Accurate detection method for vacuum pipeline leakage

Abstract

The invention discloses an accurate detection method for vacuum pipeline leakage. The method comprises the following steps: S1, robot installation; S2, robot crawling in a vacuum pipeline; and S3, vacuum pipeline leakage detection. The leakage detection method is simple in step, leakage detection can be carried out on the vacuum pipeline under the condition that the whole pipeline system is not closed, the leakage position of the vacuum pipeline can be accurately found, meanwhile, the inner wall of the vacuum pipeline can be cleaned, the advancing speed of the robot can be adjusted according to the shape of the vacuum pipeline, and the working efficiency of the robot is improved. Practicality and flexibility of the robot are greatly improved, operation is flexible and convenient, labor intensity of manual detection is reduced, meanwhile, the size of a leakage point can be judged according to the size of noise of the leakage point, and maintenance personnel can conveniently take measures in time for repairing.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline leakage detection, and in particular to a precise detection method for vacuum pipeline leakage. Background Art

[0002] At present, in order to make the sewage reach the water quality requirements for discharge into a certain water body or reuse, it is purified. Sewage treatment is widely used in various fields such as construction, agriculture, transportation, energy, petrochemical, environmental protection, urban landscape, medical treatment, catering, life, etc., and is used to collect the generated sewage through vacuum pipes to the treatment device for treatment.

[0003] Generally, vacuum pipes are buried about 1 meter underground. Vacuum pipes are used to pump sewage from long distances. Each household will install a sewage well, and thousands of sewage wells will be concentrated in one place for treatment, so they need to be transported through a pure vacuum pipe system. Since vacuum pipes are buried underground, they are easily crushed over time, and leak locations are generally detected by robots. However, existing robots need to shut down the entire vacuum pipe system for inspection, and cannot accurately detect the location of the leak, and cannot determine the size of the leak, which is not conducive to maintenance personnel taking timely measures. Summary of the invention

[0004] The purpose of the present invention is to provide a technical solution for a precise detection method for vacuum pipe leakage in view of the shortcomings of the prior art. The leakage detection method has simple steps and can not only perform leakage detection on the vacuum pipe without shutting down the entire pipe system, but also accurately find the leakage position of the vacuum pipe and clean the inner wall of the vacuum pipe at the same time. The speed of the robot's advance can be adjusted according to the shape of the vacuum pipe, which greatly improves the practicality and flexibility of the robot, makes the operation flexible and convenient, reduces the labor intensity of manual detection, and can judge the size of the leakage point according to the noise size of the leakage point, so that maintenance personnel can take timely measures to repair it.

[0005] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0006] A precise detection method for vacuum pipeline leakage, characterized by comprising the following steps:

[0007] S1. Robot installation

[0008] a. First, determine the number of sections of the robot telescopic mechanism according to the design requirements, install a diaphragm, a pressure sensor and a noise sensor along the outer side of each section of the telescopic mechanism, and splice two adjacent sections of the telescopic mechanism through a connecting sleeve. The telescopic mechanism includes a front crawling section and a rear crawling section that abut against the inner wall of the vacuum pipe, a telescopic section used to connect the front crawling section and the rear crawling section, a cleaning mechanism connected to the front crawling section, a diaphragm connected to the front crawling section and the rear crawling section, and wrapped around the telescopic section, and an airbag blocking mechanism is provided on both the front crawling section and the rear crawling section;

[0009] b. Then, a cleaning mechanism is installed on the telescopic mechanism of the head, and an acoustic wave sensor is installed inside the cleaning mechanism, and fluid channels are formed inside the telescopic mechanism and the cleaning mechanism;

[0010] c. Then connect the support wheel along the telescopic mechanism of the cleaning mechanism and the tail through the support rod;

[0011] d. Finally, the front crawling section, the rear crawling section and the telescopic section are connected to the air source through the delivery pipe, and the pressure sensor, the noise sensor and the acoustic wave sensor are electrically connected to the controller;

[0012] S2. The robot is placed in a vacuum pipe and crawls

[0013] a. First, place the installed robot into the vacuum pipe, with the end with the cleaning mechanism facing the robot's forward direction, until the robot is completely placed in the vacuum pipe, and support the robot in the vacuum pipe with the support wheels set at the front and rear;

[0014] b. Then, the air source is used to control the movements of the front crawling section, the rear crawling section and the telescopic section through the conveying pipe. When crawling, the rear crawling section first contacts the inner wall of the vacuum pipe, and then the telescopic section drives the front crawling section to move a set distance along the inner wall of the vacuum pipe. The front crawling section contacts the inner wall of the vacuum pipe, and at the same time, the rear crawling section is separated from the inner wall of the vacuum pipe, and the telescopic section drives the rear crawling section to move forward, and the robot crawls along the vacuum pipe in a reciprocating cycle;

[0015] c. Then, the distance between the robot and the turning point of the vacuum pipe is detected by an acoustic wave sensor, and the signal is fed back to the controller to control the speed of the robot when crawling along the vacuum pipe. At the same time, the fluid in the vacuum pipe flows uninterruptedly through the fluid channels inside the telescopic mechanism and the cleaning mechanism, and the cleaning mechanism continuously cleans the inner wall of the vacuum pipe;

[0016] S3. Vacuum pipeline leakage detection

[0017] a. When the robot is crawling along the vacuum pipe, when the telescopic section drives the front crawling section and the rear crawling section to unfold, the front crawling section and the rear crawling section first contact the inner wall of the vacuum pipe, and the diaphragm is in an unfolded state;

[0018] b. Then, gas is input into the airbag blocking mechanism of the front crawling section and the rear crawling section through the air source through the delivery pipe, so that the airbag blocking mechanism is inflated to block the inner wall of the vacuum pipe. At this time, a negative pressure detection area is formed between the front crawling section and the rear crawling section and the inner wall of the vacuum pipe;

[0019] c. When leakage occurs in the detection area, the pressure value of the detection area is detected by the pressure sensor, and the noise level is detected by the noise sensor. The detected pressure signal and noise signal are fed back to the controller to determine the leakage position of the vacuum pipeline.

[0020] The leakage detection method has simple steps. It can not only detect the leakage of the vacuum pipeline without shutting down the entire pipeline system, but also accurately find the leakage position of the vacuum pipeline. At the same time, the inner wall of the vacuum pipeline can be cleaned, and the speed of the robot's advance can be adjusted according to the shape of the vacuum pipeline, which greatly improves the practicality and flexibility of the robot, is flexible and convenient to operate, and reduces the labor intensity of manual detection. At the same time, the size of the leakage point can be judged according to the noise size of the leakage point, which is convenient for maintenance personnel to take timely measures to repair it.

[0021] Furthermore, the vacuum pipeline is connected with a stepped pipeline for vacuum operation of the fluid.

[0022] Furthermore, the cleaning mechanism in step S1 includes a main shaft, a brush assembly rotatably connected to the end of the main shaft, and a driving assembly for driving the brush assembly to rotate continuously. The driving assembly drives the brush assembly to rotate along the main shaft to achieve continuous cleaning of the inner wall of the vacuum pipe. After the robot enters the vacuum pipe, the driving assembly drives the brush assembly to rotate, thereby cleaning the vacuum pipe and extending the service life of the vacuum pipe.

[0023] Furthermore, the brush assembly includes a brush plate and brushes distributed along the outer circumferential side of the brush plate. The brush plate drives the brushes to rotate to clean the vacuum pipe.

[0024] Furthermore, the driving assembly includes a driving motor, a driving gear, a transmission gear and a driven gear. The driving motor is fixed to the main shaft through a boss, the driving gear is connected to the output shaft of the driving motor, the transmission gear is rotatably connected to the outer side of the main shaft, and the driven gear is connected to the brush plate. The driving motor drives the driven gear to rotate via the driving gear and the transmission gear to achieve synchronous rotation of the brush plate; the driving assembly is connected to an external controller, and the driving motor is controlled by the controller to achieve synchronous rotation of the driving gear, the transmission gear and the driven gear, thereby driving the brush assembly to rotate and cleaning the inner wall of the vacuum pipe.

[0025] Furthermore, the front crawling section and the rear crawling section in step S1 both include a cylinder shaft and an expansion mechanism, the expansion mechanism is connected to the cylinder shaft, and is used to expand and contract along the cylinder shaft to achieve interference or separation with the inner wall of the vacuum pipe. A connecting sleeve is provided at one end of the cylinder shaft away from the airbag blocking mechanism, which is used to connect the telescopic section; the expansion mechanism of the rear crawling section contacts the inner wall of the vacuum pipe, so as to support the entire robot, and then the front crawling section is driven to move to the required distance through the telescopic section, so that the expansion mechanism of the front crawling section contacts the inner wall of the vacuum pipe, and then the expansion mechanism of the rear crawling section is retracted, and the rear crawling section is driven to move forward the required distance through the telescopic section, and the cycle is repeated to achieve continuous crawling of the robot along the vacuum pipe. Whenever the front crawling section and the rear crawling section of the robot are in the deployed state, the airbag blocking mechanism blocks the inner wall of the vacuum pipe to detect whether the vacuum pipe between the front crawling section and the rear crawling section is leaking, and a pressure sensor and a diaphragm can be installed between two adjacent airbag blocking mechanisms to detect whether the vacuum pipe is leaking.

[0026] Furthermore, the expansion mechanism includes a crawling cylinder, a first connecting disc, a second connecting disc and an expansion component, the crawling cylinder is fixed to the cylinder shaft, the first connecting disc is fixed to the cylinder shaft on a side close to the airbag blocking mechanism, the second connecting disc is slidably connected to the cylinder shaft, the second connecting disc is connected to the crawling cylinder through a first telescopic rod, and the expansion component is evenly distributed in a ring shape between the first connecting disc and the second connecting disc; the crawling cylinder pushes the second connecting disc to move back and forth along the cylinder shaft, so that the expansion component can be expanded or contracted along the first connecting disc, and the expansion component can be made to resist or detach from the inner wall of the vacuum pipe, so that the robot can move forward or backward along the inner wall of the vacuum pipe, and the ring-shaped distribution of the expansion components greatly improves the stability and reliability of the robot when it contacts the inner wall of the vacuum pipe.

[0027] Furthermore, the extension component includes a cylinder bracket, an extension bracket and a connecting rod. The extension bracket is rotatably connected to the first connecting disk, the connecting rod is fixed on the extension bracket, one end of the cylinder bracket is rotatably connected to the second connecting disk, and the other end of the cylinder bracket is rotatably connected to the extension bracket, which is used to drive the extension bracket and the connecting rod to expand or retract; the cylinder bracket is driven to rotate by the second connecting disk, and then the extension bracket can be driven to expand or retract, thereby meeting the adjustment requirements of the connecting rod. The connecting rod is used to resist the inner wall of the vacuum pipe, and its end is an arc-shaped structure, which can play a role in protecting the vacuum pipe.

[0028] Furthermore, the airbag sealing mechanism includes a limit plate, an airbag inner ring and an annular airbag. The two limit plates are fixed on both sides of the airbag inner ring. The annular airbag is located between the two limit plates and installed on the outer side of the airbag inner ring. The annular airbag is provided with an air valve, and the air valve is connected to the delivery pipe. The air valve is connected to an external air source, and the inflation or deflation of the annular airbag is controlled by the air valve to meet the requirements for vacuum pipeline sealing and improve detection accuracy. The airbag inner ring improves the stability and reliability of the annular airbag installation and can ensure the liquid to flow along the airbag inner ring. The limit plate improves the installation stability of the annular airbag to avoid back and forth shaking that affects the sealing effect.

[0029] Furthermore, the telescopic section includes a fixed sleeve, a telescopic cylinder, a pushing disc and a connecting hose. The telescopic cylinder is fixed on the fixed sleeve. The telescopic cylinder is connected to the pushing disc through a second telescopic rod. The pushing disc is connected to the fixed sleeve through the telescopic sleeve. The fixed sleeve and the pushing disc are respectively connected to the front crawling section and the rear crawling section through the connecting hose. The connecting hose can improve the sealing effect between the telescopic section and the front crawling section and the rear crawling section to prevent leakage and affect the detection accuracy. The pushing disc is driven to move forward and backward by the telescopic cylinder through the second telescopic rod, thereby realizing the telescopic movement between the front crawling section and the rear crawling section, meeting the movement requirements of the robot. The fixed sleeve and the telescopic sleeve improve the stability and reliability of the telescopic section during movement.

[0030] The present invention has the following beneficial effects due to the adoption of the above technical solution:

[0031] 1. The leakage detection method of the present invention has simple steps. It can not only detect the leakage of the vacuum pipeline without closing the entire pipeline system, but also accurately find the leakage position of the vacuum pipeline. At the same time, the inner wall of the vacuum pipeline can be cleaned, and the speed of the robot's advance can be adjusted according to the shape of the vacuum pipeline, which greatly improves the practicality and flexibility of the robot, is flexible and convenient to operate, and reduces the labor intensity of manual detection. At the same time, the size of the leakage point can be judged according to the noise size of the leakage point, which is convenient for maintenance personnel to take timely measures to repair it.

[0032] 2. After the robot enters the vacuum pipe, the driving component drives the brush component to rotate, so as to clean the vacuum pipe and extend the service life of the vacuum pipe.

[0033] 3. The expansion mechanism of the rear crawling segment contacts the inner wall of the vacuum pipe, so as to support the entire robot. The front crawling segment is then driven to move to the required distance by the telescopic segment, so that the expansion mechanism of the front crawling segment contacts the inner wall of the vacuum pipe. The expansion mechanism of the rear crawling segment is then retracted, and the rear crawling segment is driven to move the required distance forward by the telescopic segment. This cycle is repeated to achieve continuous crawling of the robot along the vacuum pipe. Whenever the front crawling segment and the rear crawling segment of the robot are in the expanded state, the airbag sealing mechanism seals the inner wall of the vacuum pipe to detect whether the vacuum pipe between the front crawling segment and the rear crawling segment is leaking. A pressure sensor and a diaphragm can be installed between two adjacent airbag sealing mechanisms to detect whether the vacuum pipe is leaking.

[0034] 4. The connecting hose can improve the sealing effect between the telescopic section and the front crawling section and the rear crawling section to prevent leakage and affect the detection accuracy. The telescopic cylinder drives the disc to move forward and backward through the second telescopic rod, thereby realizing the telescopic movement between the front crawling section and the rear crawling section to meet the movement requirements of the robot. The fixed sleeve and the telescopic sleeve improve the stability and reliability of the telescopic section during movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The present invention will be further described below in conjunction with the accompanying drawings:

[0036] Figure 1 This is a flow chart of a method for accurately detecting vacuum pipeline leakage according to the present invention;

[0037] Figure 2 This is a schematic diagram of the structure of the robot in the present invention when it is placed in a vacuum pipe;

[0038] Figure 3 This is a schematic diagram of the structure of the robot in the present invention when crawling along a vacuum pipe;

[0039] Figure 4 It is a schematic diagram of the structure of the robot in the present invention;

[0040] Figure 5 It is a schematic diagram of the connection between the cleaning mechanism and the telescopic mechanism in the present invention;

[0041] Figure 6 It is a structural schematic diagram of the telescopic mechanism in the present invention;

[0042] Figure 7 It is a schematic diagram of the structure of the front crawling section and the rear crawling section in the present invention;

[0043] Figure 8 for Figure 7 Structural diagram of the middle A direction;

[0044] Fig. 9 It is a structural schematic diagram of the telescopic section in the present invention.

[0045] In the figure: 1-cleaning mechanism; 2-telescopic mechanism; 3-connecting sleeve; 4-fluid channel; 5-main shaft; 6-brush plate; 7-brush; 8-boss; 9-driving motor; 10-driving gear; 11-transmission gear; 12-driven gear; 13-telescopic section; 14-front crawling section; 15-rear crawling section; 16-cylinder shaft; 17-connecting sleeve; 18-first connecting disc; 19-second connecting disc; 20-crawling cylinder; 21-first telescopic rod; 22-expansion assembly; 23-limiting plate; 24-airbag inner ring; 25-ring shaped airbag; 26-air valve; 27-plug; 28-mounting hole; 29-cylinder bracket; 30-extension bracket; 31-connecting rod; 32-connecting hose; 33-fixing sleeve; 34-telescopic cylinder; 35-pushing disc; 36-second telescopic rod; 37-telescopic sleeve; 38-vacuum pipe; 39-step pipe; 40-inspection port; 41-gas source; 42-delivery pipe; 43-diaphragm; 44-sonic wave sensor; 45-support wheel; 46-pressure sensor; 47-noise sensor; 48-controller; 49-support rod. DETAILED DESCRIPTION

[0046] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0047] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only embodiments of a part of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0048] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions.

[0049] like Figures 1 to 9 As shown, a precise detection method for vacuum pipeline leakage of the present invention is provided. The vacuum pipeline 38 is connected to a stepped pipeline 39 for vacuum operation of the fluid. An inspection port 40 is provided on the vacuum pipeline 38. The leakage detection method comprises the following steps:

[0050] S1. Robot installation

[0051] a. First, determine the number of sections of the robot telescopic mechanism 2 according to the design requirements, install a diaphragm 43, a pressure sensor 46 and a noise sensor 47 along the outer side of each section of the telescopic mechanism 2, and splice two adjacent sections of the telescopic mechanism 2 through a connecting sleeve 3. This application takes a three-section telescopic mechanism 2 as an example. The telescopic mechanism 2 includes a front crawling segment 14 and a rear crawling segment 15 that abut against the inner wall of the vacuum pipe 38, and a telescopic segment 13 for connecting the front crawling segment 14 and the rear crawling segment 15. The cleaning mechanism 1 is connected to the front crawling segment 14, and the diaphragm 43 is connected to the front crawling segment 14 and the rear crawling segment 15 and wrapped around the telescopic segment 13. The front crawling segment 14 and the rear crawling segment 15 are both provided with airbag blocking mechanisms.

[0052] The front crawling section 14 and the rear crawling section 15 both include a cylinder shaft 16 and an expansion mechanism. The expansion mechanism is connected to the cylinder shaft 16 and is used to expand and contract along the cylinder shaft 16 to achieve contact or separation with the inner wall of the vacuum pipe 38. The end of the cylinder shaft 16 away from the airbag blocking mechanism is provided with a connecting sleeve 17 for connecting the telescopic section 13. The expansion mechanism of the rear crawling section 15 contacts the inner wall of the vacuum pipe 38 to support the entire robot. The telescopic section 13 then drives the front crawling section 14 to move to the required distance, so that the expansion mechanism of the front crawling section 14 contacts the vacuum pipe 38. 8, and then retract the expansion mechanism of the rear crawling segment 15, and drive the rear crawling segment 15 to move forward the required distance through the telescopic segment 13, and repeat the cycle to achieve continuous crawling of the robot along the vacuum pipe 38. Whenever the front crawling segment 14 and the rear crawling segment 15 of the robot are in the deployed state, the airbag blocking mechanism blocks the inner wall of the vacuum pipe 38 to detect whether the vacuum pipe 38 between the front crawling segment 14 and the rear crawling segment 15 is leaking. A pressure sensor 46 and a diaphragm 43 can be installed between two adjacent airbag blocking mechanisms to detect whether the vacuum pipe 38 is leaking.

[0053] The cylinder shaft 16 is provided with a mounting hole 28 for mounting and connecting the delivery pipe 42. When the mounting hole 28 is not used, it is fixed by a plug 27 for sealing.

[0054] The expansion mechanism includes a crawling cylinder 20, a first connecting disc 18, a second connecting disc 19 and an expansion component 22. The crawling cylinder 20 is fixed to the cylinder shaft 16. The first connecting disc 18 is fixed to the cylinder shaft 16 on the side close to the airbag blocking mechanism. The second connecting disc 19 is slidably connected to the cylinder shaft 16. The second connecting disc 19 is connected to the crawling cylinder 20 through a first telescopic rod 21. The expansion component 22 is evenly distributed in a ring shape between the first connecting disc 18 and the second connecting disc 19. The crawling cylinder 20 pushes the second connecting disc 19 to move back and forth along the cylinder shaft 16, so that the expansion component 22 can be expanded or contracted along the first connecting disc 18, and the expansion component 22 can be made to resist or detach from the inner wall of the vacuum pipe 38, so that the robot can move forward or backward along the inner wall of the vacuum pipe 38. The annularly distributed expansion component 22 greatly improves the stability and reliability of the robot when it contacts the inner wall of the vacuum pipe 38.

[0055] The extension component 22 includes a cylinder bracket 29, an extension bracket 30 and a connecting rod 31. The extension bracket 30 is rotatably connected to the first connecting disk 18, and the connecting rod 31 is fixed on the extension bracket 30. One end of the cylinder bracket 29 is rotatably connected to the second connecting disk 19, and the other end of the cylinder bracket 29 is rotatably connected to the extension bracket 30, which is used to drive the extension bracket 30 and the connecting rod 31 to expand or retract; the cylinder bracket 29 is driven to rotate by the second connecting disk 19, and then the extension bracket 30 can be driven to expand or retract, thereby meeting the adjustment requirements of the connecting rod 31. The connecting rod 31 is used to resist the inner wall of the vacuum pipe 38, and its end is an arc-shaped structure, which can play a role in protecting the vacuum pipe 38.

[0056] The telescopic section 13 includes a fixed sleeve 33, a telescopic cylinder 34, a pushing disc 35 and a connecting hose 32. The telescopic cylinder 34 is fixed on the fixed sleeve 33. The telescopic cylinder 34 is connected to the pushing disc 35 through a second telescopic rod 36. The pushing disc 35 is movably connected to the fixed sleeve 33 through a telescopic sleeve 37. The fixed sleeve 33 and the pushing disc 35 are respectively connected to the front crawling section 14 and the rear crawling section 15 through the connecting hose 32. The connecting hose 32 can improve the sealing effect between the telescopic section 13 and the front crawling section 14 and the rear crawling section 15 to prevent leakage and affect the detection accuracy. The pushing disc 35 is driven to move forward and backward by the telescopic cylinder 34 through the second telescopic rod 36, thereby realizing the telescopic movement between the front crawling section 14 and the rear crawling section 15, meeting the movement requirements of the robot. The fixed sleeve 33 and the telescopic sleeve 37 improve the stability and reliability of the telescopic section 13 when moving.

[0057] The airbag sealing mechanism includes a limit plate 23, an airbag inner ring 24 and an annular airbag 25. The two limit plates 23 are fixed on both sides of the airbag inner ring 24. The annular airbag 25 is located between the two limit plates 23 and installed on the outer side of the airbag inner ring 24. The annular airbag 25 is provided with an air valve 26, and the air valve 26 is connected to the delivery pipe 42; the air valve 26 is connected to the external air source 41, and the inflation or deflation of the annular airbag 25 is controlled by the air valve 26 to meet the requirements for sealing the vacuum pipeline 38 and improve the detection accuracy. The airbag inner ring 24 improves the stability and reliability of the installation of the annular airbag 25, and can ensure the liquid to flow along the airbag inner ring 24. The limit plate 23 improves the installation stability of the annular airbag 25 to avoid shaking back and forth and affecting the sealing effect.

[0058] b. Then, the cleaning mechanism 1 is installed on the telescopic mechanism 2 of the head, and the acoustic wave sensor 44 is installed inside the cleaning mechanism 1. The fluid channel 4 is formed inside the telescopic mechanism 2 and the cleaning mechanism 1;

[0059] The cleaning mechanism 1 includes a main shaft 5, a brush 7 assembly rotatably connected to the end of the main shaft 5, and a driving assembly for driving the brush 7 assembly to rotate continuously. The driving assembly drives the brush 7 assembly to rotate along the main shaft 5 to achieve continuous cleaning of the inner wall of the vacuum pipe 38; after the robot enters the vacuum pipe 38, the driving assembly drives the brush 7 assembly to rotate, thereby cleaning the vacuum pipe 38 and extending the service life of the vacuum pipe 38.

[0060] The brush 7 assembly includes a brush plate 6 and brushes 7 distributed along the outer circumferential side of the brush plate 6. The brush plate 6 drives the brush 7 to rotate to clean the vacuum pipe 38.

[0061] The driving assembly includes a driving motor 9, a driving gear 10, a transmission gear 11 and a driven gear 12. The driving motor 9 is fixed to the main shaft 5 through a boss 8. The driving gear 10 is connected to the output shaft of the driving motor 9. The transmission gear 11 is rotatably connected to the outer side of the main shaft 5. The driven gear 12 is connected to the brush plate 6. The driving motor 9 drives the driven gear 12 to rotate through the driving gear 10 and the transmission gear 11 to achieve synchronous rotation of the brush plate 6; the driving assembly is connected to an external controller 48, and the driving motor 9 is controlled by the controller 48 to achieve synchronous rotation of the driving gear 10, the transmission gear 11 and the driven gear 12, thereby driving the brush 7 assembly to rotate and cleaning the inner wall of the vacuum pipe 38.

[0062] c. Then, the support wheel 45 is connected along the cleaning mechanism 1 and the telescopic mechanism 2 at the tail through the support rod 49;

[0063] d. Finally, the front crawling section 14, the rear crawling section 15 and the telescopic section 13 are connected to the gas source 41 through the delivery pipe 42, and the pressure sensor 46, the noise sensor 47 and the sound wave sensor 44 are electrically connected to the controller 48;

[0064] S2. The robot is placed in the vacuum pipe 38 and crawls

[0065] a. First, place the installed robot into the vacuum pipe 38, with the end with the cleaning mechanism 1 facing the forward direction of the robot, until the robot is completely placed into the vacuum pipe 38, and the robot is supported in the vacuum pipe 38 by the support wheels 45 provided at the front and rear;

[0066] b. Then, the air source 41 is used to control the front crawling section 14, the rear crawling section 15 and the telescopic section 13 to move. When crawling, the rear crawling section 15 first contacts the inner wall of the vacuum pipe 38, and then the telescopic section 13 drives the front crawling section 14 to move a set distance along the inner wall of the vacuum pipe 38. The front crawling section 14 contacts the inner wall of the vacuum pipe 38, and at the same time, the rear crawling section 15 is separated from the inner wall of the vacuum pipe 38, and the telescopic section 13 drives the rear crawling section 15 to move forward, and the robot crawls along the vacuum pipe 38 in a reciprocating cycle;

[0067] c. Then, the distance between the robot and the turning point of the vacuum pipe 38 is detected by the acoustic wave sensor 44, and the signal is fed back to the controller 48 to control the speed of the robot when crawling along the vacuum pipe 38. At the same time, the fluid in the vacuum pipe 38 flows continuously through the retractable mechanism 2 and the fluid channel 4 inside the cleaning mechanism 1, and the cleaning mechanism 1 continuously cleans the inner wall of the vacuum pipe 38;

[0068] S3. Vacuum pipe 38 leakage detection

[0069] a. When the robot is crawling along the vacuum pipe 38, when the telescopic section 13 drives the front crawling section 14 and the rear crawling section 15 to unfold, the front crawling section 14 and the rear crawling section 15 first contact the inner wall of the vacuum pipe 38, and the diaphragm 43 is in an unfolded state;

[0070] b. Then, the gas is input into the airbag blocking mechanism of the front crawling section 14 and the rear crawling section 15 through the gas source 41 via the delivery pipe 42, so that the airbag blocking mechanism is inflated to block the inner wall of the vacuum pipe 38. At this time, a negative pressure detection area is formed between the front crawling section 14 and the rear crawling section 15 and the inner wall of the vacuum pipe 38;

[0071] c. When leakage occurs in the detection area, the pressure value of the detection area is detected by the pressure sensor 46, and the noise level is detected by the noise sensor 47. The detected pressure signal and noise signal are fed back to the controller 48 to determine the leakage position of the vacuum pipe 38.

[0072] The leakage detection method has simple steps. It can not only detect the leakage of the vacuum pipe 38 without shutting down the entire pipe system, but also accurately find the leakage position of the vacuum pipe 38. At the same time, the inner wall of the vacuum pipe 38 can be cleaned, and the speed of the robot's advance can be adjusted according to the shape of the vacuum pipe 38, which greatly improves the practicality and flexibility of the robot, is flexible and convenient to operate, and reduces the labor intensity of manual detection. At the same time, the size of the leakage point can be judged according to the noise size of the leakage point, which is convenient for maintenance personnel to take timely measures to repair it.

[0073] The above are only specific embodiments of the present invention, but the technical features of the present invention are not limited thereto. Any simple changes, equivalent replacements or modifications made based on the present invention to achieve basically the same technical effects are all included in the protection scope of the present invention.

Claims

1. A precise detection method for vacuum pipeline leakage, characterized in that The steps include: S1. Robot installation a. First, determine the number of sections of the robot telescopic mechanism according to the design requirements, install a diaphragm, a pressure sensor and a noise sensor along the outer side of each section of the telescopic mechanism, and splice two adjacent sections of the telescopic mechanism through a connecting sleeve. The telescopic mechanism includes a front crawling section and a rear crawling section that abut against the inner wall of the vacuum pipe, a telescopic section used to connect the front crawling section and the rear crawling section, a cleaning mechanism connected to the front crawling section, a diaphragm connected to the front crawling section and the rear crawling section, and wrapped around the telescopic section, and an airbag blocking mechanism is provided on both the front crawling section and the rear crawling section; b. Then, a cleaning mechanism is installed on the telescopic mechanism of the head, and an acoustic wave sensor is installed inside the cleaning mechanism, and fluid channels are formed inside the telescopic mechanism and the cleaning mechanism; c. Then connect the support wheel along the telescopic mechanism of the cleaning mechanism and the tail through the support rod; d. Finally, the front crawling section, the rear crawling section and the telescopic section are connected to the air source through the delivery pipe, and the pressure sensor, the noise sensor and the acoustic wave sensor are electrically connected to the controller; S2. The robot is placed in a vacuum pipe and crawls a. First, place the installed robot into the vacuum pipe, with the end with the cleaning mechanism facing the robot's forward direction, until the robot is completely placed in the vacuum pipe, and support the robot in the vacuum pipe with the support wheels set at the front and rear; b. Then, the air source is used to control the movements of the front crawling section, the rear crawling section and the telescopic section through the conveying pipe. When crawling, the rear crawling section first contacts the inner wall of the vacuum pipe, and then the telescopic section drives the front crawling section to move a set distance along the inner wall of the vacuum pipe. The front crawling section contacts the inner wall of the vacuum pipe, and at the same time, the rear crawling section is separated from the inner wall of the vacuum pipe, and the telescopic section drives the rear crawling section to move forward, and the robot crawls along the vacuum pipe in a reciprocating cycle; c. Then, the distance between the robot and the turning point of the vacuum pipe is detected by an acoustic wave sensor, and the signal is fed back to the controller to control the speed of the robot when crawling along the vacuum pipe. At the same time, the fluid in the vacuum pipe flows uninterruptedly through the fluid channels inside the telescopic mechanism and the cleaning mechanism, and the cleaning mechanism continuously cleans the inner wall of the vacuum pipe; S3. Vacuum pipeline leakage detection a. When the robot is crawling along the vacuum pipe, when the telescopic section drives the front crawling section and the rear crawling section to unfold, the front crawling section and the rear crawling section first contact the inner wall of the vacuum pipe, and the diaphragm is in an unfolded state; b. Then, gas is input into the airbag blocking mechanism of the front crawling section and the rear crawling section through the air source through the delivery pipe, so that the airbag blocking mechanism is inflated to block the inner wall of the vacuum pipe. At this time, a negative pressure detection area is formed between the front crawling section and the rear crawling section and the inner wall of the vacuum pipe; c. When leakage occurs in the detection area, the pressure value of the detection area is detected by the pressure sensor, and the noise level is detected by the noise sensor. The detected pressure signal and noise signal are fed back to the controller to determine the leakage position of the vacuum pipeline.

2. The accurate detection method for vacuum pipeline leakage according to claim 1, characterized in that: The vacuum pipeline is connected with a stepped pipeline for vacuum operation of the fluid.

3. The accurate detection method for vacuum pipeline leakage according to claim 1, characterized in that: The cleaning mechanism in step S1 includes a main shaft, a brush assembly rotatably connected to the end of the main shaft, and a driving assembly for driving the brush assembly to rotate continuously. The driving assembly drives the brush assembly to rotate along the main shaft to achieve continuous cleaning of the inner wall of the vacuum pipe.

4. The accurate detection method for vacuum pipeline leakage according to claim 3 is characterized in that: The brush assembly comprises a brush disc and brushes distributed along the outer circumferential side of the brush disc. The brushes are driven to rotate by the brush disc to clean the vacuum pipe.

5. The accurate detection method for vacuum pipeline leakage according to claim 4, characterized in that: The driving assembly includes a driving motor, a driving gear, a transmission gear and a driven gear. The driving motor is fixed to the main shaft through a boss, the driving gear is connected to the output shaft of the driving motor, the transmission gear is rotatably connected to the outer side of the main shaft, and the driven gear is connected to the brush plate. The driving motor drives the driven gear to rotate through the driving gear and the transmission gear to achieve synchronous rotation of the brush plate.

6. The accurate detection method for vacuum pipeline leakage according to claim 1, characterized in that: The front crawling section and the rear crawling section in step S1 both include a cylinder shaft and an expansion mechanism. The expansion mechanism is connected to the cylinder shaft and is used to expand and contract along the cylinder shaft to achieve interference or separation with the inner wall of the vacuum pipe. A connecting sleeve is provided at one end of the cylinder shaft away from the airbag sealing mechanism for connecting the telescopic section.

7. The accurate detection method for vacuum pipeline leakage according to claim 6 is characterized in that: The expansion mechanism includes a crawling cylinder, a first connecting disc, a second connecting disc and an expansion component. The crawling cylinder is fixed to the cylinder shaft, the first connecting disc is fixed to the cylinder shaft on a side close to the airbag sealing mechanism, the second connecting disc is slidably connected to the cylinder shaft, the second connecting disc is connected to the crawling cylinder through a first telescopic rod, and the expansion component is evenly distributed in a ring shape between the first connecting disc and the second connecting disc.

8. The accurate detection method for vacuum pipeline leakage according to claim 7, characterized in that: The extension component includes a cylinder bracket, an extension bracket and a connecting rod. The extension bracket is rotatably connected to the first connecting disk, and the connecting rod is fixed on the extension bracket. One end of the cylinder bracket is rotatably connected to the second connecting disk, and the other end of the cylinder bracket is rotatably connected to the extension bracket, which is used to drive the extension bracket and the connecting rod to expand or retract.

9. The accurate detection method for vacuum pipeline leakage according to claim 1, characterized in that: The airbag sealing mechanism includes a limiting plate, an airbag inner ring and an annular airbag. The two limiting plates are fixed on both sides of the airbag inner ring. The annular airbag is located between the two limiting plates and installed on the outer side of the airbag inner ring. The annular airbag is provided with an air valve, which is connected to the delivery pipe.

10. The accurate detection method for vacuum pipeline leakage according to claim 1, characterized in that: The telescopic section includes a fixed sleeve, a telescopic cylinder, a pushing disc and a connecting hose. The telescopic cylinder is fixed on the fixed sleeve. The telescopic cylinder is connected to the pushing disc through a second telescopic rod. The pushing disc is movably connected to the fixed sleeve through the telescopic sleeve. The fixed sleeve and the pushing disc are respectively connected to the front crawling section and the rear crawling section through the connecting hose.

Images