A method for precise detection of vacuum pipeline leakage

Abstract

This invention discloses a precise method for detecting leaks in vacuum pipelines, comprising the following steps: S1, robot installation; S2, robot crawling within the vacuum pipeline; S3, vacuum pipeline leak detection. The leak detection method of this invention is simple in procedure, allowing leak detection in vacuum pipelines without shutting down the entire pipeline system. It can accurately locate the leak position, clean the inner wall of the vacuum pipeline, and adjust the robot's forward speed according to the shape of the pipeline, greatly improving the robot's practicality and flexibility. The operation is flexible and convenient, reducing the labor intensity of manual inspection. Furthermore, the size of the leak can be determined based on the noise level at the leak point, facilitating timely repair by maintenance personnel.

Description

Technical Field

[0001] This invention relates to the field of pipeline leak detection technology, and in particular to a precise detection method for leaks in vacuum pipelines. Background Technology

[0002] Currently, wastewater is purified to meet the water quality requirements for discharge into a water body or for reuse. Wastewater treatment is widely used in various fields such as construction, agriculture, transportation, energy, petrochemicals, environmental protection, urban landscaping, medical care, catering, and daily life. It involves collecting wastewater through vacuum pipelines to treatment devices for processing.

[0003] Typical vacuum pipelines are buried about 1 meter underground. They are used to pump sewage over long distances. Each household has a sewage well, and thousands of these wells are collected and treated in one location, requiring a pure vacuum pipeline system for transport. Because vacuum pipelines are buried underground, they are prone to damage over time. Leaks are usually detected using robots. However, existing robots require shutting down the entire vacuum pipeline system for repairs, and they cannot accurately locate or determine the size of leaks, hindering timely intervention by maintenance personnel. Summary of the Invention

[0004] The purpose of this invention is to provide a technical solution for accurate detection of leaks in vacuum pipelines, addressing the shortcomings of existing technologies. This leak detection method is simple in procedure, allowing for leak detection of vacuum pipelines without shutting down the entire pipeline system. It can accurately locate the leak position, clean the inner wall of the vacuum pipeline, and adjust the robot's forward speed according to the shape of the pipeline, greatly improving the robot's practicality and flexibility. The operation is flexible and convenient, reducing the labor intensity of manual inspection. Furthermore, the size of the leak can be determined based on the noise level at the leak point, facilitating timely repair by maintenance personnel.

[0005] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0006] A precise detection method for leaks in vacuum pipelines, characterized by the following steps:

[0007] S1, Robot Installation

[0008] a. First, determine the number of sections of the robot's telescopic mechanism according to the design requirements. Install a diaphragm, pressure sensor, and noise sensor along the outer side of each telescopic mechanism section. Connect adjacent telescopic mechanisms with connecting sleeves. The telescopic mechanism includes a front crawling section and a rear crawling section that abut against the inner wall of the vacuum pipe, and a telescopic section for connecting the front crawling section and the rear crawling section. The cleaning mechanism is connected to the front crawling section. The diaphragm is connected to the front crawling section and the rear crawling section and is wrapped around the telescopic section. Airbag sealing mechanisms are provided on both the front crawling section and the rear crawling section.

[0009] b. Then install a cleaning mechanism on the telescopic mechanism of the head, and install an acoustic sensor inside the cleaning mechanism. Fluid channels are formed inside both the telescopic mechanism and the cleaning mechanism.

[0010] c. Next, the support wheel is connected to the cleaning mechanism and the telescopic mechanism at the tail via a support rod;

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

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

[0013] a. First, place the installed robot into the vacuum tube, with the end with the cleaning mechanism facing the direction of the robot's movement, until the robot is completely placed into the vacuum tube. The robot is supported in the vacuum tube by the support wheels set at the front and rear.

[0014] b. Then, the movement of the front crawling section, the rear crawling section, and the telescopic section is controlled by the air source through the delivery 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. When the front crawling section contacts the inner wall of the vacuum pipe, the rear crawling section disengages from the inner wall of the vacuum pipe and moves forward through the telescopic section. This cycle repeats to realize the robot crawling along the vacuum pipe.

[0015] c. Next, the distance between the robot and the turning point of the vacuum pipe is detected by the acoustic sensor, and the signal is fed back to the controller to control the speed of the robot crawling along the vacuum pipe. At the same time, the fluid in the vacuum pipe flows continuously 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 Leak Detection

[0017] a. When the robot crawls along the vacuum pipe, 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 come into contact with the inner wall of the vacuum pipe, and the diaphragm is in the unfolded state.

[0018] b. Then, gas is introduced into the airbag sealing mechanism of the front crawling section and the rear crawling section through the gas source and the delivery pipe. After the airbag sealing mechanism is inflated, it seals 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 a leak occurs in the detection area, the pressure value of the detection area is detected by a pressure sensor, and the noise level is detected by a noise sensor. The detected pressure signal and noise signal are fed back to the controller to determine the location of the leak in the vacuum pipeline.

[0020] This leak detection method is simple in procedure. It can detect leaks in vacuum pipelines without shutting down the entire pipeline system, accurately locate the leak position, clean the inner wall of the vacuum pipeline, and adjust the robot's forward speed according to the shape of the vacuum pipeline, greatly improving the robot's practicality and flexibility. It is easy and convenient to operate, reduces the labor intensity of manual inspection, and can determine the size of the leak point based on the noise level, making it easier for maintenance personnel to take timely measures for repair.

[0021] Furthermore, the vacuum pipeline is connected to a stepped pipeline for the 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 drive assembly for continuously rotating the brush assembly. The drive assembly drives the brush assembly to rotate along the main shaft, thereby continuously cleaning the inner wall of the vacuum pipe. After the robot enters the vacuum pipe, the drive assembly drives the brush assembly to rotate, which can clean the vacuum pipe and extend its service life.

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

[0024] Furthermore, the drive assembly includes a drive motor, a drive gear, a transmission gear, and a driven gear. The drive motor is fixed to the main shaft via a boss, the drive gear is connected to the output shaft of the drive motor, the transmission gear is rotatably connected to the outer side of the main shaft, and the driven gear is connected to the brush disk. The drive motor drives the driven gear to rotate via the drive gear and the transmission gear, thereby achieving synchronous rotation of the brush disk. The drive assembly is connected to an external controller, which controls the operation of the drive motor to achieve synchronous rotation of the drive gear, transmission gear, and driven gear, thereby driving the brush assembly to rotate and clean the inner wall of the vacuum pipe.

[0025] Furthermore, both the front crawling section and the rear crawling section in step S1 include a cylinder shaft and an extension mechanism. The extension mechanism is connected to the cylinder shaft and is used to expand and contract along the cylinder shaft to achieve contact or disengagement with the inner wall of the vacuum pipe. The end of the cylinder shaft away from the airbag sealing mechanism is provided with a connecting sleeve for connecting the telescopic section. By having the extension mechanism of the rear crawling section contact the inner wall of the vacuum pipe, the entire robot can be supported. Then, the telescopic section drives the front crawling section to move to the required distance, so that the extension mechanism of the front crawling section contacts the inner wall of the vacuum pipe. Then, the extension mechanism of the rear crawling section is retracted, and the telescopic section drives the rear crawling section to move forward the required distance. This cycle repeats, enabling the robot to continuously crawl along the vacuum pipe. Whenever the front crawling section and the rear crawling section of the robot are in the deployed state, the airbag sealing mechanism seals the inner wall of the vacuum pipe to detect whether there is a leak in the vacuum pipe between the front crawling section and the rear crawling section. A pressure sensor and a diaphragm can be installed between two adjacent airbag sealing mechanisms to detect whether there is a leak in the vacuum pipe.

[0026] Furthermore, the extension mechanism includes a crawling cylinder, a first connecting disc, a second connecting disc, and an extension assembly. The crawling cylinder is fixed to the cylinder shaft, the first connecting disc is fixed to the cylinder shaft and located on the side near the airbag sealing mechanism, the second connecting disc is slidably connected to the cylinder shaft, and the second connecting disc is connected to the crawling cylinder through a first telescopic rod. The extension assembly is evenly distributed in a ring between the first and second connecting discs. By pushing the second connecting disc to reciprocate along the cylinder shaft, the extension assembly can be expanded or contracted along the first connecting disc, allowing the extension assembly to contact or detach from the inner wall of the vacuum pipe, thus enabling the robot to move forward or backward along the inner wall of the vacuum pipe. The ring-shaped distribution of the extension assembly greatly improves the stability and reliability of the robot when in contact with the inner wall of the vacuum pipe.

[0027] Furthermore, the expansion assembly includes a cylinder bracket, an expansion bracket, and a connecting rod. The expansion bracket is rotatably connected to a first connecting disc, and the connecting rod is fixed to the expansion bracket. One end of the cylinder bracket is rotatably connected to a second connecting disc, and the other end of the cylinder bracket is rotatably connected to the expansion bracket, used to drive the expansion bracket and the connecting rod to unfold or retract. The cylinder bracket is rotated by the second connecting disc, which in turn drives the expansion bracket to unfold or retract, satisfying the adjustment requirements of the connecting rod. The connecting rod is used to abut against the inner wall of the vacuum pipe, and its end has an arc-shaped structure, which can play a role in protecting the vacuum pipe.

[0028] Furthermore, the airbag sealing mechanism includes limiting plates, an inner ring of the airbag, and an annular airbag. The two limiting plates are fixed on both sides of the inner ring of the airbag, and the annular airbag is located between the two limiting plates and installed on the outside of the inner ring of the airbag. The annular airbag is equipped with an air valve, which is connected to a delivery pipe. The air valve is connected to an external air source, and the air valve controls the inflation or deflation of the annular airbag to meet the requirements for sealing the vacuum pipeline and improve the detection accuracy. The inner ring of the airbag improves the stability and reliability of the installation of the annular airbag, and at the same time ensures that the liquid flows along the inner ring of the airbag. The limiting plates improve the installation stability of the annular airbag and prevent back-and-forth shaking, which would affect 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 to the fixed sleeve and connected to the pushing disc via a second telescopic rod. The pushing disc moves through the telescopic sleeve and is connected to the fixed sleeve. The fixed sleeve and the pushing disc are connected to the front crawling section and the rear crawling section respectively via the connecting hose. The connecting hose can improve the sealing effect between the telescopic section and the front and rear crawling sections, preventing leakage and affecting the detection accuracy. The telescopic cylinder drives the pushing disc to move back and forth via the second telescopic rod, thereby realizing the telescopic movement between the front and rear crawling sections, meeting the robot's movement requirements. The fixed sleeve and the telescopic sleeve improve the stability and reliability of the telescopic section during movement.

[0030] The present invention, by adopting the above-described technical solution, has the following beneficial effects:

[0031] 1. The leakage detection method of the present invention has simple steps. It can not only detect leaks in vacuum pipelines without shutting down the entire pipeline system, but also accurately locate the leak position in the vacuum pipeline. At the same time, it can clean the inner wall of the vacuum pipeline, and adjust the robot's forward speed according to the shape of the vacuum pipeline, which greatly improves the robot's practicality and flexibility. It is flexible and convenient to operate, reduces the labor intensity of manual detection, and can also judge the size of the leak point based on the noise level of the leak point, which makes it easier for maintenance personnel to take timely measures for repair.

[0032] 2. After the robot enters the vacuum pipeline, the drive component drives the brush component to rotate, which can clean the vacuum pipeline and extend its service life.

[0033] 3. By having the extension mechanism of the rear crawling section contact the inner wall of the vacuum pipe, the entire robot can be supported. Then, the telescopic section drives the front crawling section to move to the required distance, so that the extension mechanism of the front crawling section contacts the inner wall of the vacuum pipe. Then, the extension mechanism of the rear crawling section is retracted, and the telescopic section drives the rear crawling section to move forward the required distance. This cycle is repeated to enable the robot to continuously crawl along the vacuum pipe. Whenever the front and rear crawling sections of the robot are in the deployed state, the airbag sealing mechanism seals the inner wall of the vacuum pipe to detect whether there is a leak in the vacuum pipe between the front and rear crawling sections. Pressure sensors and diaphragms can be installed between two adjacent airbag sealing mechanisms to detect whether there is a leak in the vacuum pipe.

[0034] 4. Connecting hoses can improve the sealing effect between the telescopic section and the front and rear crawling sections, preventing leakage and affecting detection accuracy. The telescopic cylinder drives the disc to move back and forth via the second telescopic rod, thereby realizing the telescopic movement between the front and rear crawling sections and meeting the robot's movement requirements. The fixed sleeve and telescopic sleeve improve the stability and reliability of the telescopic section during movement. Attached Figure Description

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

[0036] Figure 1 This is a flowchart of a precise detection method for vacuum pipeline leaks according to the present invention;

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

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

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

[0040] Figure 5 This is a schematic diagram showing the connection between the cleaning mechanism and the telescopic mechanism in this invention;

[0041] Figure 6 This is a schematic diagram of the telescopic mechanism in this invention;

[0042] Figure 7 This is a schematic diagram of the structure of the front crawling segment and the rear crawling segment in this invention;

[0043] Figure 8 for Figure 7 Schematic diagram of the structure in direction A;

[0044] Figure 9 This is a schematic diagram of the telescopic section in this invention.

[0045] In the diagram: 1-Cleaning mechanism; 2-Telescopic mechanism; 3-Connecting sleeve; 4-Fluid channel; 5-Main shaft; 6-Brush disc; 7-Brush; 8-Boss; 9-Drive motor; 10-Drive 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-Extension assembly; 23-Limiting plate; 24-Inner ring of airbag; 25-Ring 26-Airbag; 27-Air valve; 28-Plug; 29-Mounting hole; 30-Cylinder bracket; 31-Extension bracket; 32-Connecting rod; 33-Connecting hose; 34-Fixing sleeve; 35-Telescopic cylinder; 36-Pushing disc; 37-Second telescopic rod; 38-Telescopic sleeve; 39-Vacuum pipe; 40-Stepped pipe; 41-Inspection port; 42-Air source; 43-Delivery pipe; 44-Diaphragm; 45-Acoustic sensor; 46-Support wheel; 47-Pressure sensor; 48-Noise sensor; 49-Controller; 40-Support rod. Detailed Implementation

[0046] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0047] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort 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, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion.

[0049] like Figures 1 to 9 As shown, this invention provides a precise method for detecting leaks in vacuum pipelines. A vacuum pipeline 38 is connected to a stepped pipeline 39 for vacuum operation of fluids. An inspection port 40 is provided on the vacuum pipeline 38. The leak detection method includes 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 telescopic mechanism 2 section. Connect adjacent telescopic mechanism sections 2 with a connecting sleeve 3. This application takes a three-section telescopic mechanism 2 as an example. The telescopic mechanism 2 includes a front crawling section 14 and a rear crawling section 15 that abut against the inner wall of the vacuum pipe 38, and a telescopic section 13 for connecting the front crawling section 14 and the rear crawling section 15. The cleaning mechanism 1 is connected to the front crawling section 14. The diaphragm 43 is connected to the front crawling section 14 and the rear crawling section 15 and is wrapped around the telescopic section 13. Both the front crawling section 14 and the rear crawling section 15 are equipped with airbag sealing mechanisms.

[0052] Both the front crawling section 14 and the rear crawling section 15 include a cylinder shaft 16 and an extension mechanism. The extension mechanism is connected to the cylinder shaft 16 and is used to expand and contract along the cylinder shaft 16 to achieve contact or disengagement with the inner wall of the vacuum pipe 38. The end of the cylinder shaft 16 away from the airbag sealing mechanism is provided with a connecting sleeve 17 for connecting the telescopic section 13. By having the extension mechanism of the rear crawling section 15 contact the inner wall of the vacuum pipe 38, the entire robot can be supported. Then, the telescopic section 13 drives the front crawling section 14 to move to the required distance, so that the extension mechanism of the front crawling section 14 contacts the vacuum pipe 38. The inner wall of section 8 is retracted, and the extension mechanism of the rear crawling section 15 is retracted. The extension section 13 drives the rear crawling section 15 to move forward the required distance. This cycle repeats, enabling the robot to continuously crawl along the vacuum pipe 38. Whenever the robot's front crawling section 14 and rear crawling section 15 are in the extended state, the airbag sealing mechanism seals the inner wall of the vacuum pipe 38 to detect whether there is a leak in the vacuum pipe 38 between the front crawling section 14 and the rear crawling section 15. Pressure sensors 46 and diaphragms 43 can be installed between two adjacent airbag sealing mechanisms to detect whether there is a leak in the vacuum pipe 38.

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

[0054] The extension mechanism includes a crawling cylinder 20, a first connecting disk 18, a second connecting disk 19, and an extension component 22. The crawling cylinder 20 is fixed to the cylinder shaft 16. The first connecting disk 18 is fixed to the cylinder shaft 16 and located on the side near the airbag sealing mechanism. The second connecting disk 19 is slidably connected to the cylinder shaft 16 and is connected to the crawling cylinder 20 via a first telescopic rod 21. The extension component 22 is evenly distributed in a ring between the first connecting disk 18 and the second connecting disk 19. By pushing the second connecting disk 19 to reciprocate along the cylinder shaft 16, the extension component 22 can be expanded or contracted along the first connecting disk 18, allowing the extension component 22 to contact or detach from the inner wall of the vacuum pipe 38, thus enabling the robot to move forward or backward along the inner wall of the vacuum pipe 38. The ring-shaped distribution of the extension component 22 greatly improves the stability and reliability of the robot when in contact with the inner wall of the vacuum pipe 38.

[0055] The extension assembly 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 disc 18, and the connecting rod 31 is fixed to the extension bracket 30. One end of the cylinder bracket 29 is rotatably connected to the second connecting disc 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 open or close. The cylinder bracket 29 is driven to rotate by the second connecting disc 19, which in turn drives the extension bracket 30 to open or close, thus meeting the adjustment requirements of the connecting rod 31. The connecting rod 31 is used to abut against the inner wall of the vacuum pipe 38, and its end has an arc-shaped structure, which can protect 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 to the fixed sleeve 33 and is connected to the pushing disc 35 via a second telescopic rod 36. The pushing disc 35 is movably connected to the fixed sleeve 33 via 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 via 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, preventing leakage and affecting the detection accuracy. The telescopic cylinder 34 drives the pushing disc 35 to move back and forth via the second telescopic rod 36, thereby realizing the telescopic movement between the front crawling section 14 and the rear crawling section 15, meeting the robot's movement requirements. The fixed sleeve 33 and the telescopic sleeve 37 improve the stability and reliability of the telescopic section 13 during movement.

[0057] The airbag sealing mechanism includes a limiting plate 23, an inner airbag ring 24, and an annular airbag 25. The two limiting plates 23 are fixed on both sides of the inner airbag ring 24. The annular airbag 25 is located between the two limiting plates 23 and installed on the outside of the inner airbag ring 24. The annular airbag 25 is equipped with an air valve 26, which is connected to a delivery pipe 42. The air valve 26 is connected to an external air source 41. The air valve 26 controls the inflation or deflation of the annular airbag 25 to meet the requirements for sealing the vacuum pipeline 38 and improve the detection accuracy. The inner airbag ring 24 improves the stability and reliability of the installation of the annular airbag 25 and ensures that the liquid flows along the inner airbag ring 24. The limiting plate 23 improves the installation stability of the annular airbag 25 and avoids back-and-forth shaking, which would affect the sealing effect.

[0058] b. Then, install the cleaning mechanism 1 on the telescopic mechanism 2 of the head, and install the acoustic sensor 44 inside the cleaning mechanism 1. Fluid channels 4 are formed inside both 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 drive assembly for continuously rotating the brush 7 assembly. The drive assembly drives the brush 7 assembly to rotate along the main shaft 5, thereby continuously cleaning the inner wall of the vacuum pipe 38. After the robot enters the vacuum pipe 38, the drive assembly drives the brush 7 assembly to rotate, which can clean the vacuum pipe 38 and extend its service life.

[0060] The brush assembly 7 includes a brush disk 6 and brushes 7 distributed along the outer circumference of the brush disk 6. The brush disk 6 drives the brushes 7 to rotate, thereby cleaning the vacuum pipe 38.

[0061] The drive assembly includes a drive motor 9, a drive gear 10, a transmission gear 11, and a driven gear 12. The drive motor 9 is fixed to the main shaft 5 via a boss 8. The drive gear 10 is connected to the output shaft of the drive 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 disk 6. The drive motor 9 drives the driven gear 12 to rotate via the drive gear 10 and the transmission gear 11, thereby achieving synchronous rotation of the brush disk 6. The drive assembly is connected to an external controller 48, which controls the operation of the drive motor 9 to achieve synchronous rotation of the drive gear 10, the transmission gear 11, and the driven gear 12, thereby driving the brush 7 assembly to rotate and clean the inner wall of the vacuum pipe 38.

[0062] c. Next, the support wheel 45 is connected to the cleaning mechanism 1 and the telescopic mechanism 2 at the tail via the support rod 49;

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

[0064] S2, The robot is placed in the vacuum tube and crawls for 38 seconds.

[0065] a. First, place the installed robot into the vacuum tube 38, with the end with the cleaning mechanism 1 facing the direction of the robot's movement, until the robot is completely placed into the vacuum tube 38. The robot is supported in the vacuum tube 38 by the front and rear support wheels 45.

[0066] b. Then, the front crawling section 14, the rear crawling section 15 and the telescopic section 13 are controlled by the air source 41 through the delivery pipe 42. 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 disengages from the inner wall of the vacuum pipe 38. The telescopic section 13 drives the rear crawling section 15 to move forward. The cycle repeats to realize the robot crawling along the vacuum pipe 38.

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

[0068] S3, Vacuum Pipeline 38 Leak Detection

[0069] a. During the process of the robot 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 come into contact with the inner wall of the vacuum pipe 38, and the diaphragm 43 is in the unfolded state.

[0070] b. Then, gas is introduced into the airbag sealing mechanism of the front crawling section 14 and the rear crawling section 15 through the gas source 41 and the delivery pipe 42. After the airbag sealing mechanism is inflated, it seals 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 a leak 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 location of the leak in the vacuum pipe 38.

[0072] This leak detection method is simple in procedure. It can detect leaks in the vacuum pipe 38 without shutting down the entire pipeline system. It can also accurately locate the leak in the vacuum pipe 38, clean the inner wall of the vacuum pipe 38, and adjust the robot's forward speed according to the shape of the vacuum pipe 38. This greatly improves the robot's practicality and flexibility, makes it easy to operate, reduces the labor intensity of manual inspection, and allows the size of the leak to be determined based on the noise level at the leak point, facilitating timely repair by maintenance personnel.

[0073] The above are merely specific embodiments of the present invention, but the technical features of the present invention are not limited thereto. Any simple changes, equivalent substitutions, or modifications made based on the present invention to achieve substantially the same technical effect are all covered within the protection scope of the present invention.

Claims

1. A precise detection method for leaks in vacuum pipelines, characterized in that... Includes the following steps: S1, Robot Installation a. First, determine the number of sections of the robot's telescopic mechanism according to the design requirements. Install a diaphragm, pressure sensor, and noise sensor along the outer side of each telescopic mechanism section. Connect adjacent telescopic mechanisms with connecting sleeves. The telescopic mechanism includes a front crawling section and a rear crawling section that abut against the inner wall of the vacuum pipe, and a telescopic section for connecting the front crawling section and the rear crawling section. The cleaning mechanism is connected to the front crawling section. The diaphragm is connected to the front crawling section and the rear crawling section and is wrapped around the telescopic section. Airbag sealing mechanisms are provided on both the front crawling section and the rear crawling section. b. Then install a cleaning mechanism on the telescopic mechanism of the head, and install an acoustic sensor inside the cleaning mechanism. Fluid channels are formed inside both the telescopic mechanism and the cleaning mechanism. c. Next, the support wheel is connected to the cleaning mechanism and the telescopic mechanism at the tail via a support rod; d. Finally, connect the front crawling section, rear crawling section, and telescopic section to the air source through the delivery pipe, and electrically connect the pressure sensor, noise sensor, and sound wave sensor to the controller. S2. The robot is placed in a vacuum tube and crawls. a. First, place the installed robot into the vacuum tube, with the end with the cleaning mechanism facing the direction of the robot's movement, until the robot is completely placed into the vacuum tube. The robot is supported in the vacuum tube by the support wheels set at the front and rear. b. Then, the movement of the front crawling section, the rear crawling section, and the telescopic section is controlled by the air source through the delivery 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. When the front crawling section contacts the inner wall of the vacuum pipe, the rear crawling section disengages from the inner wall of the vacuum pipe and moves forward through the telescopic section. This cycle repeats to realize the robot crawling along the vacuum pipe. c. Next, the distance between the robot and the turning point of the vacuum pipe is detected by the acoustic sensor, and the signal is fed back to the controller to control the speed of the robot crawling along the vacuum pipe. At the same time, the fluid in the vacuum pipe flows continuously 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 Leak Detection a. When the robot crawls along the vacuum pipe, 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 come into contact with the inner wall of the vacuum pipe, and the diaphragm is in the unfolded state. b. Then, gas is introduced into the airbag sealing mechanism of the front crawling section and the rear crawling section through the gas source and the delivery pipe. After the airbag sealing mechanism is inflated, it seals 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 a leak occurs in the detection area, the pressure value of the detection area is detected by a pressure sensor, and the noise level is detected by a noise sensor. The detected pressure signal and noise signal are fed back to the controller to determine the location of the leak in the vacuum pipeline.

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

3. The precise detection method for vacuum pipeline leaks 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 drive assembly for driving the brush assembly to rotate continuously. The drive assembly drives the brush assembly to rotate along the main shaft, thereby achieving continuous cleaning of the inner wall of the vacuum pipe.

4. The precise detection method for vacuum pipeline leaks according to claim 3, characterized in that: The brush assembly includes a brush disk and brushes distributed along the outer circumferential side of the brush disk. The brush disk drives the brushes to rotate, thereby cleaning the vacuum pipe.

5. The precise detection method for vacuum pipeline leaks according to claim 4, characterized in that: The drive assembly includes a drive motor, a drive gear, a transmission gear, and a driven gear. The drive motor is fixed to the main shaft via a boss. The drive gear is connected to the output shaft of the drive motor. The transmission gear is rotatably connected to the outer side of the main shaft. The driven gear is connected to the brush disc. The drive motor drives the driven gear to rotate via the drive gear and the transmission gear, thereby achieving synchronous rotation of the brush disc.

6. The precise detection method for vacuum pipeline leaks 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 extension mechanism. The extension mechanism is connected to the cylinder shaft and is used to expand and contract along the cylinder shaft to achieve contact or separation with the inner wall of the vacuum pipe. The end of the cylinder shaft away from the airbag sealing mechanism is provided with a connecting sleeve for connecting the telescopic section.

7. The method for accurate detection of leaks in vacuum pipelines according to claim 6, characterized in that: The extension mechanism includes a crawling cylinder, a first connecting disc, a second connecting disc, and an extension assembly. The crawling cylinder is fixed to the cylinder shaft. The first connecting disc is fixed to the cylinder shaft and located on the side near the airbag sealing mechanism. The second connecting disc is slidably connected to the cylinder shaft and is connected to the crawling cylinder via a first telescopic rod. The extension assembly is evenly distributed in a ring between the first connecting disc and the second connecting disc.

8. The precise detection method for vacuum pipeline leaks according to claim 7, characterized in that: The extension assembly includes a cylinder bracket, an extension bracket, and a connecting rod. The extension bracket is rotatably connected to the first connecting disc, and the connecting rod is fixed to the extension bracket. One end of the cylinder bracket is rotatably connected to the second connecting disc, and the other end of the cylinder bracket is rotatably connected to the extension bracket, for driving the extension bracket and the connecting rod to extend or retract.

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

10. The precise detection method for vacuum pipeline leaks 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 to the fixed sleeve and connected to the pushing disc via a second telescopic rod. The pushing disc is movably connected to the fixed sleeve via the telescopic sleeve. The fixed sleeve and the pushing disc are respectively connected to the front crawling section and the rear crawling section via the connecting hose.

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