Pipeline robot tail waterproof connecting device, control method of pipeline robot tail waterproof connecting device and pipeline robot

Abstract

The invention relates to the technical field of pipeline robots, in particular to a pipeline robot tail waterproof connecting device, a control method thereof and a pipeline robot. The pipeline robot tail waterproof connecting device comprises an electric socket, a wire passing hole, a connecting wire, polyurethane foam, a blocking component, an electric heating wire, a water detection sensor and a control module; a gap between the inner wall of a wire passing hole and a connecting wire is filled with polyurethane foam, a water detection sensor and a control module are arranged to monitor the water seepage condition in real time, and when water seepage is detected, an electric heating wire is controlled to heat the polyurethane foam, so that the polyurethane foam reacts with water to expand to seal the gap, and therefore the functions of real-time monitoring and self-repairing are achieved; the waterproof performance is improved, the connecting wire is protected, and the service life is prolonged.

Description

Technical Field

[0001] The present application relates to the technical field of pipeline robots, and in particular to a pipeline robot tail waterproof connection device, a control method thereof, and a pipeline robot. Background Art

[0002] For underground pipelines, pipeline robots are usually used to detect the damage degree and location inside the pipeline. At present, common pipeline robot systems include pipeline robots, cable take-up vehicles, and host computers. The cable take-up vehicle is connected to the host computer for cable take-up and release. The end of the cable is electrically connected to the pipeline robot through a connector, so that the cable take-up vehicle can power the pipeline robot through the cable, forward the control instructions of the host computer, and transmit the detection data collected by the pipeline robot to the host computer.

[0003] A general pipeline robot will have an electrical socket at the tail that can swing up and down for the cable connector to insert to achieve electrical connection. The electrical socket is connected to the internal circuit of the pipeline robot chassis through a connecting wire, and a wire hole is provided at the rear end of the pipeline robot chassis for the connecting wire to extend out. In order to prevent moisture from entering the interior of the chassis through the wire hole, waterproof glue is usually used to seal the gap between the connecting wire and the wire hole. In addition, in order to ensure that the electrical socket can swing up and down smoothly, there will be an exposed wire segment between the wire hole and the electrical socket to prevent the wire core of the connecting wire from being broken when the electrical socket swings.

[0004] However, this structure has the following defects: The connecting wires are exposed and unprotected, and are easily scratched and damaged. This may cause the insulation layer of the connecting wires to break, increase the risk of short circuit and leakage, and affect the normal operation and service life of the pipeline robot.

[0005] Relying solely on waterproof glue for waterproofing will not provide ideal waterproofing effects. The waterproofing effect of waterproof glue is poor and it is easy to fail to seal. As time goes by and the environment changes, the waterproof glue may age, fall off or crack, causing water vapor to penetrate into the chassis. In addition, uneven coating is prone to occur during painting, resulting in the existence of tiny gaps, which further reduces the waterproof performance.

[0006] These problems may cause water vapor or liquid to penetrate into the chassis of the pipeline robot, causing damage to the internal electronic components and affecting the normal operation and service life of the pipeline robot. At the same time, poor waterproof performance will also limit the application scope of the pipeline robot in humid or underwater environments.

[0007] In addition, the existing waterproof structure lacks real-time monitoring and self-repair capabilities. Once water seepage occurs, it cannot be discovered and handled in time, which may cause more serious damage. At the same time, the existing structure also lacks the ability to dynamically adjust the gap between the connecting wire and the wire hole, and cannot meet the waterproofing needs in different working environments.

[0008] In view of the above problems, the existing technology needs to be improved urgently. Summary of the invention

[0009] The purpose of the present application is to provide a pipeline robot tail waterproof connection device and a control method thereof and a pipeline robot, which can improve the waterproof performance of the pipeline robot tail electrical connection structure.

[0010] In a first aspect, the present application provides a pipeline robot tail waterproof connection device, comprising: An electrical socket is arranged at the rear end of the chassis of the pipeline robot so as to be able to swing up and down; A wire hole is provided at the rear end of the chassis and connects the inner and outer sides of the chassis; A connecting wire, one end of which is electrically connected to the electrical socket, and the other end of which passes through the wire hole and is connected to the internal circuit of the chassis; Polyurethane foam, filling between the inner wall of the wire hole and the connecting wire; A blocking member is arranged in the wire hole and sleeved on the connecting wire, the blocking member is located on a side of the polyurethane foam away from the inner cavity of the chassis, and is used to block water vapor from entering the position where the polyurethane foam is located; An electric heating wire, disposed in the wire-passing hole and capable of heating the polyurethane foam; A water detection sensor is arranged in the inner cavity of the chassis, and its probe extends into the wire hole. The water detection sensor is used to detect whether water seeps into the polyurethane foam; A control module is arranged in the inner cavity of the chassis and is electrically connected to the electric heating wire and the water detection sensor. When water seepage at the polyurethane foam is detected by the water detection sensor, the control module is used to control the electric heating wire to heat the polyurethane foam so that the polyurethane foam reacts with water to expand and seal the gap between the inner wall of the wire hole and the connecting wire.

[0011] A blocking component is set in the wire hole for waterproofing. On this basis, the gap between the inner wall of the wire hole and the connecting wire is filled with polyurethane foam, and a water detection sensor and a control module are set to monitor water seepage in real time. When water seepage is detected, the electric heating wire is controlled to heat the polyurethane foam to react with water and expand to close the gap, thereby realizing real-time monitoring and self-repair of the waterproof structure and improving the waterproof performance.

[0012] Preferably, the probe of the water detection sensor is in contact with the polyurethane foam or is arranged on a side of the polyurethane foam close to the inner cavity of the chassis.

[0013] This arrangement ensures that the water detection sensor can detect water seepage in the polyurethane foam promptly and accurately.

[0014] Preferably, the blocking member is a one-way passing member, which can block the water vapor flowing in a direction close to the polyurethane foam but does not block the water vapor flowing in a direction away from the polyurethane foam.

[0015] This design effectively blocks external water vapor from entering the location of the polyurethane foam through the characteristics of the one-way passing component, thereby improving the waterproof performance. At the same time, since the water vapor flowing away from the polyurethane foam is not blocked, the accumulation of internal water vapor can be avoided, and the water vapor generated when the polyurethane foam is heated can be reliably discharged, ensuring the normal operation of the device. This one-way blocking design cleverly solves the problem of blocking water vapor from entering, while not affecting the discharge of internal water vapor, achieving a better waterproof effect.

[0016] Preferably, a blocking piece is provided at one end of the wire hole communicating with the inner cavity of the chassis, the blocking piece is used to block the wire hole and is provided with a through hole adapted to the connecting wire, and the connecting wire passes through the through hole.

[0017] Preferably, the electric heating wire comprises a first spiral heating wire in contact with the polyurethane foam and a second spiral heating wire located on a side of the polyurethane foam away from the inner cavity of the bottom plate.

[0018] Preferably, the wire passing hole is an arc-shaped hole with a high middle portion and low ends.

[0019] Preferably, it also includes two connecting ears fixedly connected to the rear end of the chassis, and the electrical socket is rotatably connected to the two connecting ears; the wire passing hole extends into one of the connecting ears, and the corresponding connecting ear is provided with an opening on the side facing the electrical socket, and the opening is connected to the wire passing hole, and a through hole connected to the opening is provided at the position where the electrical socket is connected to the corresponding connecting ear, and the connecting wire passes through the opening and the through hole to enter the electrical socket.

[0020] In a second aspect, the present application provides a pipeline robot, including a chassis and the pipeline robot tail waterproof connection device mentioned above.

[0021] In a third aspect, the present application provides a control method, which is applied to the control module of the aforementioned pipeline robot tail waterproof connection device, comprising the steps of: A1. Real-time acquisition of detection information of the water detection sensor to determine whether the polyurethane foam is leaking; A2. When water seepage is detected at the polyurethane foam, the electric heating wire is controlled to heat the polyurethane foam, so that the polyurethane foam reacts with water to expand and seal the gap between the inner wall of the wire hole and the connecting wire.

[0022] Preferably, after step A2, the method further comprises the following steps: A3. After water seepage is detected at the polyurethane foam, the electric heating wire is periodically controlled to heat according to a preset cycle.

[0023] Beneficial effect: The present application provides a pipeline robot tail waterproof connection device, a control method thereof, and a pipeline robot. A blocking member is arranged at the wire hole for waterproofing. On this basis, the gap between the inner wall of the wire hole and the connecting wire is filled with polyurethane foam, and a water detection sensor and a control module are arranged to monitor the water seepage in real time. When water seepage is detected, the electric heating wire is controlled to heat the polyurethane foam so that it reacts with water to expand and close the gap, thereby realizing the functions of real-time monitoring and self-repair of the waterproof structure and improving the waterproof performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a schematic diagram of the structure of the waterproof connection device at the tail of the pipeline robot provided in this application.

[0025] Figure 2 for Figure 1 Magnified view of the S portion.

[0026] Figure 3 Schematic diagram of the installation position of the waterproof connection device at the tail of the pipeline robot provided in this application.

[0027] Figure 4 It is a schematic diagram of the structure of an electrical socket.

[0028] Figure 5 A flow chart of the control method provided in this application.

[0029] Explanation of reference numerals: 1. Electric socket; 101. Through hole; 2. Wire hole; 3. Connecting wire; 4. Polyurethane foam; 5. Blocking member; 6. Electric heating wire; 601. First spiral heating wire; 602. Second spiral heating wire; 7. Water detection sensor; 701. Probe; 8. Control module; 9. Sealing piece; 10. Connecting ear; 1001. Opening; 100. Pipeline robot tail waterproof connecting device; 200. Chassis. DETAILED DESCRIPTION

[0030] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0031] It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. At the same time, in the description of this application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0032] In the field of underground pipeline inspection, the pipeline robot system usually includes a pipeline robot, a wire take-up vehicle and a host computer. An electrical socket that can swing up and down is set at the tail of the pipeline robot, which is connected to the cable connector to achieve electrical connection. In order to prevent water vapor from entering the interior of the chassis from the wire hole through which the connecting wire passes, waterproof glue is usually used to seal the gap between the connecting wire and the wire hole. However, this waterproof method has obvious defects. The waterproof effect of waterproof glue is poor, and sealing failure is prone to occur. Tiny gaps may be generated during the coating process, resulting in poor waterproof performance. In addition, in order to ensure the flexible swing of the electrical socket, there is an exposed section of the connecting wire between the wire hole and the electrical socket, which is easily damaged due to lack of protection. These problems seriously affect the waterproof performance and reliability of the pipeline robot, and limit its application in complex and humid environments.

[0033] In order to solve the problem of poor waterproof performance of the waterproof connection device at the tail of a pipeline robot, the present application provides an innovative waterproof connection device at the tail of a pipeline robot.

[0034] Please refer to Figure 1-Figure 4 The present application provides a pipeline robot tail waterproof connection device 100, comprising: The electrical socket 1 is arranged at the rear end of the chassis 200 of the pipeline robot so as to be able to swing up and down; The wire hole 2 is provided at the rear end of the chassis 200 and connects the inner and outer sides of the chassis 200; A connecting wire 3, one end of which is electrically connected to the electrical socket 1, and the other end of which passes through the wire hole 2 and is connected to the internal circuit of the chassis 200; Polyurethane foam 4 is filled between the inner wall of the wire hole 2 and the connecting wire 3; The blocking member 5 is arranged in the wire hole 2 and sleeved on the connecting wire 3. The blocking member 5 is located on the side of the polyurethane foam 4 away from the inner cavity of the chassis 200 and is used to prevent water vapor (including water and moisture) from entering the position where the polyurethane foam 4 is located; The electric heating wire 6 is arranged in the wire hole 2 and is capable of heating the polyurethane foam 4; The water detection sensor 7 is arranged in the inner cavity of the chassis 200, and its probe 701 extends into the wire hole 2. The water detection sensor 7 is used to detect whether there is water seepage at the polyurethane foam 4; The control module 8 is arranged in the inner cavity of the chassis 200 and is electrically connected to the electric heating wire 6 and the water detection sensor 7. The control module 8 is used to control the electric heating wire 6 to heat the polyurethane foam 4 when water seepage is detected at the polyurethane foam 4 through the water detection sensor 7, so that the polyurethane foam 4 reacts with water to expand and seal the gap between the inner wall of the wire hole 2 and the connecting wire 3.

[0035] The waterproof connection device uses polyurethane foam 4 to fill the gap between the inner wall of the wire hole 2 and the connecting line 3. The polyurethane foam 4 has good waterproof performance and certain elasticity, can adapt to the slight movement of the connecting line 3, and provide a more lasting waterproof effect. However, relying solely on the polyurethane foam 4 may still not be able to completely prevent water vapor from penetrating. Therefore, a blocking member 5 is further designed, which is arranged in the wire hole 2 and sleeved on the connecting line 3 to block water vapor from entering the position where the polyurethane foam 4 is located. This double protection mechanism greatly improves the waterproof effect. Despite this, waterproof failure may still occur during long-term use. To solve this problem, the present application proposes an innovative idea of ​​active waterproofing. Specifically, an electric heating wire 6 is arranged in the wire hole 2. At the same time, a water detection sensor 7 is arranged to detect whether there is water seepage at the polyurethane foam 4. When water seepage is detected at the polyurethane foam 4, the polyurethane foam 4 is heated. The heated polyurethane foam 4 reacts with water and will further expand, thereby closing the possible gap between the inner wall of the wire hole 2 and the connecting line 3. This active waterproofing mechanism has multiple advantages. Among them, it can respond to water seepage in a timely manner to prevent further penetration of water vapor. At the same time, the expansion process of the polyurethane foam 4 can dynamically adapt to different water seepage conditions to provide a more precise waterproofing effect. In addition, this method can be reused many times, greatly extending the service life of the waterproof connection device.

[0036] The electrical socket 1 may be an aviation socket, but is not limited thereto.

[0037] The wire hole 2 refers to a hole opened at the rear end of the chassis 200 and connecting the inside and outside of the chassis 200, and can be implemented by a circular or elliptical through hole.

[0038] The polyurethane foam 4 can be made of a two-component polyurethane foam material, but is not limited thereto.

[0039] The water detection sensor 7 may be implemented by a resistive or capacitive moisture detection sensor, but is not limited thereto.

[0040] Preferably, the probe 701 of the water detection sensor 7 is in contact with the polyurethane foam 4 or is disposed on a side of the polyurethane foam 4 close to the inner cavity of the bottom plate 200. Figure 2 In the embodiment, the probe 701 is in contact with the polyurethane foam 4.

[0041] This arrangement enables the probe 701 to directly contact the area where water may seep, or to be in the position where water seepage is most easily detected. This ensures that when water seepage occurs at the polyurethane foam 4, the water detection sensor 7 can detect it promptly and accurately, thereby triggering subsequent waterproof measures, such as controlling the electric heating wire 6 to heat the polyurethane foam 4, so that it reacts with water and expands, and closes the gap between the inner wall of the wire hole 2 and the connecting wire 3. This design not only improves the sensitivity and accuracy of water detection, but also can achieve rapid response, effectively prevent moisture from entering the interior of the chassis 200, and protect the internal circuits and other important components of the pipeline robot.

[0042] Specifically, the probe 701 of the water detection sensor 7 can be in contact with or close to the polyurethane foam 4 in a variety of ways. For example, the probe 701 can be directly embedded in the polyurethane foam 4 (such as Figure 2 As shown), ensure direct contact with the area where water may seep in. Alternatively, the probe 701 can be set on the surface of the polyurethane foam 4, close to the foam material. This method of direct contact with the polyurethane foam 4 can detect water seepage in time when water has not completely passed through the location of the polyurethane foam 4, so as to quickly respond to heating the polyurethane foam 4. Another method is to set the probe 701 on the side of the polyurethane foam 4 close to the inner cavity of the chassis 200, but not directly contact the polyurethane foam 4, but maintain a certain small distance, so that a balance can be achieved between detection sensitivity and protection of the probe 701.

[0043] In some preferred embodiments, the blocking member 5 is a one-way passing member, which can block the water vapor flowing in the direction close to the polyurethane foam 4, but does not block the water vapor flowing in the direction away from the polyurethane foam 4. That is, the one-way passing member can block the water vapor from passing through the wire hole 2 from the outside to the inside, but does not prevent the water vapor from passing through the wire hole 2 from the inside to the outside.

[0044] This design effectively blocks external water vapor from entering the location of the polyurethane foam 4 through the characteristics of the one-way passing component, thereby improving the waterproof performance. At the same time, since the water vapor flowing in the direction away from the polyurethane foam 4 is not blocked, the accumulation of internal water vapor can be avoided, and the water vapor generated when the polyurethane foam 4 is heated can be reliably discharged, ensuring the normal operation of the device. This one-way blocking design cleverly solves the problem of blocking water vapor from entering, while not affecting the discharge of internal water vapor, achieving a better waterproof effect.

[0045] Specifically, the one-way passing member can be implemented in various forms. For example, a one-way valve can be used as the one-way passing member (such as Figure 2 As shown). The one-way valve can be made of flexible materials, such as silicone, rubber, etc. When water vapor flows from the outside to the inside, the one-way valve will close to block the entry of water vapor; when the internal water vapor flows outward, the one-way valve will open to allow the water vapor to be discharged. A labyrinth sealing component can also be used as a one-way passing component.

[0046] In some embodiments, see Figure 2 A blocking member 9 is provided at one end of the wire hole 2 connected to the inner cavity of the chassis 200. The blocking member 9 is used to block the wire hole 2 and has a through hole adapted to the connecting wire 3, through which the connecting wire 3 passes.

[0047] This design can ensure that the connecting wire 3 passes smoothly, and can also prevent water vapor from entering the inner cavity of the chassis 200 from the wire hole 2 to the greatest extent, thereby solving the waterproof problem of the wire hole 2 connecting one end of the inner cavity of the chassis 200, and can prevent the polyurethane foam 4 from overflowing into the chassis 200. Compared with the existing technology of waterproofing using only waterproof glue, this solution provides a more reliable waterproof effect and effectively improves the waterproof performance of the pipeline robot.

[0048] Specifically, the sealing member 9 can be implemented using a variety of materials and shapes. For example, the sealing member 9 can be a sealing ring, a sealing plug or a sealing gasket made of rubber, silicone or other elastic materials. These materials have good sealing and elasticity, can fit tightly against the inner wall of the wire hole 2, and provide an effective waterproof effect. Another possible implementation method is to use a sealing plate made of a hard material such as plastic or metal, which can be fixed to the inner end of the wire hole 2 (i.e., one end connected to the inner cavity of the chassis 200, and the other end of the wire hole 2 is called the outer end) by screws or buckles.

[0049] In fact, when water penetrates into the position of the polyurethane foam 4 and the electric heating wire 6 is started to heat the polyurethane foam 4, part of the water will be evaporated to form water vapor. Due to the existence of the sealing member 9, this part of the water vapor cannot pass through the inner end of the wire hole 2 into the inner cavity of the chassis 200, and therefore will all be discharged from the outer end of the wire hole 2.

[0050] In some embodiments, see Figure 2 The electric heating wire 6 includes a first spiral heating wire 601 in contact with the polyurethane foam 4 and a second spiral heating wire 602 located on a side of the polyurethane foam 4 away from the inner cavity of the bottom plate 200 .

[0051] The first spiral heating wire 601 is in direct contact with the polyurethane foam 4 and can directly heat the polyurethane foam 4. The second spiral heating wire 602 is located on the side of the polyurethane foam 4 away from the inner cavity of the chassis 200 and can heat the hole section of the wire hole 2 outside the polyurethane foam 4 to evaporate and discharge the water entering the wire hole 2, thereby keeping the wire hole 2 dry without affecting the polyurethane foam 4. That is, the first spiral heating wire 601 and the second spiral heating wire 602 can work independently. When water penetrates into the polyurethane foam 4, only the first spiral heating wire 601 can be started to heat the polyurethane foam 4, or the first spiral heating wire 601 and the second spiral heating wire 602 can be started at the same time to improve the drying efficiency; when water vapor enters the wire hole 2 but does not penetrate into the polyurethane foam 4, only the second spiral heating wire 602 can be started to evaporate and discharge the water.

[0052] Thus, two water detection sensors 7 may be provided, wherein the probe 701 of one water detection sensor 7 (hereinafter referred to as the first water detection sensor) is in contact with the polyurethane foam 4 or is provided on the side of the inner cavity of the polyurethane foam 4 close to the bottom plate 200, and is used to detect whether water seeps into the polyurethane foam 4; the probe 701 of the other water detection sensor 7 (hereinafter referred to as the second water detection sensor) is provided in the wire hole 2 on the side of the blocking member 5 away from the polyurethane foam 4, and is used to detect whether water enters the wire hole 2. When the first water detection sensor detects water, only the first spiral heating wire 601 is activated or the first spiral heating wire 601 and the second spiral heating wire 602 are activated at the same time; when the first water detection sensor does not detect water and the second water detection sensor detects water, only the second spiral heating wire 602 is activated.

[0053] Furthermore, the first spiral heating wire 601 and the second spiral heating wire 602 may use different heating powers or heating modes. For example, the first spiral heating wire 601 may use a higher power to quickly heat the polyurethane foam 4, while the second spiral heating wire 602 may use a lower power to maintain the dry state of the wire hole 2. This differentiated heating strategy can further optimize the heating effect, ensuring that the polyurethane foam 4 can react quickly while avoiding the impact of excessive heating on other components.

[0054] As a preferred embodiment, the first spiral heating wire 601 can be tightly wound around the outside of the polyurethane foam 4 to maximize the contact area. The second spiral heating wire 602 can be loosely wound to cover the remaining area of ​​the wire hole 2. This design can reduce the amount of materials used and reduce costs while ensuring the heating effect.

[0055] In practical applications, only the first spiral heating wire 601 may be provided.

[0056] The extension shape of the wire hole 2 can be set according to actual needs.

[0057] Preferably, see Figure 1 , the wire hole 2 is an arc-shaped hole with a high middle and low ends. This structure helps prevent moisture from accumulating in the wire hole 2. Specifically, the design of the arc-shaped hole with a high middle and low ends can use the effect of gravity, so that water needs to overcome the effect of gravity to pass through the highest point of the wire hole 2 and enter the polyurethane foam 4, and when it cannot pass through the highest point of the wire hole 2, it will automatically flow out of the wire hole 2 under the action of gravity. This design can effectively prevent moisture from staying inside the wire hole 2 for a long time, thereby reducing the risk of moisture penetrating into the interior of the chassis 200.

[0058] Combined with other technical features in the present application, such as the polyurethane foam 4 filling, the blocking member 5, the electric heating wire 6 and the water detection sensor 7, the design of the arc-shaped wire hole further enhances the waterproof performance of the entire waterproof connection device. Even if a small amount of water enters the wire hole 2, it can be quickly discharged through the arc structure, reducing the chance of contact with the polyurethane foam 4, thereby extending the duration of the waterproof effect.

[0059] The design of the wire hole 2 as an arc-shaped hole with a high middle part and low ends can be realized in many ways. For example, the wire hole 2 can be designed as a symmetrical arch, with the highest part in the middle and gradually lower at both ends. Another possible implementation method is to design the wire hole 2 as an asymmetrical arc, with the inner end slightly higher than the outer end, but the overall shape is still high in the middle and low at both ends. This design can not only use gravity to drain water, but also can be fine-tuned according to the actual use environment of the pipeline robot to achieve the best drainage effect.

[0060] The design of the arc-shaped wire-passing hole interacts positively with other features in the present application. For example, when moisture is quickly discharged through the arc-shaped hole, the contact time between moisture and polyurethane foam 4 is reduced, which not only reduces the risk of moisture penetration, but also reduces the performance degradation of polyurethane foam 4 due to frequent contact with moisture. In addition, the arc-shaped design also helps to reduce the burden on water detection sensor 7 (referring to the first water detection sensor), because most of the moisture will be discharged naturally, and water detection sensor 7 will only be triggered when water continues to enter.

[0061] In some embodiments, the pipeline robot tail waterproof connection device 100 further includes two connection ears 10 (such as Figure 1 , Figure 3 As shown in the figure, the electrical socket 1 is rotatably connected to the two connecting ears 10; the wire hole 2 extends into one of the connecting ears 10 (specifically, the wire hole 2 is composed of two parts, one part of which is entirely located in the rear arm of the chassis 200, and the other part is entirely located in the connecting ear 10), and the corresponding connecting ear 10 is provided with an opening 1001 on the side facing the electrical socket 1, and the opening 1001 is connected to the wire hole 2 (specifically connected to the outer end of the wire hole 2), and a through hole 101 communicating with the opening 1001 is provided at the position where the electrical socket 1 is connected to the corresponding connecting ear 10 (as shown in the figure). Figure 4 As shown), the connecting wire 3 passes through the opening 1001 and enters the electrical socket 1 through the hole 101.

[0062] By arranging two connecting ears 10 at the rear end of the chassis 200 and rotatably connecting the electrical socket 1 to the two connecting ears 10, the up and down swinging function of the electrical socket 1 is realized. At the same time, by extending the wire hole 2 into one of the connecting ears 10, and arranging an opening 1001 and a through hole 101 on the connecting ear 10 and the electrical socket 1, the connecting wire 3 can be extended from the inside of the chassis 200 to the electrical socket 1 in a relatively closed space, reducing the exposed part of the connecting wire 3 and improving the protection of the connecting wire 3. This structural design is also conducive to improving the waterproof performance, because water vapor needs to pass through multiple channels to enter the inside of the chassis 200, which increases the difficulty of water seepage.

[0063] The connecting ear 10 can be made of metal material or high-strength engineering plastic to ensure sufficient strength and rigidity. The connection between the connecting ear 10 and the chassis 200 can be bolted, welded or integrally formed. The rotational connection between the electrical socket 1 and the connecting ear 10 can be achieved through a bearing connection to reduce friction and improve rotation flexibility.

[0064] The opening 1001 and the through hole 101 may be coaxially arranged with the rotation center axis of the electrical socket 1 to prevent the connecting wire 3 from hindering the rotation of the electrical socket 1 .

[0065] To further improve the waterproof performance, a sealing ring or a sealing pad can be provided at the connection between the opening 1001 and the through hole 101. These sealing elements can be made of elastic materials, such as silicone or rubber, to provide a good sealing effect while ensuring the rotation function of the electrical socket 1.

[0066] The control module 8 may include a central control unit (such as a single chip microcomputer, MCU, etc.), an electric heating wire driving circuit and a sensor data acquisition circuit. The central control unit is electrically connected to the electric heating wire 6 through the electric heating wire driving circuit, and is electrically connected to the water detection sensor 7 through the sensor data acquisition circuit. Both the electric heating wire driving circuit and the sensor data acquisition circuit may adopt existing technologies, which will not be described in detail here.

[0067] In addition, the control module 8 can also be electrically connected to the central control module of the pipeline robot, and when water seepage is detected at the polyurethane foam 4 through the water detection sensor 7, a reminder message is sent to the central control module of the pipeline robot, so that the pipeline robot sends a warning signal to the user; so that the user can understand the water seepage situation in time and take countermeasures in time.

[0068] In addition, the present application also provides a pipeline robot, including a chassis 200, and also including the pipeline robot tail waterproof connection device 100 (refer to Figure 3 ).

[0069] refer to Figure 5 The present application provides a control method, which is applied to the control module 8 of the above pipeline robot tail waterproof connection device 100, comprising the steps of: A1. Real-time acquisition of detection information of the water detection sensor 7 to determine whether the polyurethane foam 4 is water seeping; A2. When water seepage is detected at the polyurethane foam 4 , the electric heating wire 6 is controlled to heat the polyurethane foam 4 , so that the polyurethane foam 4 reacts with water to expand and seal the gap between the inner wall of the wire hole 2 and the connecting wire 3 .

[0070] This active waterproofing mechanism has multiple advantages. Among them, it can respond to water seepage in a timely manner to prevent further penetration of water vapor. At the same time, the expansion process of the polyurethane foam 4 can dynamically adapt to different water seepage conditions to provide a more precise waterproofing effect. In addition, this method can be reused many times, greatly extending the service life of the waterproofing device.

[0071] In step A2, when the electric heating wire 6 is controlled to heat the polyurethane foam 4, the heating may be performed according to a preset heating time, or the heating may be performed until the water detection sensor 7 detects no water.

[0072] When the electric heating wire 6 includes a first spiral heating wire 601 and a second spiral heating wire 602, in step A2, only the first spiral heating wire 601 may be started for heating, or both the first spiral heating wire 601 and the second spiral heating wire 602 may be started for heating.

[0073] In some preferred embodiments, after step A2, the method further comprises the following steps: A3. After water seepage is detected at the polyurethane foam 4, the electric heating wire 6 is periodically controlled to heat according to a preset cycle.

[0074] After step A2, the control module 8 will also periodically control the electric heating wire 6 to heat according to a preset period to keep the wire hole 2 dry, thereby ensuring the continuity of the waterproof effect. This method can not only respond to water seepage in a timely manner, but also maintain a long-term waterproof effect through periodic heating, effectively solving the problem of water seepage of the polyurethane foam 4 in the waterproof connection device 100 at the tail of the pipeline robot.

[0075] Among them, the preset cycle can be adjusted according to actual needs, and the duration of each heating can also be adjusted according to actual needs. For example, once every 24 hours, each heating for 10 minutes, but not limited to this. When the electric heating wire 6 includes a first spiral heating wire 601 and a second spiral heating wire 602, each heating can be divided into the working time of the first spiral heating wire 601 and the second spiral heating wire 602 according to a preset ratio (for example, the total heating time is 10 minutes, wherein the heating time of the first spiral heating wire 601 is 2 minutes, and the heating time of the second spiral heating wire 602 is 8 minutes), or only the second spiral heating wire 602 is started. Thereby reducing the cumulative time that the polyurethane foam 4 is heated, ensuring the waterproof effect while extending the service life of the waterproof connection device.

[0076] In some embodiments, after step A1, the method further comprises the following steps: A4. Send reminder information to the central control module of the pipeline robot, so that the pipeline robot sends a warning signal to the user.

[0077] In this document, relational terms such as first and second, etc. are used merely to distinguish one entity or operation from another entity or operation, but do not necessarily require or imply any such actual relationship or order between these entities or operations.

[0078] The above are only embodiments of the present application and are not intended to limit the scope of protection of the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the scope of protection of the present application.

Claims

1. A waterproof connection device for the tail of a pipeline robot, characterized in that: include: An electrical socket (1) is arranged at the rear end of the chassis (200) of the pipeline robot so as to be able to swing up and down; A wire hole (2) is provided at the rear end of the chassis (200) and is connected to the inner and outer sides of the chassis (200); A connecting wire (3), one end of which is electrically connected to the electrical socket (1), and the other end of which passes through the wire hole (2) and is connected to the internal circuit of the chassis (200); Polyurethane foam (4) is filled between the inner wall of the wire hole (2) and the connecting wire (3); a blocking member (5) disposed in the wire hole (2) and sleeved on the connecting wire (3); the blocking member (5) is located on a side of the polyurethane foam (4) away from the inner cavity of the chassis (200) and is used to block water vapor from entering the location where the polyurethane foam (4) is located; An electric heating wire (6) disposed in the wire hole (2) and capable of heating the polyurethane foam (4); A water detection sensor (7) is arranged in the inner cavity of the chassis (200), and its probe (701) extends into the wire hole (2). The water detection sensor (7) is used to detect whether water is seeping into the polyurethane foam (4); A control module (8) is arranged in the inner cavity of the chassis (200) and is electrically connected to the electric heating wire (6) and the water detection sensor (7). The control module (8) is used to control the electric heating wire (6) to heat the polyurethane foam (4) when water seepage at the polyurethane foam (4) is detected by the water detection sensor (7), so that the polyurethane foam (4) reacts with water to expand and seal the gap between the inner wall of the wire hole (2) and the connecting wire (3).

2. The waterproof connection device for the tail of a pipeline robot according to claim 1, characterized in that: The probe (701) of the water detection sensor (7) is in contact with the polyurethane foam (4) or is arranged on a side of the polyurethane foam (4) close to the inner cavity of the bottom plate (200).

3. The waterproof connection device for the tail of a pipeline robot according to claim 1, characterized in that: The blocking component (5) is a one-way passing component, which can block water vapor flowing in a direction close to the polyurethane foam (4), but does not block water vapor flowing in a direction away from the polyurethane foam (4).

4. The pipeline robot tail waterproof connection device according to claim 1, characterized in that: A blocking piece (9) is provided at one end of the wire hole (2) communicating with the inner cavity of the chassis (200), the blocking piece (9) being used to block the wire hole (2) and having a through hole adapted to the connecting wire (3), the connecting wire (3) passing through the through hole.

5. The pipeline robot tail waterproof connection device according to claim 1, characterized in that: The electric heating wire (6) comprises a first spiral heating wire (601) in contact with the polyurethane foam (4) and a second spiral heating wire (602) located on a side of the polyurethane foam (4) away from the inner cavity of the bottom plate (200).

6. The pipeline robot tail waterproof connection device according to claim 1, characterized in that: The wire passing hole (2) is an arc-shaped hole with a high middle portion and low ends.

7. The pipeline robot tail waterproof connection device according to claim 1, characterized in that: It also comprises two connecting ears (10) fixedly connected to the rear end of the chassis (200), the electrical socket (1) being rotatably connected to the two connecting ears (10); the wire-passing hole (2) extends into one of the connecting ears (10), the corresponding connecting ear (10) is provided with an opening (1001) on a side facing the electrical socket (1), the opening (1001) being connected to the wire-passing hole (2), a through hole (101) being connected to the opening (1001) is provided at a position where the electrical socket (1) is connected to the corresponding connecting ear (10), and the connecting wire (3) passes through the opening (1001) and the through hole (101) to enter the electrical socket (1).

8. A pipeline robot, comprising a chassis (200), characterized in that: It also includes the pipeline robot tail waterproof connection device as described in any one of claims 1-7.

9. A control method, characterized in that: The control module (8) applied to the pipeline robot tail waterproof connection device (100) according to any one of claims 1 to 7 comprises the steps of: A1. Acquire the detection information of the water detection sensor (7) in real time to determine whether water is seeping from the polyurethane foam (4); A2. When water seepage is detected at the polyurethane foam (4), the electric heating wire (6) is controlled to heat the polyurethane foam (4), so that the polyurethane foam (4) reacts with water to expand and seal the gap between the inner wall of the wire hole (2) and the connecting wire (3).

10. The control method according to claim 9, characterized in that: After step A2, the method further includes the following steps: A3. After water seepage is detected at the polyurethane foam (4), the electric heating wire (6) is periodically controlled to heat according to a preset cycle.

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