An inertial positioning instrument for underground pipelines

Abstract

The present invention relates to an underground pipeline inertial positioning instrument, comprising two wheel train units connected to both sides of a measuring body, which has a main body mounting frame, at least three sets of one-to-one corresponding support wheels, support arms, support arm frames, elastic members and slide rails; wherein one end of the fixed arm and the movable arm in the support arm are rotationally connected to the support wheel, and the other end is respectively rotationally connected to the fixed arm frame and the movable arm frame in the corresponding support arm frame, and the slide rail is horizontally supported on the fixed arm frame of the two wheel train units; an extension rod assembly has at least three extension rods corresponding to the fixed arm frame, and the fixed arm frame is connected to the main body mounting frame through the extension rod; the movable arm frame is slidably connected to the slide rail, and the elastic member is arranged between the fixed arm frame and the movable arm frame. The present invention has a large pipe diameter adaptation range, reduces harmful torque, solves the problem of structural instability, improves service life, improves measurement accuracy, and is conducive to the stability and safety of operation in the pipeline.

Description

Technical Field

[0001] The invention relates to the technical field of pipeline detection, and in particular to an underground pipeline inertial locator. Background Art

[0002] The underground pipeline inertial positioning instrument is an instrument that accurately measures the three-dimensional position information of underground pipelines.

[0003] The existing underground pipeline inertial positioning instrument can refer to the Chinese invention patent applied by the applicant on February 27, 2015, with the authorization announcement number CN104634373B. The application discloses a pipeline detector centering device, which includes two wheel train units at both ends of the measuring instrument, the wheel train unit includes at least three sets of one-to-one corresponding support wheels, support arms and slide rails, and a wheel train bracket, the support arm includes a fixed arm and a movable arm, the wheel train bracket includes a fixed bracket, a movable bracket and a spring, the first end of the fixed arm and the first end of the movable arm are rotatably matched with the support wheel, the second end of the fixed arm is rotatably matched with the fixed bracket, the second end of the movable arm is rotatably matched with the movable bracket, the slide rail passes through the movable bracket and one end is fixed on the fixed bracket, the spring is arranged between the fixed bracket and the movable bracket, and the two ends of the measuring instrument are respectively fixedly connected to the fixed brackets of the two wheel train units; the slide rail and the measuring instrument are fixed between the two fixed brackets, and when the support wheel and the support arm are retracted toward the wheel train bracket, the movable bracket slides along the slide rail toward one side of the measuring instrument.

[0004] In addition, the fixed bracket includes a fixed arm bracket and a fixed arm bracket seat, and the movable bracket includes a movable arm bracket and a movable arm bracket seat. The fixed arm bracket and the movable arm bracket are each provided with 3 connection holes, and both can be equipped with two sets of bracket extensions of different sizes, namely a first bracket extension and a second bracket extension, the first bracket extension and the fixed arm are connected through a movable shaft, and the second bracket extension and the movable arm are connected through a movable shaft. The first bracket extension and the second bracket extension can improve the adaptability range of pipe diameters.

[0005] However, there is at least one of the following defects in the prior art:

[0006] 1. Since the movable arms of the three support wheels at the same end of the measuring instrument are fixedly connected to the movable arm bracket, and the movable arm bracket is fixedly connected to the movable arm bracket seat, when the three support wheels shrink toward the center, the movable arms of the three support wheels swing outward to drive the movable arm bracket connected thereto to move, and then drive the movable arm bracket seat to move along the slide rail. Once there are protrusions or pits inside the pipeline, the three support wheels will be displaced to different degrees, so that the displacements of the three fixed arm brackets will be different, but the displacement of the movable arm bracket is certain, which is easy to affect the centering performance of the instrument in the pipeline and the measurement accuracy of the instrument;

[0007] 2. In order to adapt to different pipe diameters, the prior art chooses to add a first extension frame and a second extension frame to the fixed arm support and the movable arm support. Although it can adapt to multiple pipe diameter ranges, when the fixed arm and the movable arm support are extended and the support wheel is retracted, the angle between the component force applied by the movable arm on the movable arm support and the horizontal direction increases, and the harmful torque increases. Due to the "self-locking phenomenon", the larger the angle, the more difficult it is to push the movable arm support seat, and even after exceeding a certain angle, the movable arm support seat cannot be pushed, which causes the support wheel to become stuck or even unable to move, resulting in the measuring instrument being stuck in the pipeline;

[0008] 3. Once the first extension frame and the second extension frame are added, the center of gravity of the support wheel is raised. When the diameter inside the pipe changes, the fixed arm and the movable arm are relatively far away, and the center of gravity of the support wheel drops. If the support wheel drops too much, it is easy to cause the support wheel to reverse, that is, the center of gravity passes the support point, resulting in the measurement instrument being unable to operate in the pipeline. Summary of the invention

[0009] The purpose of the present invention is to provide an underground pipeline inertial positioning instrument to solve at least one of the above defects. Its advantages are that it can adapt to various pipe diameters, reduce harmful torque, solve the problem of structural instability, improve the measurement accuracy of the instrument, increase its service life, and facilitate smooth and safe operation in the pipeline.

[0010] The above technical objectives of the present invention are achieved through the following technical solutions: An underground pipeline inertial positioning instrument includes two gear train units, which are respectively fixedly connected to the two ends of the measuring body; the gear train units have:

[0011] A main body mounting frame, which is sleeved and locked on the end of the measuring main body;

[0012] At least three sets of corresponding support wheels, support arms, support arm frames, elastic members and slide rails;

[0013] The support arm has a fixed arm and a movable arm, the support arm frame has a fixed arm frame and a movable arm frame, one end of the fixed arm and the movable arm are rotatably connected to the support wheel, and the other end is respectively rotatably connected to the corresponding fixed arm frame and the movable arm frame, and the slide rail is supported on the fixed arm frames of the two wheel train units in a horizontal posture;

[0014] An extension rod assembly, which has at least three extension rods corresponding to the fixed arm brackets one by one, and the fixed arm brackets are connected to the main body mounting bracket through the extension rods;

[0015] The movable arm is slidably connected to the slide rail, and the elastic member is arranged between the fixed arm and the movable arm. When the support wheel approaches the measuring body, the movable arm slides along the slide rail to a side away from the fixed arm.

[0016] By adopting the above technical scheme, the three support wheels each slide on the slide rail through the movable arm, and can independently perform different degrees of displacement when unevenness appears on the inner wall of the pipeline, thereby improving the centering performance of the inertial positioning instrument in the pipeline and improving the positioning accuracy, and at the same time, it is beneficial to its smooth operation in the pipeline; through the set extension rod assembly, the fixed arm, the movable arm and the slide rail can be lifted as a whole, so that the movement relationship between the support wheel and the slide rail remains unchanged, reducing the self-locking and jamming between the support wheel and the slide rail; at the same time, the vertical distance between the support wheel and the movement point of the movable arm does not change, and the center of gravity of the support wheel relative to the slide rail remains unchanged, ensuring that the support wheel will not reverse when adapting to a large-diameter pipeline, thereby improving the stable operation of the inertial positioning instrument in the pipeline.

[0017] The present invention is further configured such that the slide rails in the two gear train units are coaxially arranged.

[0018] By adopting the above technical solution, the two wheel train units use two slide rails, which is convenient for installation and disassembly. Since the slide rails have high precision requirements, the difficulty of slide rail production is reduced to a certain extent.

[0019] The present invention is further configured as follows: a limiting portion is provided on the slide rail, and the position of the limiting portion on the slide rail is the limit position of the movable arm bracket sliding on the slide rail.

[0020] By adopting the above technical solution, a limiting portion is provided on the slide rail, which can form a block for the movable arm frame. During design, it can be used as an extreme limit for the sliding of the movable arm frame to prevent the support wheel from reversing.

[0021] The present invention is further configured as follows: the extension rod assembly also has:

[0022] At least three reinforcing rods, two ends of which are respectively fixedly connected to two adjacent fixed arms located in the same gear train unit.

[0023] By adopting the above technical solution, since the length of the extension rod is longer when adapting to large-diameter pipelines, it is necessary to improve the structural strength and stability of the overall supporting fixed arm, supporting wheel, movable arm and slide rail. In order to ensure the overall structural strength and stability of the inertial positioning instrument, a reinforcement rod is designed. A triangular structure is formed between two adjacent reinforcement rods in the same wheel train unit and the main mounting frame, and a triangular structure is formed between the three reinforcement rods, thereby making the overall structural strength and stability of the inertial positioning instrument better.

[0024] The present invention is further configured as follows: the movable arm frame has:

[0025] A second supporting portion, on which at least one adjustment hole is formed for rotationally connecting with the movable arm;

[0026] The sliding part is arranged at the lower part of the second supporting part, and the sliding part is slidably sleeved on the sliding rail.

[0027] The present invention is further configured as follows: the fixed arm frame has:

[0028] A first support portion, having at least one adjustment hole formed thereon for rotationally connecting with the fixed arm;

[0029] The fixing part is connected to the lower end of the first supporting part. The sides of the two fixing parts facing each other are provided with mounting holes for locking one end of the slide rail on the fixing part. At least one rod groove is provided at the bottom thereof, and the extension rod is inserted into the rod groove for fixed connection.

[0030] The present invention is further configured such that: the first supporting portion and the fixing portion are an integrated structure.

[0031] By adopting the above technical solution, the first supporting part and the fixing part are an integrated structure, which can reduce the number of parts. At the same time, since the fixing part serves as a connecting piece between the extension rod and the reinforcing rod, the integrated structure can make the connection between the various parts in the same gear train unit closer and more stable.

[0032] The present invention is further configured as follows: the main body mounting frame has:

[0033] A frame body, wherein a mounting opening is provided in the middle thereof, and the end of the measuring body is restrainedly mounted in the mounting opening;

[0034] A plurality of mounting protrusions are formed at equal intervals on the outer peripheral surface of the frame body, the mounting protrusions correspond one-to-one to the fixing parts of the fixed arm frame, and the extension rod is locked in the mounting protrusions.

[0035] By adopting the above technical solution, the main body mounting frame is used to support and fix the measuring body, and the mounting protrusions thereon are specifically used to install the extension rod and the reinforcement rod, thereby ensuring the structural strength of the main body mounting frame.

[0036] The present invention is further configured as follows: the underground pipeline inertial positioning instrument also includes a middle support component, which is arranged between the two wheel train units and is respectively connected to the slide rails to enhance the strength of the slide rails.

[0037] The present invention is further configured as follows: the middle support assembly has:

[0038] A middle mounting frame, which is sleeved on the middle position of the measuring body;

[0039] A middle support member, which is sleeved on the slide rail;

[0040] At least three middle support rods are provided and correspond to at least three extension rods one by one. One end of the middle support rod is fixedly connected to the bottom end of the middle support member, and the other end is fixedly connected to the middle mounting frame.

[0041] By adopting the above technical solution, the design of the middle mounting frame is the same as the structure of the main mounting frame, and the connection method between the various components is basically the same as the connection method between the main mounting frame and the extension rod, which facilitates the processing of parts and also facilitates the installation of the equipment.

[0042] In summary, the beneficial technical effects of the present invention are:

[0043] 1. The present invention connects the three support wheels to the slide rail through the movable arm respectively, so that when the inner wall of the pipeline is uneven, the three support wheels can be independently displaced to different degrees, thereby improving the centering performance of the instrument and improving the measurement accuracy. By setting the extension rod, the fixed arm, the movable arm and the slide rail can be lifted as a whole, so that the movement relationship between the support wheel and the slide rail remains unchanged, and the self-locking and jamming between the support wheel and the slide rail are reduced; at the same time, the vertical distance between the support wheel and the movement point of the movable arm does not change, and the center of gravity of the support wheel relative to the slide rail remains unchanged, ensuring that the support wheel will not reverse when adapting to a large-diameter pipeline, thereby improving the stable operation of the inertial positioning instrument in the pipeline.

[0044] 2. By setting the reinforcing rod, the structural strength and stability of the components in the gear train unit can be further strengthened, ensuring the safe and stable operation of the inertial locator in the pipeline. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the present invention.

[0046] Figure 2is a side view of an embodiment of the present invention.

[0047] Figure 3 It is an exploded schematic diagram showing the connection relationship between the main body mounting frame, the measuring body and the extension rod according to an embodiment of the present invention (part of the structure is hidden).

[0048] Figure 4 It is an exploded schematic diagram (partial structure is hidden) of the connection relationship between the extension rod, the fixed arm and the slide rail according to an embodiment of the present invention.

[0049] Figure 5 It is a structural schematic diagram showing the support wheel at different adjustment hole positions and the limit position of the movable arm movement according to an embodiment of the present invention;

[0050] Figure 6 It is a schematic diagram of a slide rail structure in which the slide rails of two wheel train units are a complete slide rail according to an embodiment of the present invention.

[0051] Figure 7 It is a schematic diagram of the overall structure of another embodiment of the present invention which is adapted to a larger pipe diameter and is equipped with a reinforcing rod (partial structures such as springs are hidden).

[0052] In the figure, 1, measuring body; 2, gear train unit; 21, main body mounting frame; 211, frame body; 2111, mounting opening; 2112, locking bolt; 2113, snap ring; 212, mounting protrusion; 2121, mounting hole; 2122, first through hole; 2123, second through hole; 2124, fixing bolt; 2125, fixing nut; 22, supporting wheel; 23, supporting arm; 231, fixed arm; 232, movable arm; 24, supporting arm frame; 241. Fixed arm support; 242. Movable arm support; 243. First support portion; 2431. Adjustment hole; 244. Fixed portion; 2441. Rod groove; 245. Second support portion; 2451. Sliding hole; 246. Sliding portion; 25. Elastic member; 26. Slide rail; 27. Extension rod assembly; 271. Extension rod; 272. Reinforcement rod; 3. Sleeve; 4. Middle support assembly; 41. Middle mounting frame; 42. Middle support member; 43. Middle support rod. DETAILED DESCRIPTION

[0053] Reference Figure 1 and Figure 2 , is an underground pipeline inertial positioning instrument disclosed in the present invention, which mainly includes a measuring body 1 and two gear train units 2 arranged at both ends of the measuring body 1.

[0054] Each wheel train unit 2 includes a main mounting frame 21 , at least three sets of corresponding support wheels 22 , support arms 23 , support arm frames 24 , elastic members 25 , slide rails 26 , and an extension rod assembly 27 .

[0055] Among them, the support arm 23 has a fixed arm 231 and a movable arm 232, the support arm frame 24 includes a fixed arm frame 241 and a movable arm frame 242, one end of the fixed arm 231 and the movable arm frame 232 are rotatably connected to the support wheel 22, and the other end is respectively rotatably connected to the corresponding fixed arm frame 241 and the movable arm frame 242; the slide rail 26 is supported on the fixed arm frame 241 in the two wheel train units 2 in a horizontal posture; the extension rod assembly 27 includes at least three extension rods 271 corresponding to the fixed arm frame 241 one by one, one end of the extension rod 271 is fixedly connected to the fixed arm frame 241, and the other end is fixedly connected to the main body mounting frame 21; the movable arm frame 242 is slidably connected to the slide rail 26, and the elastic member 25 is arranged between the fixed arm frame 241 and the movable arm frame 242. When the support wheel 22 is approached by the pressure measuring body 1 on the inner wall of the pipeline, the movable arm 232 is linked to rotate, thereby driving the movable arm frame 242 to slide along the slide rail 26 to the side away from the fixed arm frame 241.

[0056] Main references Figure 2 The following mainly describes the detailed structure of each component in a gear train unit 2. In a gear train unit 2, three sets of support wheels 22 and support arms 23 are evenly distributed along the circumference of the cross section of the main mounting frame 21, with an interval angle of 120 degrees.

[0057] refer to Figure 3 Specifically, the main body mounting frame 21 mainly includes a frame body 211 and a plurality of mounting protrusions 212. The frame body 211 is circular, and a mounting opening 2111 is provided in the center of the frame body 211. The mounting opening 2111 is used to fit the measuring body 1. A plurality of locking bolts 2112 are arranged at equal intervals on the outer circumference of the frame body 211. The plurality of locking bolts 2112 pass through the frame body 211 from the outside to the inside along the radial direction of the frame body 211, and are locked on the measuring body 1, thereby locking the measuring body 1 on the main body mounting frame 21. A snap ring 2113 is sleeved on the outer wall of the measuring body 1, and the snap ring 2113 is arranged in the mounting opening 2111 as a bushing. In this embodiment, three mounting protrusions 212 can be provided, and the three mounting protrusions 212 are arranged at equal intervals along the outer circumferential surface of the frame body 211. The mounting protrusions 212 are integrally formed by the outer wall surface of the frame body 211, and the mounting protrusions 212 are used to install and lock the extension rod 271.

[0058] The specific installation method can be referred to as follows: a mounting hole 2121 is radially opened on the mounting protrusion 212 for inserting the extension rod 271, a horizontal first through hole 2122 is opened on the side of the mounting protrusion 212, and the first through hole 2122 passes through the mounting hole 2121, and a second through hole 2123 is opened on the side wall near the end of the extension rod 271. After the extension rod 271 is inserted into the mounting hole 2121, the second through hole 2123 on the extension rod 271 is kept concentric with the first through hole 2122 opened on the mounting protrusion 212, and then a fixing bolt 2124 is used to pass through the mounting protrusion 212 and the extension rod 271 from the outside of the mounting protrusion 212, and is locked with a fixing nut 2125 on the other side of the mounting protrusion 212.

[0059] refer to Figure 4 The specific structures of the support wheel 22, the fixed arm 231, and the movable arm 232 are known and will not be described in detail here.

[0060] The fixed arm 241 mainly includes a first support portion 243 and a fixed portion 244. The first support portion 243 is in the shape of a long plate, and is provided with at least one adjustment hole 2431. A rotating shaft 2432 is arranged in the adjustment hole 2431, and the fixed arm 231 is rotatably connected to the first support portion 243 through the rotating shaft 2432. The fixed portion 244 is connected to the lower end of the first support portion 243. Preferably, the first support portion 243 and the fixed portion 244 are an integrated structure. Concentric mounting holes 2121 are provided on the opposite sides of the two fixed portions 244 in the two gear train units 2, and one end of the slide rail 26 is locked on the fixed portion 244. At least one rod groove 2441 is provided on the bottom surface of the fixed portion 244 for plugging and matching with the extension rod 271, and the extension rod 271 is locked on the fixed portion 244. The installation method of locking the extension rod 271 in the rod groove 2441 can refer to the installation method of the extension rod 271 on the installation protrusion 212, which will not be described in detail here.

[0061] The movable arm frame 242 mainly includes a second support portion 245 and a sliding portion 246. The second support portion 245 has the same structure as the first support portion 243, and the rotational connection between the second support portion 245 and the movable arm 232 is also the same as the rotational connection between the first support portion 243 and the fixed arm 231. The sliding portion 246 is located at the lower end of the second support portion 245, and is an integrated structure with the second support portion 245. The sliding portion 246 is provided with a sliding hole 2451, and is sleeved on the slide rail 26 through the sliding hole 2451, and can slide freely along the slide rail 26.

[0062] The elastic member 25 between the first support portion 243 and the second support portion 245 can be a spring, one end of the spring is fixedly connected to the first support portion 243 by a hinge bolt, and the other end of the spring is fixedly connected to the second support portion 245 by a hinge bolt. The spring is in a horizontal position and remains parallel to the slide rail 26.

[0063] refer to Figure 4 and Figure 5 Furthermore, in order to achieve a small adjustment of the support wheel 22 to adapt to different pipe diameters, three adjustment holes 2431 are provided on the first support portion 243 and the second support portion 245 along the vertical direction.

[0064] The two corresponding slide rails 26 in the two wheel train units 2 are coaxially arranged. A limiting portion 261 is provided on the slide rail 26, and the position of the limiting portion 261 on the slide rail 26 is the limit position of the movable arm 242 sliding on the slide rail 26. In one example, the limiting portion 261 can be a sleeve 3, and the two slide rails 26 are fixedly connected together by the sleeve 3, and the outer diameter of the sleeve 3 is larger than the outer diameter of the slide rail 26. The length design of the sleeve 3 is, on the one hand, to meet the requirement of the fixed connection of the two slide rails 26, and on the other hand, the two end surfaces of the sleeve 3 can limit the sliding portion 246 of the movable arm 242, which can serve as the limit position of the sliding portion 246 sliding on the slide rail 26. The limit position refers to the sliding position of the sliding portion 246 corresponding to the lowest height that the support wheel 22 can move toward the measuring body 1. Figure 6 Of course, the corresponding slide rail 26 passing through the two wheel train units 2 can be a complete slide rail, and the limiting portion 261 is constructed in the middle of the slide rail 26, and the outer diameter of the middle of the slide rail 26 is larger than the outer diameter of the slide rail 26.

[0065] refer to Figure 5In order to support the slide rail 26 more stably, a middle support assembly 4 is provided at the middle position of the measuring body 1. The middle support assembly 4 includes a middle mounting frame 41, three middle support members 42, and at least three middle support rods 43. Among them, the structure of the middle mounting frame 41 and the main mounting frame 21 can be exactly the same, and they are sleeved and locked in the middle part of the measuring body 1; the middle support member 42 is in the shape of a rectangular block, and a third through hole (not shown in the figure) is opened on it. The middle support member 42 can be sleeved in the middle position after the two slide rails 26 are connected. In this embodiment, the middle support member 42 is sleeved in the middle part of the sleeve 3 and the two ends are clamped by spring clamps to limit the axial movement of the middle support member 42; one end of the middle support rod 43 is fixedly connected to the mounting protrusion 212 of the middle mounting frame 41 and locked, and the other end is inserted into the rod groove opened at the bottom of the middle support member 42 and locked. The locking method of the middle support rod 43 and the middle support member 42, and the middle support rod 43 and the middle mounting frame 41 can refer to the installation method of the extension rod 271 on the mounting protrusion 212 of the frame body 211, and no further details are given here.

[0066] In this embodiment, the underground pipeline inertial locator can be suitable for pipes with various inner diameters ranging from 460mm to 1050mm. Specifically, according to the position height of the three adjustment holes, the inner diameter range it can adapt to may include 460mm-630mm, 580mm-770mm, 740mm-910mm, 880mm-1050mm, etc. In an example of 460mm-630mm, when the support arm 23 is connected to the support arm frame 24 at the lowest adjustment hole 2431, the inner diameter of the pipe it adapts to is 460mm; when the support arm 23 is connected to the support arm frame 24 at the highest adjustment hole 2431, the inner diameter of the pipe it adapts to is 630mm. It should be noted that the inner diameter range of the pipe to which the underground pipeline inertial locator is adapted is determined by the height of the support arm frame 24 and the extension rod 271.

[0067] By adjusting the height of the extension rod 271 in this embodiment, it is possible to adapt to pipes with different inner diameter ranges. Accordingly, the height of the middle support rod 43 also increases with the increase in the height of the extension rod 271. The main purpose is to always ensure the horizontal posture of the slide rail 26.

[0068] Referring to Figure 7, however, due to the lengthening of the extension rod 271, the underground pipeline inertial locator will have an unstable structure as a whole. When running in the pipeline, the extension rod 271, the support wheel 22 and the slide rail 26 will shake greatly. Therefore, according to the actual pipe diameter to be adapted, in one embodiment, the pipe diameter range adapted by the underground pipeline inertial locator is 880mm-1050mm as an example. The extension rod assembly 27 also includes at least three reinforcing rods 272, and the reinforcing rods 272 are used to further enhance the connection stability between the various components in the wheel train unit 2. The fixing part 244 of the fixing arm 241 can be set in a triangle shape, and three rod grooves 2441 are opened at the bottom, wherein the rod groove 2441 located in the middle position is used to install the extension rod 271, and the two rod grooves 2441 located at the side positions are oblique grooves, which are used to install the reinforcing rod 272; the three fixing parts 244 located in the same gear train unit 2 are connected to each other through the reinforcing rod 272, and the triangle surrounded by the three reinforcing rods 272 is an equilateral triangle. It should be explained again that whether to install the reinforcing rod 272 can be determined according to the inner diameter range of the pipe to be adapted.

[0069] Compared with the prior art, the three sets of movable arm frames 242 in the embodiment of the present invention all slide independently on the slide rail 26. In this way, when running in the pipeline, even if the inner wall of the pipeline is uneven, the passing support wheels 22 can also move independently without affecting each other, and there will be no jamming between the movable arm frames 242 and the slide rail 26, thereby ensuring that the underground pipeline inertial locator can stably travel in the pipeline.

[0070] In addition, the extension rod 271 in the embodiment of the present invention is selectively arranged between the fixed arm 241 and the main mounting frame 21. In order to adapt to pipes with different inner diameter ranges, the extension rod 271 as a whole raises the support wheel 22, the fixed arm 241, the movable arm 242, the slide rail 26 and other related components to ensure that the original structure of the support wheel 22, the fixed arm 241, the movable arm 242, and the slide rail 26 remains unchanged, thereby overcoming the problem in the prior art that the movable arm 242 and the slide rail 26 are stuck due to the "self-locking phenomenon", or even the dead point cannot slide.

[0071] At the same time, with such a design, the center of gravity of each support wheel 22 relative to the slide rail 26 does not change, which effectively avoids the reversal phenomenon caused by the center of the support wheel 22 easily dropping over the support point after the support wheel 22 is raised, thereby ensuring the safe and stable operation of the underground pipeline inertial locator in the pipeline.

[0072] The embodiments of this specific implementation method are all preferred embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Therefore, any equivalent changes made based on the structure, shape, and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An underground pipeline inertial positioning instrument, characterized in that: It comprises two gear train units (2) which are respectively fixedly connected to two ends of a measuring body (1); the gear train units (2) have: A main body mounting frame (21) which is sleeved and locked on the end of the measuring main body (1); At least three sets of corresponding support wheels (22), support arms (23), support arm frames (24), elastic members (25) and slide rails (26); The support arm (23) comprises a fixed arm (231) and a movable arm (232); the support arm frame (24) comprises a fixed arm frame (241) and a movable arm frame (242); one end of the fixed arm (231) and the movable arm (232) are rotationally connected to the support wheel (22); the other ends are rotationally connected to the corresponding fixed arm frame (241) and movable arm frame (242); the slide rail (26) is supported in a horizontal posture on the fixed arm frames (241) of the two wheel train units (2); An extension rod assembly (27) having at least three extension rods (271) corresponding one to the fixed arm frame (241), wherein the fixed arm frame (241) is connected to the main body mounting frame (21) via the extension rods (271); the extension rod assembly (27) further comprises: At least three reinforcing rods (272), wherein two ends of the reinforcing rods (272) are respectively fixedly connected to two adjacent fixed arm frames (241) located in the same gear train unit (2); The movable arm frame (242) is slidably connected to the slide rail (26), and the three sets of movable arm frames (242) slide independently on the slide rail (26). The elastic member (25) is arranged between the fixed arm frame (241) and the movable arm frame (242). When the support wheel (22) approaches the measurement body (1), the movable arm frame (242) slides along the slide rail (26) to a side away from the fixed arm frame (241).

2. The underground pipeline inertial positioning instrument according to claim 1, characterized in that: The slide rails (26) in the two gear train units (2) are coaxially arranged.

3. The underground pipeline inertial positioning instrument according to claim 2, characterized in that: A limiting portion (261) is provided on the slide rail (26), and the position of the limiting portion (261) on the slide rail (26) is the limit position of the movable arm (242) sliding on the slide rail (26).

4. The underground pipeline inertial positioning device according to claim 1, characterized in that: The movable arm frame (242) has: A second supporting portion (245) having at least one adjusting hole (2431) formed thereon for rotationally connecting with the movable arm (232); A sliding portion (246) is arranged at the lower part of the second supporting portion (245), and the sliding portion (246) is slidably sleeved on the sliding rail (26).

5. The underground pipeline inertial positioning device according to claim 4, characterized in that: The fixed arm (241) has: A first supporting portion (243) having at least one adjusting hole (2431) formed thereon for rotationally connecting with the fixed arm (231); A fixing portion (244) is connected to the lower end of the first supporting portion (243); mounting holes (2121) are provided on the sides of the two fixing portions (244) facing each other, and are used to lock one end of the slide rail (26) on the fixing portion (244); at least one rod groove (2441) is provided at the bottom thereof, and the extension rod (271) is inserted into the rod groove (2441) for fixed connection.

6. The underground pipeline inertial positioning device according to claim 5, characterized in that: The first supporting portion (243) and the fixing portion (244) are an integrated structure.

7. The underground pipeline inertial positioning device according to claim 6, characterized in that: The main body mounting frame (21) comprises: The frame body (211) has a mounting opening (2111) in the middle, and the end of the measuring body (1) is restrainedly mounted in the mounting opening (2111); A plurality of mounting protrusions (212) are formed at equal intervals on the outer peripheral surface of the frame body (211); the mounting protrusions (212) correspond one-to-one to the fixing portions (244) of the fixing arm (241); and the extension rod (271) is locked in the mounting protrusions (212).

8. The underground pipeline inertial positioning device according to claim 1, characterized in that: The underground pipeline inertial positioning instrument also includes a middle support assembly (4), which is arranged between the two gear train units (2) and is respectively connected to the slide rails (26) to enhance the strength of the slide rails (26).

9. The underground pipeline inertial positioning device according to claim 8, characterized in that: The middle support assembly (4) comprises: A middle mounting frame (41) which is sleeved on the middle position of the measuring body (1); A middle support member (42) sleeved on the slide rail (26); At least three middle support rods (43) are provided and correspond one to one with at least three extension rods (271); one end of the middle support rod (43) is fixedly connected to the bottom end of the middle support member (42), and the other end is fixedly connected to the middle mounting frame (41).

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