Positioning robot for leakage detection of water conservancy water supply and drainage pipe network

Abstract

The invention relates to the technical field of pipeline leakage detection, and particularly discloses a positioning robot for leakage detection of a water conservancy water supply and drainage pipe network, the positioning robot sleeves a pipeline and comprises a driving ring, a detection ring and a marking ring, the inner wall of the driving ring is provided with a plurality of rollers and a driving assembly, the inner wall of the detection ring is provided with a probe, the probe is provided with a detection assembly, and the detection assembly is arranged on the detection ring. A waterproof adhesive tape roll and a marking mechanism are arranged on the inner wall of the marking ring, the robot is installed on a pipeline in a sleeving mode, under the action of the driving assembly, the driving ring, the detection ring and the marking ring are driven by the rolling wheels to horizontally move on the pipeline, and when the robot moves to the leakage position of the pipeline, the robot is driven to move. The detection assembly on the probe can detect water leaked from the leakage part, so that the specific leakage position of the pipeline can be known, the marking mechanism on the marking ring can mark the leakage part, the leakage part is subjected to preliminary leakage sealing through the waterproof adhesive tape, and the influence caused by pipeline leakage before a worker carries out maintenance is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of pipeline leakage detection, and in particular to a positioning robot for leakage detection in water conservancy, water supply and drainage pipe networks. Background Art

[0002] The water supply and drainage network is a critical urban infrastructure, consisting of both the water supply and drainage networks. The water supply network delivers standard water to users through transmission pipes, distribution networks, pumping stations, and regulating facilities, ensuring sufficient water volume and stable water pressure. It also utilizes clear water tanks and other facilities to regulate water volume. The drainage network, through pipes, pumping stations, and regulating tanks, collects sewage, wastewater, and rainwater, transporting them to treatment plants or outfalls to prevent environmental pollution. Both systems carry out water volume transportation and regulation, ensuring water pressure, using gravity flow or pressurized delivery, and utilizing regulating facilities to manage water volume fluctuations. The water supply network emphasizes water quality safety, while the drainage network focuses on pollution control. Together, they support urban water needs for domestic use, production, and firefighting, maintain environmental hygiene, and are crucial indicators of a city's modernization. Therefore, leak detection in the water supply and drainage network is particularly important.

[0003] Existing technologies for leak detection in water supply and drainage networks mostly use sounding rods, electronically amplified leak detectors, water leak detectors, infrared thermal imagers, or gas tracers. Sounding rods, with metal or wooden probes, directly contact the pipe, transmitting vibrations to the ear and are suitable for close-range location. Electronically amplified leak detectors use digital signal processing technology to filter out background noise and amplify leaking sounds, enabling continuous monitoring and distinguishing between leaks and short-term water use. Water leak detectors have built-in high-sensitivity microphones that capture the sound waves or vibrations generated by leaks and combine signal processing technology for precise location. Some models also integrate thermal imaging or gas tracking capabilities. Infrared thermal imagers locate leaks by detecting temperature differences caused by the leak, making them particularly suitable for screening hidden areas. Gas tracers locate leaks by injecting tracer gas and detecting its escape point.

[0004] Regarding the above-mentioned related technologies, the equipment used in the existing technology requires manual operation to determine the leakage location of the pipeline. Therefore, pipeline leakage may not be discovered in time, and before the pipeline leakage is formally treated, the pipeline leakage will not be pre-treated to reduce the impact, so improvements are made to this. Summary of the Invention

[0005] In order to promptly detect the leakage location of the pipeline and perform pretreatment, the present application provides a positioning robot for leakage detection in water conservancy and drainage pipeline networks.

[0006] This application provides a positioning robot for leak detection in water conservancy and drainage networks, which adopts the following technical solutions: A positioning robot for leak detection in a water conservancy and drainage network is sleeved on a pipeline, comprising a driving ring, a detection ring and a marking ring, the detection ring being arranged on one end of the driving ring, the marking ring being arranged on an end of the detection ring away from the driving ring, a plurality of rollers being arranged on the inner wall of the driving ring, the plurality of rollers all abutting against the outer wall of the pipeline, a driving assembly being provided on the driving ring for driving the plurality of rollers to rotate, thereby driving the driving ring, the detection ring and the marking ring to translate on the pipeline, a probe being provided on the inner wall of the detection ring, a detection assembly being provided on the probe for detecting whether the pipeline is leaking, a waterproof tape roll being provided on the inner wall of the marking ring, and a marking mechanism being provided on the marking ring for sticking the waterproof tape roll on the leakage position when the probe detects water leakage.

[0007] By adopting the above technical solution, the robot sleeve in the present application is installed on the pipeline, and under the action of the driving component, the driving ring, the detection ring and the marking ring can be driven horizontally on the pipeline by the roller. When it moves to the position where the pipeline is leaking, the water leaking from the pipeline will gather at the bottom of the pipeline along the outer pipe wall. The detection component on the probe can detect the water leaking from the leakage part, so that the specific position of the leakage in the pipeline can be known. After that, the marking mechanism on the marking ring in the present application can mark the leakage point, and perform preliminary leakage sealing on the leakage point through waterproof tape, thereby reducing the impact of pipeline leakage before the staff comes to carry out maintenance.

[0008] Optionally, the driving assembly includes a first driving motor, a driving frame, a driving bevel gear, a driven bevel gear, a rotating rod, a chain, a first sprocket and a second sprocket, the first driving motor is arranged on the arc-shaped side wall of the driving ring, the driving frame is arranged on the arc-shaped inner wall of the driving ring, the lowest roller is arranged on the driving frame, the rotating rod is rotatably arranged in the driving ring, the driving bevel gear is arranged on the output shaft of the first driving motor, the driven bevel gear is sleeved on the rotating rod, the driving bevel gear and the driven bevel gear are meshed with each other, the first sprocket is arranged on the rotating shaft of the roller on the driving frame, the second sprocket is sleeved on the rotating rod, and the first sprocket and the second sprocket are transmitted through the chain.

[0009] By adopting the above technical solution, the first drive motor is started, and the active bevel gear on the output shaft of the first drive motor drives the driven bevel gear to rotate, thereby realizing the rotation of the rotating rod. Since the first sprocket and the second sprocket are transmitted through the chain, the first sprocket is fixedly mounted on the rotating shaft of the roller, and the second sprocket is fixedly mounted on the rotating rod, so that the lowest roller can be rotated. The rotation of the roller can realize the horizontal movement of the drive ring, the detection ring and the marking ring on the pipeline.

[0010] Optionally, the detection component includes a ball, a first wire, a second wire, a current sensor and a power supply. A rotation groove is provided at the end of the probe away from the arc-shaped inner wall of the detection ring. The ball is rotatably arranged in the rotation groove and abuts against the lowest point of the pipeline. The power supply is arranged on the arc-shaped outer wall of the detection ring. One ends of the first wire and the second wire are both spaced apart at the bottom of the rotation groove. The other ends of the first wire and the second wire are respectively connected to the positive and negative poles of the power supply. The current sensor is arranged on the first wire for detecting whether there is current in the first wire.

[0011] By adopting the above technical solution, when the detection ring moves, the ball always contacts the lowest point of the pipe. If the pipe leaks, the leaked water will gather at the bottom of the pipe along the outer pipe wall. Then, it will be brought into the rotating groove by the rotation of the ball, thereby connecting the first wire and the second wire. At this time, a closed loop is formed, and the current sensor can detect the existence of current in the first wire, thereby judging whether the pipe is leaking.

[0012] Optionally, the marking mechanism includes a second drive motor, a driving gear, a driving gear ring, a first electric telescopic rod, a marking frame, a limit bar and a cutting assembly, an annular groove is provided on the arc-shaped inner wall of the marking ring, the waterproof tape roll is arranged in the annular groove, the marking ring is rotatably arranged on the detection ring, the second drive motor is arranged on the arc-shaped outer wall of the marking ring, the driving gear is arranged on the output shaft of the second drive motor, the driving gear ring is sleeved on the arc-shaped outer wall of the marking ring, the driving gear and the driving gear ring are engaged with each other, and the first The fixed end of the electric telescopic rod is arranged on the arc-shaped outer wall of the marking ring, and the telescopic end of the first electric telescopic rod passes through the marking ring and is arranged inside the marking ring. The marking frame is arranged on the telescopic end of the first electric telescopic rod, and the end of the waterproof tape is placed on the marking frame and partially extends out of the marking frame. The limit strip is arranged at the end of the marking frame away from the arc-shaped inner wall of the marking ring, and is used to limit the end of the waterproof tape. The cutting assembly is arranged on the marking ring, and is used to cut the waterproof tape after sealing with the waterproof tape.

[0013] By adopting the above technical solution, the first electric telescopic rod is started, and the first electric telescopic rod drives the marking frame to move toward the pipe until it abuts, thereby achieving the goal of sticking the end of the waterproof tape on the outer wall of the pipe, and then starting the second drive motor, and the output shaft of the second drive motor drives the active gear to rotate. Since the active gear and the drive gear ring are engaged with each other, the rotation of the marking ring can be achieved, thereby achieving comprehensive waterproof tape sticking on the annular section of the pipe where the leakage position is located. The limit strip can limit the end of the waterproof tape, thereby facilitating the sticking of the waterproof tape. The cutting component can cut the waterproof tape after sticking it, so that the waterproof tape can be used next time.

[0014] Optionally, the cutting assembly includes a second electric telescopic rod and a cutting knife, the fixed end of the second electric telescopic rod is arranged on the arc-shaped outer wall of the marking ring, and the telescopic end of the second electric telescopic rod passes through the marking ring and is arranged inside the marking ring, the cutting knife is arranged on the telescopic end of the second electric telescopic rod, and the extension of the telescopic end of the second electric telescopic rod drives the cutting knife to cut the waterproof tape, and the first drive motor, the second drive motor, the first electric telescopic rod, the second electric telescopic rod and the current sensor are electrically connected to each other.

[0015] By adopting the above technical solution, the second electric telescopic rod is started, and the second electric telescopic rod drives the cutting knife to move toward the pipeline. During the movement, the cutting knife abuts against the waterproof tape to cut it. The first drive motor, the second drive motor, the first electric telescopic rod, the second electric telescopic rod and the current sensor are electrically connected. After the leakage is detected, the waterproof tape can be automatically attached and cut at the leakage location, realizing fully automatic pretreatment before formal treatment of the pipeline leakage.

[0016] Optionally, a connecting rod is rotatably provided on the limit bar, a torsion spring is provided between the connecting rod and the limit bar, one end of the torsion spring is connected to the connecting rod, and the other end is connected to the limit bar, and the end of the connecting rod away from the limit bar is rotatably provided with a rolling roller for rolling the waterproof tape just attached to the pipe, and a heating wire is provided in the rolling roller for heating the waterproof tape so that the waterproof tape fits better to the pipe.

[0017] By adopting this technical solution, when the rolling roller is fully in contact with the pipe, the torsion spring causes the connecting rod to deflect toward the pipe. This allows the rolling roller to exert downward pressure on the pipe, effectively rolling the waterproof tape just applied to the pipe. The heating wire within the rolling roller also rapidly heats the waterproof tape, allowing it to connect more tightly to the pipe's outer wall, improving the pre-treatment sealing effect.

[0018] Optionally, both of the two rollers located on the horizontal plane of the center of the pipeline are provided with springs for making the rollers elastically abut against the pipeline.

[0019] By adopting the above technical solution, the spring can realize elastic contact between the roller and the pipe, and when the pipe is horizontally bent, horizontal movement can also be realized, meeting the use requirements of more working conditions.

[0020] Optionally, the blade of the cutting knife is serrated.

[0021] By adopting the above technical solution, the serrated blade of the cutting scissors can cut the waterproof tape more quickly and prevent the waterproof tape from sticking to the blade.

[0022] In summary, this application includes at least one of the following beneficial technical effects: 1. Start the first drive motor. The active bevel gear on the output shaft of the first drive motor drives the driven bevel gear to rotate, thereby realizing the rotation of the rotating rod. Since the first sprocket and the second sprocket are transmitted through the chain, the first sprocket is fixedly mounted on the rotating shaft of the roller, and the second sprocket is fixedly mounted on the rotating rod. Therefore, the lowest roller can be rotated. The rotation of the roller can realize the horizontal movement of the driving ring, the detection ring and the marking ring on the pipeline. 2. When the detection ring moves, the ball always contacts the lowest point of the pipe. If the pipe leaks, the leaking water will flow along the outer pipe wall and collect at the bottom of the pipe. The water will then be drawn into the rotating groove by the rotation of the ball, connecting the first and second conductors. This forms a closed circuit, and the current sensor can detect the current in the first conductor, thereby determining whether the pipe is leaking. 3. Start the first electric telescopic rod, which drives the marking frame to move toward the pipe until it abuts, thereby pasting the end of the waterproof tape on the outer wall of the pipe. Then start the second drive motor, and the output shaft of the second drive motor drives the active gear to rotate. Since the active gear and the drive gear ring are engaged with each other, the marking ring can be rotated, thereby achieving comprehensive waterproof tape pasting on the annular section of the pipe where the leakage is located. The limit strip can limit the end of the waterproof tape, thereby facilitating the pasting of the waterproof tape. The rolling roller provides downward pressure in the direction of the pipe, thereby rolling the waterproof tape just pasted on the pipe. The heating wire in the rolling roller can also quickly heat the waterproof tape. The heated waterproof tape can be more tightly connected to the outer wall of the pipe, thereby improving the pre-treatment sealing effect of the pipe. 4. Start the second electric telescopic rod, which drives the cutting blade to move toward the pipeline. During the movement, the cutting blade contacts and cuts the waterproof tape. The first drive motor, the second drive motor, the first electric telescopic rod, the second electric telescopic rod, and the current sensor are electrically connected to each other. After a leak is detected, the waterproof tape can be automatically attached and cut at the leaking location, realizing fully automatic pretreatment before formal treatment of the pipeline leak. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0024] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the present application; Figure 2 yes Figure 1 Schematic diagram of part of the structure; Figure 3 yes Figure 1 Schematic cross-section of some structures; Figure 4 It is a structural diagram of the marking ring.

[0025] Figure numerals: 1. drive ring; 11. roller; 2. detection ring; 21. probe; 3. marking ring; 4. drive assembly; 41. first drive motor; 42. drive frame; 43. driving bevel gear; 44. driven bevel gear; 45. rotating rod; 46. chain; 47. first sprocket; 48. second sprocket; 5. detection assembly; 51. ball; 52. first wire; 53. second wire; 54. current sensor; 55. power supply; 6. marking mechanism; 61. second drive motor; 62. driving gear; 63. drive gear ring; 64. first electric telescopic rod; 65. marking frame; 66. limit bar; 67. cutting assembly; 671. second electric telescopic rod; 672. cutting knife; 7. connecting rod; 71. rolling roller. DETAILED DESCRIPTION

[0026] The following is combined with Figure 1-4 This application is described in further detail.

[0027] The present application discloses a positioning robot for detecting leakage in water conservancy and drainage pipe networks. Figures 1-4A positioning robot for leakage detection of water conservancy and drainage pipe networks is sleeved and installed on the pipe, comprising a driving ring 1, a detection ring 2 and a marking ring 3. The detection ring 2 is welded and installed on one end of the driving ring 1, and the marking ring 3 is rotatably installed on the end of the detection ring 2 away from the driving ring 1. A plurality of rollers 11 are installed on the inner wall of the driving ring 1, and the plurality of rollers 11 are all in contact with the outer wall of the pipe. Two rollers 11 located in the horizontal plane of the center of the pipe are installed with springs, a driving assembly 4 is installed on the driving ring 1, a probe 21 is installed on the inner wall of the detection ring 2, and a detection assembly 5 is installed on the probe 21. A waterproof tape roll is placed on the inner wall of the marking ring 3, and a marking mechanism 6 is installed on the marking ring 3.

[0028] The robot sleeve in this embodiment is installed on the pipeline, and under the action of the driving component 4, the driving ring 1, the detection ring 2 and the marking ring 3 can be driven by the roller 11 to move horizontally on the pipeline. When it moves to the location where the pipeline is leaking, the water leaking from the pipeline will be collected at the bottom of the pipeline along the outer pipe wall. The detection component 5 on the probe 21 can detect the water leaking from the leaking part, so that the specific location of the leak in the pipeline can be known. After that, the marking mechanism 6 on the marking ring 3 in this embodiment can mark the leaking part and perform a preliminary leak sealing on the leaking part with waterproof tape, thereby reducing the impact of pipeline leakage before the staff carry out maintenance. The spring can realize the elastic contact between the roller 11 and the pipeline. When there is a horizontal bend in the pipeline, horizontal movement can also be achieved, meeting the needs of more working conditions.

[0029] In order to realize the parallel movement of the driving ring 1, the detection ring 2 and the marking ring 3, refer to Figure 1 and Figure 2 The driving assembly 4 in this embodiment includes a first driving motor 41, a driving frame 42, a driving bevel gear 43, a driven bevel gear 44, a rotating rod 45, a chain 46, a first sprocket 47 and a second sprocket 48. The first driving motor 41 is bolted and fixedly mounted on the arc-shaped side wall of the driving ring 1, the driving frame 42 is welded and mounted on the arc-shaped inner wall of the driving ring 1, the lowest roller 11 is rotatably mounted on the driving frame 42, the rotating rod 45 is rotatably mounted in the driving ring 1, the driving bevel gear 43 is welded and mounted on the output shaft of the first driving motor 41, the driven bevel gear 44 is welded and sleeved on the rotating rod 45, the driving bevel gear 43 and the driven bevel gear 44 are meshed with each other, the first sprocket 47 is welded and sleeved on the rotating shaft of the roller 11 on the driving frame 42, the second sprocket 48 is welded and sleeved on the rotating rod 45, and the first sprocket 47 and the second sprocket 48 are transmitted through the chain 46.

[0030] Start the first drive motor 41, and the active bevel gear 43 on the output shaft of the first drive motor 41 drives the driven bevel gear 44 to rotate, thereby realizing the rotation of the rotating rod 45. Since the first sprocket 47 and the second sprocket 48 are transmitted through the chain 46, the first sprocket 47 is fixedly mounted on the rotating shaft of the roller 11, and the second sprocket 48 is fixedly mounted on the rotating rod 45, it is possible to rotate the lowest roller 11. The rotation of the roller 11 can realize the horizontal movement of the drive ring 1, the detection ring 2 and the marking ring 3 on the pipeline.

[0031] Reference Figure 3 The detection assembly 5 in this embodiment includes a ball 51, a first wire 52, a second wire 53, a current sensor 54 and a power supply 55. A rotation groove is opened at the end of the probe 21 away from the arc-shaped inner wall of the detection ring 2. The ball 51 is rotatably installed in the rotation groove and abuts against the lowest point of the pipeline. The power supply 55 is bolted to the arc-shaped outer wall of the detection ring 2. One end of the first wire 52 and the second wire 53 are installed at an interval at the bottom of the rotation groove. The other ends of the first wire 52 and the second wire 53 are respectively connected to the positive and negative poles of the power supply 55. The current sensor 54 is installed on the first wire 52.

[0032] When the detection ring 2 moves, since the ball 51 is always in contact with the lowest point of the pipeline, if the pipeline leaks, the leaked water will gather at the bottom of the pipeline along the outer pipe wall. Therefore, it will be brought into the rotating groove through the rotation of the ball 51, thereby connecting the first wire 52 and the second wire 53. At this time, a closed loop is formed, and the current sensor 54 can detect the existence of current in the first wire 52, thereby judging whether the pipeline is leaking.

[0033] After detecting the presence of leakage in the pipeline, the location of the pipeline leakage must be marked. Figure 4Therefore, the marking mechanism 6 in this embodiment includes a second drive motor 61, a driving gear 62, a driving gear ring 63, a first electric telescopic rod 64, a marking frame 65, a limit bar 66 and a cutting assembly 67. An annular groove is provided on the arc-shaped inner wall of the marking ring 3, and the waterproof tape roll is placed in the annular groove. The marking ring 3 is rotatably mounted on the detection ring 2. The second drive motor 61 is bolted and fixed to the arc-shaped outer wall of the marking ring 3. The driving gear 62 is welded and sleeved on the output shaft of the second drive motor 61. The driving gear ring 63 is welded and sleeved on the marking ring 3. On the arc-shaped outer wall, the driving gear 62 and the driving gear ring 63 are engaged with each other, the fixed end bolt of the first electric telescopic rod 64 is fixedly mounted on the arc-shaped outer wall of the marking ring 3, and the telescopic end of the first electric telescopic rod 64 passes through the marking ring 3 and is installed in the marking ring 3, the marking frame 65 is welded and mounted on the telescopic end of the first electric telescopic rod 64, the end of the waterproof tape is placed on the marking frame 65, and partially extends out of the marking frame 65, the limiting strip 66 is integrally arranged at the end of the marking frame 65 away from the arc-shaped inner wall of the marking ring 3, and the cutting assembly 67 is mounted on the marking ring 3.

[0034] Start the first electric telescopic rod 64, which drives the marking frame 65 to move toward the pipe until it abuts, thereby pasting the end of the waterproof tape on the outer wall of the pipe. Then start the second drive motor 61, and the output shaft of the second drive motor 61 drives the active gear 62 to rotate. Since the active gear 62 and the drive gear ring 63 are engaged with each other, the marking ring 3 can be rotated, thereby achieving comprehensive waterproof tape pasting on the annular section of the pipe where the leakage is located. The limiting strip 66 can limit the end of the waterproof tape, thereby facilitating the pasting of the waterproof tape. The cutting component 67 can cut the waterproof tape after pasting it so that the waterproof tape can be used next time.

[0035] When the waterproof tape is pasted on the leaking area, it is also necessary to cut the waterproof tape. Figure 4 Therefore, the cutting assembly 67 in this embodiment includes a second electric telescopic rod 671 and a cutting knife 672. The fixed end of the second electric telescopic rod 671 is bolted and fixedly installed on the arc-shaped outer wall of the marking ring 3, and the telescopic end of the second electric telescopic rod 671 passes through the marking ring 3 and is installed inside the marking ring 3. The cutting knife 672 is welded and installed on the telescopic end of the second electric telescopic rod 671, and the blade of the cutting knife 672 is serrated. The extension of the telescopic end of the second electric telescopic rod 671 drives the cutting knife 672 to cut the waterproof tape. The first drive motor 41, the second drive motor 61, the first electric telescopic rod 64, the second electric telescopic rod 671 and the current sensor 54 are electrically connected to each other.

[0036] The second electric telescopic rod 671 is activated, and the second electric telescopic rod 671 drives the cutting blade 672 to move toward the pipeline. During the movement, the cutting blade 672 contacts the waterproof tape and cuts it. The first drive motor 41, the second drive motor 61, the first electric telescopic rod 64, and the second electric telescopic rod 671 are electrically connected to the current sensor 54. After a leak is detected, the waterproof tape can be automatically applied and cut at the leaking location, achieving fully automatic pretreatment before formal treatment of the pipeline leak. The serrated blade of the cutting blade 672 can cut the waterproof tape more quickly and prevent the waterproof tape from sticking to the blade. In other embodiments, the blade of the cutting blade 672 can also be an inclined blade, which can improve the regularity of the cut edge of the waterproof tape.

[0037] In order to make the waterproof tape fit more tightly to the pipe and improve the sealing effect of the pretreatment, refer to Figure 4 In this embodiment, a connecting rod 7 is rotatably installed on the limit bar 66, and a torsion spring is installed between the connecting rod 7 and the limit bar 66. One end of the torsion spring is connected to the connecting rod 7, and the other end is connected to the limit bar 66. A rolling roller 71 is rotatably installed at the end of the connecting rod 7 away from the limit bar 66, and a heating wire is provided inside the rolling roller 71.

[0038] When the rolling roller 71 is fully in contact with the pipe, the torsion spring causes the connecting rod 7 to deflect toward the pipe. This allows the rolling roller 71 to apply downward pressure toward the pipe, thereby rolling the waterproof tape just applied to the pipe. The heating wire within the rolling roller 71 also rapidly heats the waterproof tape, allowing it to connect more tightly to the pipe's outer wall, improving the pre-sealing effect.

[0039] The implementation principle of a positioning robot for leak detection in a water conservancy water supply and drainage network according to the embodiment of the present application is as follows: When it is necessary to move the drive ring 1, the detection ring 2 and the marking ring 3 horizontally, the first drive motor 41 is started, and the active bevel gear 43 on the output shaft of the first drive motor 41 drives the driven bevel gear 44 to rotate, thereby realizing the rotation of the rotating rod 45. Since the first sprocket 47 and the second sprocket 48 are transmitted through the chain 46, the first sprocket 47 is fixedly mounted on the rotating shaft of the roller 11, and the second sprocket 48 is fixedly mounted on the rotating rod 45, it is possible to rotate the lowest roller 11. The rotation of the roller 11 can realize the horizontal movement of the drive ring 1, the detection ring 2 and the marking ring 3 on the pipeline.

[0040] When it is necessary to detect the leakage position, when the detection ring 2 moves, since the ball 51 is always in contact with the lowest point of the pipeline, if the pipeline leaks, the leaked water will gather at the bottom of the pipeline along the outer pipe wall. Therefore, it will be brought into the rotating groove through the rotation of the ball 51, thereby connecting the first wire 52 and the second wire 53. At this time, a closed loop is formed, and the current sensor 54 can detect the existence of current in the first wire 52, thereby judging whether the pipeline is leaking.

[0041] When it is necessary to mark the leakage position, the first electric telescopic rod 64 is started, and the first electric telescopic rod 64 drives the marking frame 65 to move toward the direction of the pipeline until it abuts, and the end of the waterproof tape is pasted on the outer wall of the pipeline. Then the second drive motor 61 is started, and the output shaft of the second drive motor 61 drives the active gear 62 to rotate. Since the active gear 62 and the drive gear ring 63 are engaged with each other, the rotation of the marking ring 3 can be realized, thereby achieving comprehensive waterproof tape pasting on the annular section of the pipeline where the leakage position is located. Then the second electric telescopic rod 671 is started, and the second electric telescopic rod 671 drives the cutting knife 672 to move toward the pipeline. During the movement, the cutting knife 672 abuts against the waterproof tape and cuts it.

[0042] Unless otherwise defined, the technical or scientific terms used in this application shall have the usual meanings understood by persons of ordinary skill in the field to which this application belongs. The words “first”, “second”, “third” and similar terms used in the specification and claims of this application do not indicate any order, quantity or importance, but are only used to distinguish different components. Words such as “a” or “an” and the like do not indicate a quantity limitation, but rather indicate the existence of at least one. Words such as “include” or “comprise” and the like mean that the elements or objects appearing before “include” or “comprises” cover the elements or objects listed after “include” or “comprises” and their equivalents, and do not exclude other elements or objects. “Up”, “down”, “left”, “right” and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0043] The above are all optional embodiments of the present application, and are not intended to limit the scope of protection of the present application. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application should be included in the scope of protection of the present application.

Claims

1. A positioning robot for leak detection in water conservancy and drainage pipe networks, mounted on a pipe, characterized by: The invention comprises a driving ring (1), a detection ring (2) and a marking ring (3), wherein the detection ring (2) is arranged on one end of the driving ring (1), and the marking ring (3) is arranged on the end of the detection ring (2) away from the driving ring (1); a plurality of rollers (11) are arranged on the inner wall of the driving ring (1), and the plurality of rollers (11) are all in contact with the outer wall of the pipeline; a driving assembly (4) is arranged on the driving ring (1) for driving the plurality of rollers (11) to rotate and drive the driving ring (1), the detection ring (2) and the marking ring (3) to translate on the pipeline; a probe (21) is arranged on the arc-shaped inner wall of the detection ring (2), and a detection assembly (5) for detecting whether the pipeline is leaking is arranged on the probe (21); a waterproof tape roll is arranged on the inner wall of the marking ring (3), and a marking mechanism (6) is arranged on the marking ring (3) for sticking the waterproof tape on the leaking position when the probe (21) detects leaking.

2. A positioning robot for leak detection in water conservancy and drainage pipe networks according to claim 1, characterized in that: The driving assembly (4) includes a first driving motor (41), a driving frame (42), a driving bevel gear (43), a driven bevel gear (44), a rotating rod (45), a chain (46), a first sprocket (47) and a second sprocket (48), wherein the first driving motor (41) is arranged on the arc-shaped side wall of the driving ring (1), the driving frame (42) is arranged on the arc-shaped inner wall of the driving ring (1), the lowest roller (11) is arranged on the driving frame (42), and the rotating rod (45) is rotatably arranged on the driving ring (1). The driving bevel gear (43) is arranged on the output shaft of the first driving motor (41), the driven bevel gear (44) is sleeved on the rotating rod (45), the driving bevel gear (43) and the driven bevel gear (44) are meshed with each other, the first sprocket (47) is arranged on the rotating shaft of the roller (11) on the driving frame (42), the second sprocket (48) is sleeved on the rotating rod (45), and the first sprocket (47) and the second sprocket (48) are driven by the chain (46).

3. A positioning robot for leak detection in water conservancy and drainage pipe networks according to claim 2, characterized in that: The detection assembly (5) includes a ball (51), a first wire (52), a second wire (53), a current sensor (54) and a power supply (55). The probe (21) is provided with a rotation groove at the end away from the arc-shaped inner wall of the detection ring (2). The ball (51) is rotatably arranged in the rotation groove and abuts against the lowest point of the pipeline. The power supply (55) is arranged on the arc-shaped outer wall of the detection ring (2). One end of the first wire (52) and the second wire (53) are both spaced apart at the bottom of the rotation groove. The other ends of the first wire (52) and the second wire (53) are respectively connected to the positive electrode and the negative electrode of the power supply (55). The current sensor (54) is arranged on the first wire (52) and is used to detect whether the first wire (52) has current.

4. A positioning robot for leak detection in water conservancy and drainage pipe networks according to claim 3, characterized in that: The marking mechanism (6) comprises a second driving motor (61), a driving gear (62), a driving gear ring (63), a first electric telescopic rod (64), a marking frame (65), a limit bar (66) and a cutting assembly (67). An annular groove is provided on the arc-shaped inner wall of the marking ring (3), and the waterproof tape roll is arranged in the annular groove. The marking ring (3) is rotatably arranged on the detection ring (2). The second driving motor (61) is arranged on the arc-shaped outer wall of the marking ring (3). The driving gear (62) is arranged on the output shaft of the second driving motor (61). The driving gear ring (63) is sleeved on the arc-shaped outer wall of the marking ring (3). The driving gear (62) and the driving gear ring (63) are mutually connected. The first electric telescopic rod (64) is meshed with each other, the fixed end of the first electric telescopic rod (64) is arranged on the arc-shaped outer wall of the marking ring (3), and the telescopic end of the first electric telescopic rod (64) passes through the marking ring (3) and is arranged inside the marking ring (3), the marking frame (65) is arranged on the telescopic end of the first electric telescopic rod (64), the end of the waterproof tape is placed on the marking frame (65), and partially extends out of the marking frame (65), the limiting strip (66) is arranged at the end of the marking frame (65) away from the arc-shaped inner wall of the marking ring (3), and is used to limit the end of the waterproof tape, and the cutting component (67) is arranged on the marking ring (3) and is used to cut the waterproof tape after the waterproof tape is sealed.

5. A positioning robot for leak detection in water conservancy and drainage pipe networks according to claim 4, characterized in that: The cutting assembly (67) includes a second electric telescopic rod (671) and a cutting knife (672). The fixed end of the second electric telescopic rod (671) is arranged on the arc-shaped outer wall of the marking ring (3), and the telescopic end of the second electric telescopic rod (671) passes through the marking ring (3) and is arranged inside the marking ring (3). The cutting knife (672) is arranged on the telescopic end of the second electric telescopic rod (671). The telescopic end of the second electric telescopic rod (671) extends to drive the cutting knife (672) to cut the waterproof tape. The first drive motor (41), the second drive motor (61), the first electric telescopic rod (64), the second electric telescopic rod (671) and the current sensor (54) are electrically connected to each other.

6. A positioning robot for leak detection in water conservancy and drainage pipe networks according to claim 5, characterized in that: A connecting rod (7) is rotatably provided on the limiting strip (66), a torsion spring is provided between the connecting rod (7) and the limiting strip (66), one end of the torsion spring is connected to the connecting rod (7), and the other end is connected to the limiting strip (66), and a rolling roller (71) is rotatably provided at the end of the connecting rod (7) away from the limiting strip (66) for rolling the waterproof tape just attached to the pipeline, and a heating wire is provided in the rolling roller (71) for heating the waterproof tape so that the waterproof tape is more closely attached to the pipeline.

7. The positioning robot for leak detection in water conservancy and drainage pipe networks according to claim 1, characterized in that: The two rollers (11) located on the central horizontal plane of the pipeline are both provided with springs for making the rollers (11) elastically contact the pipeline.

8. The positioning robot for leak detection in water conservancy and drainage pipe networks according to claim 5, characterized in that: The blade of the cutting knife (672) is serrated.

Images