the inner wall of the repaired pipeline through applied pressure by the pressure applying rollers, pressure is continuously applied to the lining pipe, and attaching between the lining pipe and the original pipeline is tighter. By means of the method, it can be guaranteed that the lining pipe is completely attached to the inner wall of the urban pipeline, the whole repaired pipeline is completely covered, missing attaching positions are avoided, the attaching performance of the lining pipe and the original pipeline is enhanced, and the attaching effect is effectively improved.

Description

technical field [0001] The invention relates to the technical field of urban pipeline repair, in particular to a robot-based underground pipeline network repair method. Background technique [0002] With the process of urbanization, the total amount of construction of drainage pipes continues to increase. Urban drainage pipe network is an indispensable and important infrastructure for modern cities. It is a basic industry that has an overall and leading influence on urban economic development. And the backbone of urban drainage and flood control is an important symbol to measure the level of a modern city. After long-term use, some pipeline facilities begin to age and need timely maintenance and repair. Various pipelines buried under the road, due to road vehicles Vibration, the poor foundation of the pipeline itself, and the influence of corrosive sewage and harmful gases, etc., the underground pipeline will produce cracks, damage, misalignment of pipe joints and corrosion ...

AI Technical Summary

Problems solved by technology

[0002] With the process of urbanization, the total construction of drainage pipes is increasing continuously. Urban drainage pipe network is an indispensable and important infrastructure in modern cities. It is a basic industry with overall and leading influence on urban economic development. And the backbone of urban drainage and flood control is an important symbol to measure the level of a modern city. After long-term use, some pipeline facilities begin to age and need timely maintenance and repair. Various pipelines buried under the road, due to road vehicles Vibration, the poor foundation of the pipeline itself, and the influence of corrosive sewage and harmful gases, etc., the underground pipeline will produce cracks, damage, misalignment of pipe joints and corrosion in the pipe. If the pipeline is not detected, repaired and cleaned in time, it may cause accident, causing unnecessary loss

[0003] In the existing urban pipeline repair work, the inner liner is used to adhere the inner liner to the inner wall from the inside of the original pipeline, and then solidify and form it. However, light curing or heat curing is generally used, because it does not come out from the inside of the pipeline during curing. The applied pressure will affect the curing effect to a certain extent. It cannot ensure that all positions are completely attached, and there may be a phenomenon that the lining pipe is not tightly attached to the inner wall of the original pipe.

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