Amphibious small hovercraft pipeline inspection device

Abstract

The application discloses a kind of amphibious small air cushion pipeline detection device, including hull, cushion lift system, propulsion system and detection system, the detection system is installed in the hull interior, including CCTV image device and sonar detection device, the cushion lift system is by four groups of evenly distributed in the upper end of hull cushion lift fan, the cushion lift fan high-speed rotation generates the cushion lift airflow that flows into the bottom of hull, the propulsion system includes the propulsion fan installed in the tail of the hull and the vertical rudder mechanism arranged in the back side of propulsion fan, the propulsion fan operation generates the propulsion airflow along the longitudinal axis direction of the hull.The detection device presented in the application changes the walking mode of ordinary wheeled robot detection equipment in the pipeline, can adapt to both water and land detection conditions at the same time, so as to improve the obstacle avoidance performance and passing performance of the equipment in the sewer, and the CCTV image device and the sonar detection device are added, which can improve the accuracy of sewer detection.

Description

Technical Field

[0001] This invention relates to the field of pipeline inspection and investigation facilities, and in particular to an amphibious small air cushion pipeline inspection device. Background Technology

[0002] With the development of urban-rural integration in my country, urban water supply and drainage engineering has become a key aspect of urban construction. A systematic and rational water supply and drainage system is the backbone and vital support for urban survival and development, and is one of the hallmarks of urban modernization. Many old urban drainage pipes are dilapidated and leak severely, and most are constructed with brick inspection wells, posing safety risks. Therefore, it is necessary to conduct timely inspections and checks on old urban pipes to ensure their safe and stable operation, thereby improving the urban environment and the living standards of residents.

[0003] Currently, most robots used for drainage pipeline inspection are wheeled robots. These robots have stringent requirements for pipeline inspection conditions and are mostly suitable for situations where there is no water accumulation inside the pipeline. Furthermore, wheeled robots have poor maneuverability and are prone to getting stuck in muddy sections or obstacles. Therefore, we propose an amphibious small air-cushion pipeline inspection device. Summary of the Invention

[0004] The main objective of this invention is to provide an amphibious miniature air cushion pipeline inspection device, which can effectively solve the problems in the background art.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0006] An amphibious small air cushion pipeline inspection device includes a hull, a cushioning system, a propulsion system, and an inspection system. The inspection system is installed inside the hull and includes a CCTV imaging device and a sonar detection device. The cushioning system consists of four sets of cushioning fans evenly distributed on the upper part of the hull. The high-speed rotation of the cushioning fans generates a cushioning airflow that flows into the bottom of the hull, forming an air cushion at the bottom of the hull. The propulsion system includes a propulsion fan installed at the stern of the hull and a vertical rudder mechanism located behind the propulsion fan. The operation of the propulsion fan generates a propulsion airflow along the longitudinal axis of the hull, which propels the hull forward.

[0007] Furthermore, in order to improve the hull's passage performance inside the sluice gate, the hull includes an upper shell, an upper plate, a wind-equalizing mechanism, a lower plate, and a skirt. The upper shell is equipped with a connecting rod that passes through the upper plate and the wind-equalizing mechanism, and its end is fixedly connected to the lower plate, which improves the overall integrity of the hull and facilitates the assembly of various equipment components. The wind-equalizing mechanism is located between the upper plate and the lower plate, and the upper end of the skirt is connected to the lower end face of the upper shell.

[0008] Furthermore, in order to limit the overflow of the lift airflow and improve the aerodynamic performance of the hull, the skirt is a wrap-around structure and is made of soft rubber material.

[0009] Furthermore, to facilitate the arrangement of the propulsion fan and rudder, a cover plate is rotatably connected to the middle of the upper end of the upper housing. A fan mounting ring and a rudder fixing cylinder are provided on one side of the cover plate, and a propulsion fan is installed inside the fan mounting ring.

[0010] Furthermore, to improve the aerodynamic characteristics of the lifting airflow, the air distribution mechanism includes an outer plate, an inner plate, and an air distribution hood. The outer and inner end faces of the air distribution hood are fixedly connected to the outer plate and the inner plate, respectively. The upper end of the outer plate is fixedly connected to the lower end face of the upper plate, and the lower end face of the inner plate is fixedly connected to the upper end face of the lower plate. The lifting airflow is generated by the high-speed rotation of the lifting fan and flows into the air distribution mechanism. Through the air distribution hood, a uniform airflow is formed and blown into the skirt's enclosing space, so that the hull is subjected to uniform force, stably lifted, and the stability of the hull during navigation is improved.

[0011] Furthermore, to facilitate the assembly of the detection system, two mounting ports are symmetrically provided at the center of the front end of the upper housing. One of the mounting ports is used to install a CCTV imaging device, and the other mounting port is used to install a sonar detection device.

[0012] Furthermore, a control circuit board is installed at the middle of the upper part of the upper plate, and the control circuit board is connected to a cable through an interface.

[0013] Furthermore, to achieve steering control of the hull, the vertical rudder mechanism includes a drive motor, a fixed frame, a transmission mechanism, a tie rod, a rotating arm, a rudder stock, and rudder blades. The lower end of the fixed frame is fixedly connected to the upper plate. The transmission mechanism is installed inside the fixed frame, and its power output end is connected to the tie rod. The other end of the tie rod is rotatably connected to the rotating arm, and the other end of the rotating arm is fixedly connected to the rudder stock. The lower end of the rudder stock is rotatably connected to the upper plate, and the upper end is rotatably connected to the rudder stock fixing cylinder via a bearing. One end of the rudder blades is fixedly connected to the rudder stock. The end of the main shaft of the drive motor is fixedly connected to the power input end of the transmission mechanism. The drive motor is operated by remote control, and the rotational power of the drive motor drives the tie rod to move through the transmission mechanism. The tie rod drives the rotating arm to rotate, and the rotating arm drives the rudder stock to rotate around its rotation center, thereby realizing the rotation of the rudder blades. By blocking the propulsion airflow through the double rudder blades, the direction of travel of the hull changes.

[0014] Furthermore, to ensure the reliability of steering, the transmission mechanism is a gear and rack transmission mechanism, where the gear is the power input end, the rack is the power output end, and the rack is slidably connected to the fixed frame.

[0015] Furthermore, in order to reduce the weight of the equipment and improve its passability, the upper shell, upper plate, air distribution mechanism and lower plate are all made of fiberglass, and the lower end of the lower plate is an arc surface.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] (1) The detection device proposed in this invention changes the way ordinary wheeled robot detection equipment moves in pipelines and can adapt to both land and water detection conditions at the same time, thereby improving the obstacle avoidance and passage performance of the equipment in sewer pipes;

[0018] (2) The detection device proposed in this invention adds a CCTV imaging device and a sonar detection device, which can improve the accuracy of sewer pipe detection. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure of an amphibious miniature air cushion pipeline detection device according to the present invention;

[0020] Figure 2 This is an exploded view of the internal structure of the hull of an amphibious small air cushion pipeline inspection device according to the present invention.

[0021] Figure 3 This is a schematic diagram of the air distribution mechanism of an amphibious small air cushion pipeline detection device according to the present invention;

[0022] Figure 4 This is a schematic diagram of the internal structure of the upper shell of an amphibious miniature air cushion pipeline detection device according to the present invention;

[0023] Figure 5 This is a schematic diagram of the vertical rudder mechanism of an amphibious small air cushion pipeline detection device according to the present invention.

[0024] In the diagram: 1. Hull; 101. Upper hull; 102. Upper plate; 103. Wind distribution mechanism; 131. Outer plate; 132. Inner plate; 133. Wind distribution cover; 104. Lower plate; 105. Skirt; 106. Connecting rod; 107. Cover plate; 108. Fan mounting ring; 109. Rudder stock fixing cylinder; 110. Mounting port; 111. Control circuit board; 112. Cable; 2. Lifting system; 201. Lifting fan; 3. Propulsion system; 301. Propulsion fan; 302. Vertical rudder mechanism; 321. Drive motor; 322. Fixing frame; 323. Transmission mechanism; 324. Tie rod; 325. Swing arm; 326. Rudder stock; 327. Rudder blade; 4. Detection system; 401. CCTV imaging device; 402. Sonar detection device. Detailed Implementation

[0025] The present invention will be further described below with reference to specific embodiments. The accompanying drawings are for illustrative purposes only and are schematic diagrams, not actual pictures. They should not be construed as limiting the present invention. In order to better illustrate the specific embodiments of the present invention, some parts in the drawings may be omitted, enlarged or reduced, and do not represent the actual product size.

[0026] Example 1

[0027] like Figure 1-4 As shown, an amphibious small air cushion pipeline inspection device includes a hull 1, a cushion lifting system 2, a propulsion system 3, and an inspection system 4.

[0028] After being placed in the drain pipe, the device is connected to a control handle via cable 112 for remote control. During operation, the lifting fan 201 rotates at high speed to generate lifting airflow. To improve the aerodynamic characteristics of the lifting airflow, a wind distribution mechanism 103 is provided, including an outer plate 131, an inner plate 132, and a wind distribution hood 133. The outer and inner end faces of the wind distribution hood 133 are fixedly connected to the outer plate 131 and the inner plate 132, respectively. The upper end of the outer plate 131 is fixedly connected to the lower end face of the upper plate 102, and the lower end face of the inner plate 132 is fixedly connected to the upper end face of the lower plate 104. With the surface fixedly connected, the airflow into the uniform air distribution mechanism 103 is then blown into the enclosing space of the skirt 105 through the uniform air distribution cover 133, so that the hull 1 is subjected to uniform force and is lifted stably. After the hull 1 is lifted, the propulsion fan 301 of the propulsion system 3 operates to generate a propulsive airflow along the longitudinal axis of the hull 1. Under the action of the propulsive airflow, the hull 1 is propelled forward. Since the hull 1 is lifted to a certain height, the device can not only be used in sections with water or silt, but also travel in pipes without water, improving the device's passability and obstacle avoidance performance.

[0029] To reduce the weight of the equipment and improve its maneuverability, the components of the hull 1, namely the upper shell 101, upper plate 102, wind distribution mechanism 103, and lower plate 104, are all made of fiberglass. The lower end of the lower plate 104 is a rounded surface, which can reduce the driving resistance during the movement of the hull 1. At the same time, the rounded surface is conducive to the flow of the airflow, thereby improving the aerodynamic characteristics of the airflow.

[0030] To limit the overflow of the lift airflow and improve the aerodynamic performance of the hull 1, the skirt 105 is a wrap-around structure made of soft rubber. When the lift airflow blows into the skirt 105, the wrap-around soft structure can expand outward, increasing the wrap-around volume of the skirt 105. When the lift airflow flows inside the skirt 105, part of it flows outward from the bottom of the skirt 105 to the outside of the hull 1, and part of it flows inward along the arc of the lower end of the lower plate 104 towards the inside of the hull 1. The opposing airflows on both sides meet and collide, pushing the hull 1 upward. Another part of the airflow flows along the inner wall of the skirt 105, forming a vortex, keeping the skirt 105 in an expanded state.

[0031] To facilitate the assembly of the detection system 4, two mounting ports 110 are symmetrically provided at the front center of the upper housing 101. One mounting port 110 is equipped with a CCTV imaging device 401, and the other mounting port 110 is equipped with a sonar detection device 402. This ensures the accuracy of pipeline detection. Furthermore, both the CCTV imaging device 401 and the sonar detection device 402 are installed inside the upper housing 101, which can prevent them from coming into contact with water, thus providing protection and extending the service life of the electronic equipment.

[0032] Example 2

[0033] like Figure 1-5 As shown, an amphibious small air cushion pipeline inspection device includes a hull 1, a cushion lifting system 2, a propulsion system 3, and an inspection system 4.

[0034] During the testing process, in order to achieve steering control of the hull 1, a vertical rudder mechanism 302 is set up. The vertical rudder mechanism 302 includes a drive motor 321, a fixed frame 322, a transmission mechanism 323, a pull rod 324, a rotating arm 325, a rudder stick 326, and a rudder blade 327. The lower end of the fixed frame 322 is fixedly connected to the upper plate 102. The transmission mechanism 323 is installed inside the fixed frame 322, and its power output end is connected to the pull rod 324. The other end of the pull rod 324 is rotatably connected to the rotating arm 325. The other end of the rotating arm 325 is fixedly connected to the rudder stick 326. The lower end of the rudder stick 326 rotates with the upper plate 104. The upper end is rotatably connected to the rudder stock fixing cylinder 109 via a bearing. One end of the rudder blade 327 is fixedly connected to the rudder stock 326. The end of the main shaft of the drive motor 321 is fixedly connected to the power input end of the transmission mechanism 323. The drive motor 321 is operated by remote control. The rotational power of the drive motor 321 drives the pull rod 324 to move via the transmission mechanism 323. The pull rod 324 drives the rotating arm 325 to rotate. The rotating arm 325 drives the rudder stock 326 to rotate around its rotation center, thereby realizing the rotation of the rudder blade 327. By blocking the propulsion airflow through the double rudder blades 327, the direction of travel of the hull 1 changes.

[0035] To ensure reliable steering, the transmission mechanism 323 is a gear and rack transmission mechanism, with the gear being the power input end and the rack being the power output end, and the rack being slidably connected to the fixed frame 322.

[0036] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. An amphibious small air cushion pipeline inspection device, comprising a hull (1), a cushion lifting system (2), a propulsion system (3), and an inspection system (4), characterized in that: The detection system (4) is installed inside the hull (1) and includes a CCTV imaging device (401) and a sonar detection device (402). The lifting system (2) consists of four sets of lifting fans (201) evenly distributed on the upper part of the hull (1). The lifting fans (201) rotate at high speed to generate lifting airflow into the bottom of the hull (1), forming an air cushion at the bottom of the hull (1). The propulsion system (3) includes a propulsion fan (301) installed at the stern of the hull (1) and a vertical rudder mechanism (302) located behind the propulsion fan (301). The propulsion fan (301) generates propulsion airflow along the longitudinal axis of the hull (1). Under the action of the propulsion airflow, the hull (1) is propelled forward. The hull (1) includes an upper shell (101), an upper plate (102), a wind-equalizing mechanism (103), a lower plate (104), and a skirt (105). A connecting rod (106) is provided inside the upper shell (101). The connecting rod (106) passes through the upper plate (102) and the wind-equalizing mechanism (103), and its end is fixedly connected to the lower plate (104). The wind-equalizing mechanism (103) is located between the upper plate (102) and the lower plate (104). The upper end of the skirt (105) is connected to the lower end face of the upper shell (101). The air distribution mechanism (103) includes an outer plate (131), an inner plate (132), and an air distribution hood (133). The outer and inner end faces of the air distribution hood (133) are fixedly connected to the outer plate (131) and the inner plate (132), respectively. The upper end of the outer plate (131) is fixedly connected to the lower end face of the upper plate (102), and the lower end face of the inner plate (132) is fixedly connected to the upper end face of the lower plate (104). The vertical rudder mechanism (302) includes a drive motor (321), a fixed frame (322), a transmission mechanism (323), a pull rod (324), a rotating arm (325), a rudder stock (326), and a rudder blade (327). The lower end of the fixed frame (322) is fixedly connected to the upper plate (102). The transmission mechanism (323) is installed inside the fixed frame (322), and its power output end is connected to the pull rod (324). The other end of the pull rod (324) is rotatably connected to the rotating arm (325). The other end of the rotating arm (325) is fixedly connected to the rudder stock (326). The lower end of the rudder stock (326) is rotatably connected to the upper plate (102), and the upper end is rotatably connected to the rudder stock fixing cylinder (109) through a bearing. One end of the rudder blade (327) is fixedly connected to the rudder stock (326). The end of the main shaft of the drive motor (321) is fixedly connected to the power input end of the transmission mechanism (323).

2. The amphibious miniature air cushion pipeline detection device according to claim 1, characterized in that: The skirt (105) has a wrap-around structure and is made of soft rubber.

3. The amphibious miniature air cushion pipeline detection device according to claim 1, characterized in that: The upper housing (101) is rotatably connected to a cover plate (107) at the middle of its upper end. A fan mounting ring (108) and a rudder rod fixing cylinder (109) are provided on one side of the cover plate (107). A propulsion fan (301) is installed inside the fan mounting ring (108).

4. The amphibious miniature air cushion pipeline detection device according to claim 1, characterized in that: The upper housing (101) has two symmetrical mounting ports (110) at the front center. One of the mounting ports (110) is equipped with a CCTV imaging device (401), and the other mounting port (110) is equipped with a sonar detection device (402).

5. The amphibious miniature air cushion pipeline detection device according to claim 1, characterized in that: A control circuit board (111) is installed at the middle of the upper end of the upper plate (102), and the control circuit board (111) is connected to a cable (112) through an interface.

6. The amphibious miniature air cushion pipeline detection device according to claim 1, characterized in that: The transmission mechanism (323) is a gear and rack transmission mechanism, wherein the gear is the power input end, the rack is the power output end, and the rack is slidably connected to the fixed frame (322).

7. The amphibious miniature air cushion pipeline detection device according to claim 1, characterized in that: The upper shell (101), upper plate (102), air distribution mechanism (103) and lower plate (104) are all made of fiberglass, and the lower end of the lower plate (104) is an arc surface.

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