CN115773428A

CN115773428A - Pull type pipeline maintenance robot system

Info

Publication number: CN115773428A
Application number: CN202111044635.8A
Authority: CN
Inventors: 倪厚明; 周晓雷; 石克兵; 孙中孚; 李进忠
Original assignee: ASOE HOSE MANUFACTURING Inc
Current assignee: ASOE HOSE MANUFACTURING Inc
Priority date: 2021-09-07
Filing date: 2021-09-07
Publication date: 2023-03-10

Abstract

The invention discloses a pull-type pipeline maintenance robot system, which comprises a smearing robot, a polishing robot and a loading vehicle, wherein the smearing robot, the polishing robot and the loading vehicle can move forwards or backwards in a pipeline; the smearing robot, the polishing robot and the loading vehicle are mutually dragged to form a queue through connecting devices so as to jointly advance or retreat, and power supply and control are carried out through the same traction cable; a painting robot is arranged in front of the polishing robot in the dragging queue; the polishing robot is used for polishing and cleaning the inner wall of the pipeline to be maintained; the smearing robot is used for smearing a repairing material on the inner wall of the polished pipeline; the loading vehicle is used for conveying compressed gas to the polishing robot and conveying repairing materials to the smearing robot.

Description

Pull type pipeline maintenance robot system

Technical Field

The invention relates to the field of pipeline maintenance, in particular to a pulling type pipeline maintenance robot system.

Background

Both above ground and below ground pipelines require regular maintenance and repair. This is of course inconvenient, uneconomical or even impossible in many cases if the pipeline needs to be excavated or dismantled each time it is inspected, maintained or repaired. The technical personnel in the field can solve the problem how to carry out operations such as maintenance and the like on the pipeline under the conditions of not excavating a road surface and not disassembling the pipeline.

Disclosure of Invention

In order to achieve the above object, the present invention provides a pull-type pipeline maintenance robot system, comprising a painting robot, a polishing robot and a loading vehicle, which can advance or retreat in a pipeline; the smearing robot, the polishing robot and the loading vehicle are mutually dragged to form a queue through connecting devices so as to jointly advance or retreat, and power supply and control are carried out through the same traction cable; the smearing robot is positioned in front of the polishing robot in the dragging queue; the polishing robot is used for polishing and cleaning the inner wall of the pipeline to be maintained; the smearing robot is used for smearing a repairing material on the inner wall of the polished pipeline; the loading vehicle is used for conveying compressed gas to the grinding robot and conveying repair materials to the smearing robot.

Further, the smearing robot comprises a traveling wheel, a camera, a feeding pump, a smearing mechanism and a lifting support; the camera is arranged above the holder; the feeding pump is used for pumping the repair material from the loading vehicle to the coating mechanism; the smearing mechanism is integrally arranged on the lifting bracket.

Further, the polishing robot comprises a traveling wheel, a camera, a polishing mechanism and a lifting support; the camera is arranged above the holder; the grinding mechanism is integrally arranged on the lifting bracket.

Further, the loading vehicle includes road wheels, a repair material tank, and a compressed gas tank.

Further, the smearing mechanism comprises a motor, a gear, a rack pair and a smearing telescopic arm; the motor can drive the gear to rotate forwards or backwards; the gear and the rack are mutually meshed; the rack pairs are fixedly connected to the respective smearing telescopic arms; the smearing mechanism is set to be in a state that when the motor drives the gear to positively drive the gear, the gear firstly drives the rack and the smearing telescopic arm to extend, and when the smearing telescopic arm extends to be in contact with the pipe wall, the gear starts to drive the rack and the smearing telescopic arm to rotate under the limitation of the pipe wall.

Furthermore, the smearing mechanism also comprises a one-way ratchet wheel disc which is coaxial with the gear and can rotate independently, one side of the one-way ratchet wheel disc is provided with a chute which is in sliding connection with the smearing telescopic arm, and the other side of the one-way ratchet wheel disc is provided with a one-way ratchet which is matched with a telescopic pawl fixed on the lifting support; the one-way ratchet wheel disc is arranged to be in forward override relative to the telescopic pawl when the gear rotates in the forward direction and drives the smearing telescopic arm to rotate, so that the gear rotates in the forward direction along with the smearing telescopic arm under the action of the sliding grooves, when the gear rotates in the reverse direction and drives the smearing telescopic arm to retract, the one-way ratchet wheel is reversely connected with the telescopic pawl, the one-way ratchet wheel disc keeps static under the blocking of the telescopic pawl, the smearing telescopic arm is prevented from rotating through the sliding grooves, and the smearing telescopic arm can only retract.

Furthermore, a tension spring is arranged between the two arms of the smearing telescopic arm or the two racks of the rack pair, and the tension of the tension spring enables the telescopic arm to have a tendency of unfolding.

Further, the polishing mechanism comprises a motor, a gear, a rack pair and a polishing telescopic arm; the motor can drive the gear to rotate forwards or backwards; the gear and the rack are mutually meshed; the rack pairs are fixedly connected to the respective polishing telescopic arms; the grinding mechanism is set to be when motor drive gear just passes, and the gear drives rack and the telescopic arm extension of polishing at first, and when the telescopic arm extension of polishing reached the contact pipe wall, under the restriction of pipe wall, the gear began to drive rack and the telescopic arm rotation of polishing.

Furthermore, the polishing mechanism also comprises a one-way ratchet wheel disc which is coaxial with the gear and can rotate independently, one surface of the one-way ratchet wheel disc is provided with a chute which is connected with the polishing telescopic arm in a sliding way, and the other surface of the one-way ratchet wheel disc is provided with a one-way ratchet which is matched with a telescopic pawl fixed on the lifting bracket; the one-way ratchet wheel disc is arranged to be in forward override relative to the telescopic pawl when the gear rotates forward and drives the polishing telescopic arm to rotate, so that the one-way ratchet wheel rotates along with the polishing telescopic arm under the action of the sliding grooves, when the gear rotates reversely and drives the polishing telescopic arm to retract, the one-way ratchet wheel is reversely connected with the telescopic pawl, the one-way ratchet wheel disc keeps static under the blocking of the telescopic pawl, the polishing telescopic arm is prevented from rotating through the sliding grooves, and the polishing telescopic arm can only retract.

Furthermore, a tension spring is arranged between the two arms of the polishing telescopic arm or the two racks of the rack pair, and the tension of the tension spring enables the telescopic arm to have a tendency of unfolding.

Furthermore, the smearing telescopic arm comprises a mixing pipe, a smearing head, a brush and a scraper; the repairing material from the feeding pump is respectively sent to the mixing pipe through the rotary joint to be mixed, the mixed repairing material is extruded out through a coating head arranged at the end part of the coating telescopic arm, and then the repairing material is coated by a brush and a scraper blade.

Furthermore, the end part of the smearing telescopic arm is also provided with a smearing support roller; scribble the supporting roller and install on scribbling gyro wheel adjusting bracket, the accessible is paintd gyro wheel adjust knob and is adjusted the extension length of scribbling gyro wheel adjusting bracket.

Furthermore, the polishing telescopic arm comprises a polishing silk screen and a blowing port which are arranged at the end part of the polishing telescopic arm, compressed air from the loading vehicle is sent to the blowing port through a rotary joint, and the polishing silk screen is blown and swept while rotating and polishing.

Furthermore, a polishing support roller is arranged at the end part of the polishing telescopic arm; the grinding supporting roller is installed on the grinding roller adjusting support, and the extension length of the grinding roller adjusting support can be adjusted through the grinding roller adjusting knob.

Further, the traction cable is connected to a slider rail structure provided on the polisher robot body via a lifting bracket.

The pull-type pipeline maintenance robot system can overhaul and maintain the pipeline under the conditions of not excavating the road surface and not disassembling the pipeline, and simultaneously complete a plurality of operations of monitoring, polishing and smearing.

The conception, the specific structure and the technical effects of the present invention will be further described with reference to the accompanying drawings to fully understand the objects, the features and the effects of the present invention.

Drawings

FIG. 1 is a schematic diagram of the operation of a pipe maintenance robotic system in accordance with a preferred embodiment of the present invention;

FIG. 2 is a schematic view of the connection of the painting robot and the loading cart in a preferred embodiment of the present invention;

FIG. 3 is a schematic view of the applicator mechanism and the lifting bracket in a preferred embodiment of the present invention;

FIG. 4 is a perspective view of the application mechanism in a preferred embodiment of the present invention;

FIG. 5 is a front view of the application mechanism in a preferred embodiment of the invention;

FIG. 6 is a partial view of the application mechanism in a preferred embodiment of the invention;

FIG. 7 is a partial cross-sectional view of an application mechanism in a preferred embodiment of the invention;

FIG. 8 is a schematic view of the assembly of the one-way ratchet plate and the retractable pawls in a preferred embodiment of the present invention;

FIG. 9 is a schematic view of a ratchet-disc runner in a preferred embodiment of the present invention;

FIG. 10 is a partial schematic view of the end of the applicator arm in a preferred embodiment of the invention;

FIG. 11 is a schematic view of the attachment of the loader vehicle to the grinding robot in a preferred embodiment of the present invention;

FIG. 12 is a perspective view of a grinding robot in a preferred embodiment of the present invention;

FIG. 13 is a partial schematic view of an end of the sharpening arm in accordance with a preferred embodiment of the present invention;

fig. 14 is a partially exploded view of the drive assembly for the travel wheels and lifting bracket of the painting or grinding robot in a preferred embodiment of the present invention.

Wherein:

100. a pipeline; 200. a traction cable; 300. a painting robot; 400. a loading vehicle; 500. a polishing robot; 600. a first connecting shaft; 700. a second connecting shaft;

310. a smearing mechanism; 320. a first lifting support; 321. a first camera; 322. a first pan/tilt head; 323. a lifting motor; 324. a worm gear; 330. a peristaltic pump; 351. a first traveling wheel; 352. a first expanding wheel; 340. pumping out the tube by the smearing liquid; 301. a first motor; 302. a first belt; 303. a first pulley; 304. a first one-way ratchet plate; 305. smearing a telescopic arm; 306. a first pair of racks; 307. a first gear; 308. a ratchet plate chute; 309. a smearing liquid introducing pipe; 311. a first swivel joint; 312. a first retractable pawl; 313. a first pawl spring; 314. a first pawl seat; 315. a first one-way ratchet; 316. a first tension spring; 317. a brush; 318. a squeegee; 319. gluing heads; 331. smearing a support roller; 332. coating a roller adjusting knob; 333. coating a roller adjusting bracket; 334. a rubber mixing tube; 353. a traveling motor; 354. a bevel gear; 355. a synchronous belt;

401. a first glue solution tank; 402. a second glue solution tank; 403. a compressed gas tank; 404. a compressed gas output pipe; 405. detecting a meter; 406. the smearing liquid is pumped into the tube;

501. a second lifting support; 502. a slider rail structure; 503. a compressed gas purge tube; 504. a second swivel joint; 505. polishing the telescopic arm; 506. a second pair of racks; 507. a second gear; 508. polishing the silk screen; 509. an air blowing port; 510. polishing the supporting roller;

Detailed Description

The technical contents of the preferred embodiments of the present invention will be more clearly and easily understood by referring to the drawings attached to the specification. The present invention may be embodied in many different forms of embodiments and the scope of the invention is not limited to the embodiments set forth herein.

As shown in fig. 1, in a preferred embodiment according to the present invention, the pipe inner wall maintenance robot system includes a painting robot 300, a loading cart 400, and a grinding robot 500. Wherein the painting robot 300 and the loading vehicle 400 are connected by a first connecting shaft 600, the loading vehicle 400 and the grinding robot 500 are connected by a second connecting shaft 700, and the grinding robot 500 is connected with the traction cable 200. In use, the pipe inner wall maintenance robot system enters the pipe 100 to perform maintenance on the pipe inner wall 101.

As shown in fig. 2, the application robot 300 includes four first travel wheels 351, a first camera 321, a peristaltic pump 330, and an application mechanism 310. Four first expanding wheels 352 can be installed outside the first traveling wheels 351 to adapt to pipe diameters of different specifications. The two first cameras 321 are respectively disposed above the two-degree-of-freedom first pan/tilt 322 to detect the inner wall condition of the pipeline in real time. The coating mechanism 301 is disposed on the first lifting support 320, and when coating pipelines 100 with different diameters, the height of the first lifting support 320 can be adjusted, so that the rotation axis of the coating mechanism 301 is concentric with the pipeline 100.

The loading vehicle 400 is loaded with a first glue solution tank 401, a second glue solution tank 402 and a compressed gas tank 403, on which a detecting instrument 405 is respectively arranged for detecting the glue solution allowance or pressure in the tank. The coating liquid pumping pipe 406 is connected with the first glue solution tank 401, the second glue solution tank 402 and the peristaltic pump 330. The peristaltic pump 330 pumps the two-component glue through the glue pump outlet tube 340 to the applicator mechanism 301.

As shown in fig. 3 to 10, the applying unit 310 is integrally provided on the first elevating bracket 320 and can be elevated as the first elevating bracket 320 is elevated. The application mechanism 310 includes a first motor 301, a first belt 302, a first pulley 303, a first one-way ratchet disc 304, and a pair of application telescopic arms 305. The painting telescopic arm 305 is provided with a first pair of racks 306. The first motor 301 drives the first pulley 303 to rotate through the first belt 302, and a first gear 307 fixedly connected with or integrated with the first pulley 303 is arranged on a rotating shaft of the first pulley 303. The first gear 307 is engaged with the first pair of racks 306, so that the forward rotation and the reverse rotation of the first gear 307 can drive the smearing telescopic arm 305 to be telescopic by the first pair of racks 306. The first one-way ratchet plate 304 is rotatably provided on the rotational shaft of the first pulley 303. One face of the first one-way ratchet plate 304 is provided with a ratchet plate runner 308. The first one-way ratchet plate 304 is slidably connected to the applicator telescoping arm 305 through a ratchet plate chute 308. The other side of the first one-way ratchet plate 304 is provided with a first one-way ratchet 315 engaged with the first telescopic pawl 312. The first telescopic pawl 312 and the first pawl spring 313 are disposed in the first pawl seat 314. When the first motor 301 starts to rotate in the forward direction, the first gear 307 drives the first rack pair 306, so that the smearing telescopic arm 305 is extended toward the pipe 100. At this point, the first one-way ratchet plate 304 remains stationary and the applicator telescoping arm 305 is slidably extended in the ratchet plate chute 308. When the painting telescopic arm 305 is extended to the pipe wall 101, the painting telescopic arm 305 can no longer be extended. At this point, the first gear 307 and the first pair of racks 306 start to remain relatively stationary, and the first gear 307 in turn starts to rotate the first pair of racks 306 and the applicator arm 305. At this time, the coating telescopic arm 305 also rotates the first one-way ratchet disc 304 through the ratchet disc sliding slot 308, and the first one-way ratchet 315 of the first one-way ratchet disc 304 forms a positive override by compressing the first telescopic pawl 312. When the first motor 301 rotates in the reverse direction, the first gear 307 drives the first rack pair 306 in the reverse direction, so that the application telescopic arm 305 retracts. At this time, since the first ratchet teeth 315 of the first one-way ratchet disc 304 are engaged with the first telescopic pawls 312 in the opposite direction, the first telescopic pawls 312 cannot be compressed, so that the first one-way ratchet disc 304 is kept still under the block of the first telescopic pawls 312, and the smearing telescopic arm 305 is restricted by the ratchet disc sliding slot 308 of the first one-way ratchet disc 304 and cannot rotate any further. At this time, relative rotation occurs again between the first gear 307 and the first pair of racks 306, and the first pair of racks 306 and the application telescopic arm 305 are driven to retract. In a further embodiment, a first tension spring 306 may also be provided between the two arms of the smear telescopic arm 305 or the two racks of the first rack pair 306. The first tension spring 306 causes the smearing telescopic arm 305 to have a tendency to extend outward, so that when the first motor 301 starts to rotate in the forward direction, the smearing telescopic arm 305 is first unfolded.

The coating liquid pumping pipe 340 feeds the two-component glue solution to the coating liquid inlet pipe 309 of the coating mechanism 310. The smearing liquid introducing pipe 309 passes through the first belt wheel 303, the first one-way ratchet disc 304 and the axial center through hole of the first gear 307, and the two-component glue liquid is delivered to the glue mixing pipe 334 through the first rotary joint 311. The mixed glue solution in the glue mixing tube 334 is extruded out through a glue coating head 319 arranged at the end of the coating telescopic arm 305, and is adhered to the inner side of the tube wall in a sheet shape, and then the tube wall 101 is coated by a brush 317 and a scraper 318.

In a further embodiment, a smearing support roller 331 is also provided at the end of the smearing telescopic arm 305. The smearing support roller 331 is mounted on the smearing roller adjustment bracket 333, and the extension length of the smearing roller adjustment bracket 333 can be adjusted by the smearing roller adjustment knob 332. When the smearing operation is performed, the smearing support roller 331 firstly contacts the pipe wall and then the brush 317 contacts the pipe wall in the process of extending the smearing telescopic arm 305. By adjusting the applicator roller adjustment knob 332, the distance between the brush 317 and the squeegee 318 and the wall of the tube can be controlled, thereby controlling the thickness of the application material.

As shown in fig. 11 to 13, the grinding robot 500 is similar to the painting robot 300, and has four second traveling wheels and second expanding wheels, and a second camera, a second pan/tilt head, and a second lifting bracket 501. The sanding telescopic mechanism is also integrally installed on the second lifting bracket 501 and can lift along with the lifting of the second lifting bracket 501. The telescopic principle of the polishing telescopic mechanism is the same as that of the coating telescopic mechanism, and the polishing telescopic mechanism also comprises a polishing telescopic arm 505, a second rack pair 506, a second gear 507 and the like. The compressed gas from the loader 400 is supplied to the compressed gas purge pipe 503 of the polishing robot 500 through the compressed gas output pipe 404, and is sent to the tip blow port 509 of the polishing telescopic arm 505 through the second rotary joint 504. The end of the sanding telescopic arm 505 is provided with a sanding screen 508. When the polishing telescopic arm 505 performs rotary polishing on the pipe wall 101, the compressed air blown out from the air blowing port 509 can blow away floating dust on the surface of the pipe wall, so that the subsequent coating robot 300 can perform coating, bonding and other operations conveniently. The end part of the polishing telescopic arm 505 is also provided with a polishing support roller 510 with adjustable height, and the polishing force is controlled by controlling the gap between the polishing telescopic arm 505 and the pipe wall.

The traction cable 200 is connected to a slider rail structure 502 provided on the body of the grinding robot 500 through a through hole at the shaft center of the second swivel joint 504. When the second lifting support 501 is lifted, the driving center of the traction cable 200 and the driving center of the polishing telescopic mechanism can be coincided through the slide block and slide rail structure 502, so that the traction cable cannot be driven by the rotating mechanism to be wound.

When the pipe inner wall maintenance robot system according to the embodiment of the present invention performs a work, the smearing robot 300 in the pipe inner wall maintenance robot system generally starts to advance toward the inside of the pipe 100 to be maintained first, and pulls the following loading vehicle 400 and the grinding robot 500 to advance in the pipe simultaneously through the connecting shaft. The camera can real-time detection pipeline inner wall situation. When the painting robot 300 travels to a position to be worked of a pipe segment such as a broken pipe, the painting robot 300 may continue to travel until the following grinding robot 500 reaches the working position, and then the entire system starts traveling backward. In the reverse process, the pipeline wall is firstly pretreated and polished by the polishing robot 500 to remove floating dust and raised obstacles on the surface, and then the painting maintenance work is started by the painting robot 300. Repair materials such as glue and air required for the polishing and painting robot are placed on the cart 400 connected between the painting robot 300 and the polishing robot 500. The pipeline inner wall maintenance robot system supplies power to the system and transmits the running state and monitoring and control signals of the robot to an external operation terminal through a traction cable connected to a built-in power supply and signal control circuit at the tail end of the polishing robot 500.

As shown in fig. 14, in one embodiment of the painting robot, the traveling wheels 351 on the left and right sides are driven by two traveling motors 353 through bevel gears 353, respectively, and the front and rear traveling wheels 351 are connected by a synchronous belt 355. The road wheels 351 can turn differentially. The first lifting bracket 320 is lifted and lowered by a lifting motor 323 through a worm gear 324. The walking and support lifting principles of the polishing robot are the same as those of the smearing robot.

The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concept. Therefore, the technical solutions that can be obtained by a person skilled in the art through logical analysis, reasoning or limited experiments based on the prior art according to the concepts of the present invention should be within the scope of protection determined by the claims.

Claims

1. A pull-type pipeline maintenance robot system is characterized by comprising a smearing robot, a polishing robot and a loading vehicle, wherein the smearing robot, the polishing robot and the loading vehicle can advance or retreat in a pipeline; the smearing robot, the polishing robot and the loading vehicle are mutually dragged to form a queue through connecting devices so as to jointly advance or retreat, and power supply and control are carried out through the same traction cable; the smearing robot is positioned in front of the polishing robot in the dragging queue; the polishing robot is used for polishing and cleaning the inner wall of the pipeline to be maintained; the smearing robot is used for smearing a repairing material on the inner wall of the polished pipeline; the loading vehicle is used for conveying compressed gas to the polishing robot and conveying repairing materials to the smearing robot.

2. The pull type pipeline maintenance robot system according to claim 1, wherein the painting robot comprises a motor, a traveling wheel, a camera, a feeding pump, a painting mechanism and a lifting bracket; the feeding pump is used for pumping the repair material from the loading vehicle to the coating mechanism; the smearing mechanism is integrally arranged on the lifting bracket.

3. The pull type pipe maintenance robot system according to claim 1, wherein the grinding robot comprises a motor, a traveling wheel, a camera, a grinding mechanism, and a lifting bracket; the grinding mechanism is integrally arranged on the lifting bracket.

4. The pull-on pipeline maintenance robot system of claim 1 wherein the loader vehicle comprises road wheels, a tank of rehabilitation material, and a tank of compressed gas.

5. The pull type pipe maintenance robot system according to claim 2, wherein the painting mechanism includes a gear, a rack pair, and a painting telescopic arm; the gear can be driven by the motor to rotate forwards or reversely; the gear and the rack are mutually meshed; the rack pairs are fixedly connected to the respective smearing telescopic arms; the smearing mechanism is set in such a way that when the gear is positively transmitted, the gear firstly drives the rack and the smearing telescopic arm to extend, and when the smearing telescopic arm extends to contact with the pipe wall, the gear starts to drive the rack and the smearing telescopic arm to rotate under the limit of the pipe wall.

6. The pull type pipe maintenance robot system according to claim 5, wherein the coating mechanism further comprises a one-way ratchet disc coaxial with the gear but independently rotatable, one side of which is provided with a slide groove slidably connected with the coating telescopic arm, and the other side of which is provided with a one-way ratchet matched with a telescopic pawl fixed on the lifting bracket; the one-way ratchet wheel disc is arranged in a manner that when the gear rotates in the forward direction and drives the smearing telescopic arm to rotate, the one-way ratchet of the one-way ratchet wheel disc is in forward override relative to the telescopic pawl, so that the one-way ratchet wheel disc rotates along with the smearing telescopic arm under the action of the sliding groove, when the gear rotates in the reverse direction and drives the smearing telescopic arm to retract, the one-way ratchet wheel disc is reversely jointed with the telescopic pawl, the one-way ratchet wheel disc keeps static under the blocking of the telescopic pawl, the smearing telescopic arm is prevented from rotating through the sliding groove, and the smearing telescopic arm is ensured to only retract.

7. The pull type pipe maintenance robot system according to claim 6, wherein a tension spring is further provided between the two arms or the two racks of the rack pair of the painting telescopic arm, and the tension of the tension spring makes the telescopic arm have a tendency to unfold.

8. The pull type pipe maintenance robot system according to claim 3, wherein the sanding mechanism comprises a gear, a pair of racks, and a sanding telescopic arm; the gear can be positively or reversely rotated under the driving of the motor; the gear and the rack are mutually meshed; the rack pairs are fixedly connected to the respective polishing telescopic arms; the grinding mechanism is set to be when motor drive gear just passes, and the gear drives rack and the telescopic arm extension of polishing at first, and when the telescopic arm extension of polishing reached the contact pipe wall, under the restriction of pipe wall, the gear began to drive rack and the telescopic arm rotation of polishing.

9. The pull type pipe maintenance robot system according to claim 8, wherein the grinding mechanism further comprises a one-way ratchet disc coaxial with the gear but independently rotatable, one side of which is provided with a slide groove slidably connected with the grinding telescopic arm, and the other side of which is provided with a one-way ratchet engaged with a telescopic pawl fixed to the lifting bracket; the one-way ratchet wheel disc is arranged to be in positive override relative to the telescopic pawl when the gear rotates in the positive direction and drives the polishing telescopic arm to rotate, so that the one-way ratchet wheel disc rotates along with the polishing telescopic arm under the action of the sliding groove, when the gear rotates in the reverse direction and drives the polishing telescopic arm to retract, the one-way ratchet wheel disc is reversely connected with the telescopic pawl, the one-way ratchet wheel disc keeps static under the blocking of the telescopic pawl, the polishing telescopic arm is prevented from rotating through the sliding groove, and the polishing telescopic arm can only retract.

10. The pull type pipe maintenance robot system according to claim 9, wherein a tension spring is further provided between the two arms of the sanding telescopic arm or the two racks of the rack pair, and tension of the tension spring causes the telescopic arm to have a tendency to be unfolded.

11. The trailer pipe maintenance robot system as claimed in claim 5, wherein the painting telescopic arm comprises a mixing pipe, a painting head, a brush and a scraper; the repairing material from the feeding pump is respectively sent to the mixing pipe through the rotary joint to be mixed, the mixed repairing material is extruded out through a coating head arranged at the end part of the coating telescopic arm, and then the repairing material is coated by a brush and a scraper blade.

12. The trailer-type pipeline maintenance robot system as claimed in claim 5, wherein a painting support roller is further provided at an end of the painting telescopic arm; scribble the supporting roller and install on scribbling gyro wheel adjusting bracket, the accessible is paintd gyro wheel adjust knob and is adjusted the extension length of scribbling gyro wheel adjusting bracket.

13. The pull-type pipe maintenance robot system according to claim 8, wherein the grinding telescopic arm includes a grinding wire net and a blowing port provided at an end thereof, and compressed gas from the loader is supplied to the blowing port through a swivel joint, and purging is performed while the grinding wire net is being subjected to rotational grinding.

14. The pull type pipe maintenance robot system according to claim 8, wherein a sanding support roller is further provided at the end of the sanding telescopic arm; the grinding support roller is installed on the grinding roller adjusting support, and the extension length of the grinding roller adjusting support can be adjusted through the grinding roller adjusting knob.

15. The pull-type pipe maintenance robot system according to claim 3, wherein the traction cable is connected to a slider rail structure provided on the sander robot body via a lifting bracket.

16. The pull type pipeline maintenance robot system according to claim 2, wherein the number of the cameras is two, and the cameras are arranged above the holder, so that the surrounding environment and the operation process can be observed without dead angles.

17. The towed tube maintenance robot system of claim 2 wherein the pump is a two-component peristaltic pump with infinitely adjustable flow.