Pipeline external leakage detection robot walking mechanism

Abstract

The invention discloses a pipeline external leakage detection robot walking mechanism which is suitable for pipeline detection of narrow underground spaces such as underground comprehensive pipe galleries. The pipeline external leakage detection robot walking mechanism is characterized by comprising a first shell (3) and a second shell (8), wherein the first shell (3) and the second shell (8) arefixedly connected through a plurality of hinge structures (4) and are symmetrical along the hinge structures (4), and magnetic wheels (1) are further symmetrically arranged on the two transverse sidesof the first shell (3) and the second shell (8); and a plurality of reserved bases (16) for bearing detection mechanisms or sensor devices are arranged at the top of the first shell (3) and the top of the second shell (8) correspondingly, and motors (15) are arranged in the first shell (3) and the second shell (8) correspondingly. The pipeline external leakage detection robot walking mechanism isdriven to be attracted to the exterior of a metal pipeline of the underground comprehensive pipe galleries and walk, and then pipeline external leakage is intelligently detected.

Description

technical field [0001] The invention belongs to the technical field of pipeline detection devices for underground comprehensive pipeline corridors, and relates to a walking mechanism of a pipeline external leakage detection robot. Background technique [0002] The underground integrated pipe gallery is a large underground tunnel space that integrates power, communication, water supply and drainage, and gas pipelines in the same pipe gallery. Once a leak occurs, the consequences may be unimaginable. Looking around the world, due to the chemical corrosion of the conveying medium, force majeure natural disasters and its own defects, it is very likely that serious accidents such as environmental pollution, flammable material explosion, energy waste and other serious accidents caused by the leakage of conveyed materials, such as in recent years Pipeline leakage incidents have occurred in many countries, which have brought huge losses to the country and the people. Therefore, it i...

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Problems solved by technology

[0003] The traditional leak detection method is through manual detection, which is time-consuming and labor-intensive. In order to obtain accurate values, multiple measurements are required, which is inefficient and labor-intensive; The manual detection method has detection risks and dead spots in high-altitude or narrow environments, so the detection effect is very unsatisfactory

[0004] At present, in my country, there are few studies on the running mechanism of the intelligent detection device for the leakage of the outer wall of the underground comprehensive pipe gallery. First of all, the existing pipeline detection walking mechanism or robot basically enters the inside of the pipeline for detection, and performs inspections according to the obstacles in the interior. Innovation and improvement, such as CN110696014A discloses a power pipeline inspection robot, the robot support rod, body base and elastic connectors form a triangular structure with variable height, to ensure that when the robot performs inspection work in the power pipeline, the body can always Closely attached to the pipe to realize the body locking, and will not tilt the body due to factors such as tire speed difference or slipping

Secondly, the existing pipeline detection robot cannot flexibly realize the detection of different pipelines and different pipe diameters in the underground comprehensive pipeline gallery. In addition, for vertical pipelines, it cannot guarantee to walk close to the pipeline wall

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