Automatic patrol type gas leakage detection device

Abstract

The invention relates to the field of gas pipeline sealing performance testing devices, in particular to an automatic patrol type gas leakage detection device which comprises a base frame, and an upper walking assembly, a lower walking assembly, a walking driving part, a leakage detection assembly and a change driving part are arranged on the top of the base frame. The upper walking assembly comprises a roller type gas pipeline clamp which is installed on the top of the base frame, can clamp the gas pipeline and slide along the gas pipeline, and the clamping distance can be adjusted. The base frame is provided with a rotation driving part used for driving the leakage detection assembly to rotate. The leakage detection assembly comprises an annular mounting frame rotationally mounted between the upper circular plate and the lower circular plate, and a camera and a plurality of combustible gas sensors are annularly arranged on the annular mounting frame around the central axis of the annular mounting frame. At present, an automatic patrol type gas leakage detection device capable of automatically moving along a gas pipeline and checking gas leakage of the gas pipeline is lacked, and the device provided by the invention can automatically move along the gas pipeline and check the gas pipeline.

Description

Technical Field

[0001] The invention relates to the field of gas pipeline sealing test devices, and in particular to an automatic patrol type gas leakage detection device. Background Art

[0002] Gas is a general term for gaseous fuels, which can burn and release heat for use by residents and industrial enterprises. Gas is mainly transported by gas pipelines. In large industrial plants, long horizontal gas pipelines may be laid from the gas inlet to each production workshop. The length of these pipelines may reach hundreds of meters or even thousands of meters. Generally speaking, they will be laid along the roads in the plant or in the open space between buildings, and corresponding supporting structures and safety protection facilities will be set up. Gas pipeline transportation has the advantages of large transmission volume and good continuity, but when in use, the gas pipeline needs to be maintained or repaired, and the sealing of the gas pipeline needs to be checked to prevent fire, explosion or poisoning incidents caused by gas leakage.

[0003] Initially, the gas pipeline sealing test device commonly used to detect such long-distance horizontal gas pipelines was a combustible gas detector, including portable ones that gas company staff can carry with them and fixed ones that are fixedly installed at key locations of gas pipelines. The combustible gas detector mainly detects the concentration of combustible gas in the air through sensors. When the gas concentration in the air exceeds the threshold set by the instrument, an alarm will be sounded. It can be seen that the portable one is more labor-intensive and requires staff to move along the gas pipeline. The fixed detection position is relatively fixed. If the leak point is far away from the fixed one, it cannot be effectively detected. In short, the detection distance of the combustible gas detector is short. Therefore, people gradually began to use laser methane telemeters with longer distances and faster response speeds. The farthest distance of some laser methane telemeters is 200m and the response speed is only 5ms. Although the detection distance is wide and can detect some difficult-to-approach gas pipelines, the inspection of gas pipelines still requires staff to carry combustible gas detectors and move along the gas pipeline.

[0004] Therefore, there is currently a lack of an automatic patrol type gas leak detection device that can automatically move along a gas pipeline and check for gas leaks in the gas pipeline. Summary of the invention

[0005] The technical problem to be solved by the present invention is to overcome the disadvantages of the above-mentioned prior art and provide an automatic patrol type gas leakage detection device which can automatically move along a gas pipeline and check for gas leakage in the gas pipeline.

[0006] In order to solve the above technical problems, the present invention provides an automatic patrol type gas leak detection device including a base frame, an upper walking component capable of walking along the outside of a horizontally arranged gas pipeline is arranged on the top of the base frame, a lower walking component capable of walking on the ground is arranged at the bottom of the base frame, and a walking driving member capable of driving the upper walking component and the lower walking component to walk is installed on the base frame; the upper walking component includes a roller-type gas pipeline clamp installed on the top of the base frame, which can be clamped on the outside of the gas pipeline and slide along the gas pipeline and the clamping distance can be adjusted, and a changing driving member for changing the clamping distance of the roller-type gas pipeline clamp is installed on the base frame; the base frame includes an upper circular plate and a lower circular plate arranged in parallel from top to bottom, and a leakage detection component is rotatably installed between the upper circular plate and the lower circular plate; the base frame is installed with a rotating driving member for driving the leakage detection component to rotate; the leakage detection component includes an annular mounting frame rotatably installed between the upper circular plate and the lower circular plate, and a camera and a plurality of combustible gas sensors are circumferentially arranged on the annular mounting frame around its central axis.

[0007] As a further improvement of the present invention: a crisscross bracket is fixedly installed on the top of the base frame; the roller type gas pipeline clamp includes clamp arms symmetrically rotatably installed on the left and right ends of the crisscross bracket, and a roller that can roll on the surface of the gas pipeline is rotatably installed on the top of the clamp arm.

[0008] Preferably, the changing driving member includes L-shaped plates slidably mounted on the left and right ends of the base frame and inclined blocks fixedly mounted on one side of the clamping arm away from the center of the base frame; a horizontal axis is vertically mounted on both the front and rear sides of the end of the inclined block away from the clamping arm, and two elliptical slide rails are arranged from front to back on one side of the vertical part of the L-shaped plate away from the center of the base frame for the horizontal axis to slide up and down respectively; the changing driving member also includes an inclined wedge assembly that can be lifted and lowered and can drive the two L-shaped plates to move synchronously toward or away from each other during lifting and lowering, and a vertical telescopic member for driving the inclined wedge assembly to be lifted and lowered.

[0009] Preferably, the upper walking assembly includes two upper wheels that are rotatably mounted on the front and rear ends of the criss-cross-shaped bracket through an upper wheel axle and are capable of walking on the outer surface of the gas pipeline; the lower walking assembly includes a wheel mounting frame fixedly mounted on the bottom of the base frame, and the front and rear ends of the wheel mounting frame are rotatably mounted with lower wheel groups, and the lower wheel group includes a lower wheel axle rotatably mounted on the wheel mounting frame, and lower wheels are fixedly mounted on the left and right ends of the lower wheel axle.

[0010] Preferably, the walking drive member includes a horizontal motor fixedly mounted on the base frame, and a first pulley and a second pulley arranged in parallel are fixedly mounted on the output shaft of the horizontal motor; a first horizontal rotating shaft is vertically rotatably mounted between the left and right sides of the tic-tac-toe bracket, a third pulley located on the same vertical plane as the first pulley is fixedly mounted on the first horizontal rotating shaft, and the first pulley and the third pulley are connected by a first belt transmission; the first horizontal rotating shaft is respectively transmission-connected to an upper wheel shaft located at the front end of the tic-tac-toe bracket and an upper wheel shaft located at the rear end of the tic-tac-toe bracket; a second horizontal rotating shaft is vertically rotatably mounted between the left and right sides of the wheel mounting frame, an eighth pulley located on the same vertical plane as the second pulley is fixedly mounted on the second horizontal rotating shaft, and the second pulley and the eighth pulley are connected by a fourth belt transmission; the second horizontal rotating shaft is respectively transmission-connected to a lower wheel shaft located on the front side of the wheel mounting frame and a lower wheel shaft located on the rear side of the wheel mounting frame.

[0011] Preferably, an obstacle detection member for detecting obstacles ahead is provided at the front end of the base frame, and the obstacle detection member includes a cross bar that is slidably mounted on the front side of the top of the base frame and can slide back and forth, a round piece is vertically mounted on the front end of the cross bar, and an extension section is extended at the rear end of the cross bar that can hinder the rotation of the second pulley when it contacts the second pulley; a front limit block and a rear limit block for limiting the sliding direction of the cross bar are installed from front to back on the top of the base frame, a vertical piece is vertically mounted on the top of the part of the cross bar located between the front limit block and the rear limit block, and a first return spring is vertically mounted between the rear limit block and the vertical piece.

[0012] As a further improvement of the present invention: the rotating driving member includes a first vertical motor installed in the base frame, a gear is fixedly installed on the output shaft of the first vertical motor, and a gear ring meshing with the gear is fixedly installed on the inner wall of the annular mounting frame.

[0013] As a further improvement of the present invention: a height adjustment component capable of driving the base frame to rise or fall is installed on the base frame.

[0014] Preferably, the height adjustment assembly includes six thirteenth pulleys which are circumferentially arranged outside the upper circular plate around the central axis of the upper circular plate through a pulley mounting frame, at least four of the thirteenth pulleys are provided with vertical screws that can move up and down, and at least four of the thirteenth pulleys are provided with threads matching the vertical screws on the inner walls; a second vertical motor is fixedly mounted on the base frame, and the output shaft of the second vertical motor is transmission-connected to the six thirteenth pulleys.

[0015] The beneficial effects of the present invention are as follows: the automatic patrol type gas leak detection device provided by the present invention can automatically move along the gas pipeline and inspect the gas pipeline. The device includes an upper walking component that can walk along the outside of the horizontally arranged gas pipeline, a lower walking component that can walk on the ground, a leakage detection component, and a rotating drive member that drives the leakage detection component to rotate. The combustible gas sensor is used to identify the concentration of the combustible gas. Therefore, when the gas pipeline is at a certain distance from the ground, the device is clamped on the outside of the gas pipeline and slides along the gas pipeline. When the gas pipeline is close to the ground, the device can move along the gas pipeline below the gas pipeline on the ground. Therefore, the device can realize automatic patrol of horizontally arranged gas pipelines at different heights. During the patrol, the leakage detection component can rotate, so that the camera can obtain a 360° panoramic image of the surrounding environment. The roller-type gas pipeline clamp in the upper walking component of the device can change its clamping distance under the drive of the driving member. Therefore, the roller-type gas pipeline clamp can be clamped on the outside of gas pipelines with different pipe diameters and is suitable for a variety of gas pipelines. The device integrates automatic inspection and gas leak detection functions. Compared with traditional detection devices, it has higher flexibility, can greatly reduce the workload of staff, and can also go to narrow alleys and other places that are inconvenient for people to go to for inspection. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A schematic diagram of the positional relationship between the device provided by the present invention and the gas pipeline;

[0017] Figure 2 It is a schematic diagram of the overall structure of the present invention;

[0018] Figure 3 This is a schematic diagram of the overall structure of the present invention without the pulley mounting frame;

[0019] Figure 4 A top view of the present invention;

[0020] Figure 5 It is a schematic diagram of the overall structure of the base frame in the present invention;

[0021] Figure 6 It is a schematic diagram of the overall structure of the double-layer frame in the present invention;

[0022] Figure 7 It is a schematic diagram of the positional relationship among the double-layer frame, the upper walking assembly, the lower walking assembly, the changing driving member and the walking driving member in the present invention;

[0023] Figure 8 It is a schematic diagram of the positional relationship of the base frame, the obstacle detection component, part of the upper travel component, the lower travel component and the travel drive component in the present invention;

[0024] Fig. 9It is a schematic diagram of the positional relationship among the obstacle detection component, part of the upper travel component, part of the lower travel component and the travel drive component in the present invention;

[0025] Fig.10 It is a schematic diagram of the overall structure of the travel drive member in the present invention;

[0026] Fig.11 It is a schematic diagram of the positional relationship of part of the upper traveling assembly, part of the lower traveling assembly and the traveling driving member in the present invention;

[0027] Fig.12 It is a schematic diagram of the position relationship between the upper walking assembly and the changing driving member in the present invention;

[0028] Fig.13 It is a schematic diagram of the position relationship between a part of the upper walking assembly and the changing driving member in the present invention;

[0029] Fig.14 It is a schematic diagram of the overall structure of the L-shaped plate in the present invention;

[0030] Fig.15 It is a schematic diagram of the overall structure of the upper circular plate, the lower circular plate, the rotating drive member and the leakage detection assembly in the present invention;

[0031] Fig.16 It is a schematic diagram of the positional relationship between the rotating driving member and part of the leakage detection assembly in the present invention;

[0032] Fig.17 A schematic diagram showing the positional relationship of the rotary drive member and part of the leakage detection assembly in the present invention at another angle;

[0033] Fig.18 It is a schematic diagram of the overall structure of the upper circular plate, the lower circular plate and the height adjustment assembly in the present invention;

[0034] Fig.19 It is a schematic diagram of the overall structure of the upper circular plate, the lower circular plate and part of the height adjustment components in the present invention;

[0035] The names of the components corresponding to the marks in the above drawings are:

[0036] 1. Base frame; 101. Upper circular plate; 102. Lower circular plate; 103. Double-layer frame;

[0037] 2. Upper walking assembly; 201. well-shaped bracket; 202. clamping arm; 203. roller; 204. upper wheel axle; 205. upper wheel;

[0038] 3. Lower walking assembly; 301. Wheel mounting frame; 302. Lower wheel axle; 303. Lower wheel;

[0039] 4. Travel drive member; 401. Horizontal motor; 402. First pulley; 403. Second pulley;

[0040] 404, first horizontal rotating shaft; 405, third belt pulley; 406, first belt; 407, fourth belt pulley;

[0041] 408, fifth pulley; 409, second belt; 4010, sixth pulley; 4011, seventh pulley;

[0042] 4012, third belt; 4013, second horizontal rotating shaft; 4014, eighth pulley; 4015, fourth belt; 4016, ninth pulley; 4017, tenth pulley; 4018, eleventh pulley; 4019, fifth belt; 4020, twelfth pulley; 4021, sixth belt;

[0043] 5. Changing driving member; 501. L-shaped plate; 502. inclined block; 503. horizontal axis; 504. elliptical slide rail; 505. inclined wedge assembly; 506. vertical telescopic member;

[0044] 6. Leak detection assembly; 601. Ring mounting bracket; 602. Camera; 603. Combustible gas sensor;

[0045] 7. Rotating driving member; 701. First vertical motor; 702. Gear; 703. Ring gear;

[0046] 8. Height adjustment assembly; 801. Pulley mounting frame; 802. 13th pulley; 803. Vertical lead screw; 804. Second vertical motor; 805. 14th pulley; 806. 7th belt;

[0047] 9. Obstacle detection member; 901. Cross bar; 902. Front limit block; 903. Rear limit block; 904. First return spring. DETAILED DESCRIPTION

[0048] The specific implementation modes of the present invention are further described in detail below in conjunction with the accompanying drawings.

[0049] The directional words such as "up", "down", "left", "right", "front", "back", "top", "bottom" and so on described in the present invention are all represented by Figure 4 The direction defined by the cross-shaped orientation mark in the figure is used as the reference. All orientation words in the present invention are described based on this definition, and the orientation they represent does not change with the angle of the figure. The capped rod includes a rod body and a plate-like cap body vertically installed at one end of the rod body. Vertical refers to perpendicular to the ground, a vertical telescopic part refers to that the telescopic end of the telescopic part is perpendicular to the ground, a vertical motor refers to that the output shaft of the motor is perpendicular to the ground, and horizontal refers to that parallel to the ground, and a horizontal motor refers to that the output shaft of the motor is parallel to the ground.

[0050] like Figure 1 , Figure 2 , Figure 5 , Figure 6 As shown, an automatic patrol type gas leak detection device provided by the present invention includes a base frame 1, and the base frame 1 includes an upper circular plate 101 and a lower circular plate 102 arranged in parallel from top to bottom, with a spacing left between the upper circular plate 101 and the lower circular plate 102, and mounting holes for fixing and installing a double-layer frame 103 are opened at the center of the upper circular plate 101 and the lower circular plate 102, and the double-layer frame 103 is fixedly installed in the mounting holes of the upper circular plate 101 and the lower circular plate 102.

[0051] like Figure 2 , Figure 3 , Figure 7 , Figure 8 , Fig. 9 , Fig.10 , Fig.11As shown, the top of the double-layer frame 103 of the base frame 1 is provided with an upper walking assembly 2 capable of walking along the outside of the horizontally arranged gas pipeline, the bottom of the double-layer frame 103 of the base frame 1 is provided with a lower walking assembly 3 capable of walking on the ground, and the base frame 1 is provided with a walking driving member 4 capable of driving the upper walking assembly 2 and the lower walking assembly 3 to walk. The upper walking assembly 2 includes two upper wheels 205 capable of walking on the outer surface of the gas pipeline, which are rotatably mounted on the front and rear ends of the well-shaped bracket 201 through the upper wheel shaft 204; the lower walking assembly 3 includes a wheel mounting frame 301 fixedly mounted on the bottom of the base frame 1, and the front and rear ends of the wheel mounting frame 301 are both rotatably mounted with a lower wheel group, and the lower wheel group includes a lower wheel shaft 302 rotatably mounted on the wheel mounting frame 301, and the left and right ends of the lower wheel shaft 302 are both fixedly mounted with lower wheels 303.The travel drive member 4 includes a horizontal motor 401 fixedly mounted on the base frame 1, and a first pulley 402 and a second pulley 403 arranged in parallel are fixedly mounted on the output shaft of the horizontal motor 401; a first horizontal rotating shaft 404 is vertically rotated between the left side and the right side of the well-shaped bracket 201, and a third pulley 405 located on the same vertical plane as the first pulley 402 is fixedly mounted on the first horizontal rotating shaft 404, and the first pulley 402 and the third pulley 405 are connected to each other through a first belt 406; the first horizontal rotating shaft 404 is respectively connected to the upper wheel shaft 204 located at the front end of the well-shaped bracket 201 and the upper wheel shaft 205 located at the well-shaped bracket 20 1 is connected to the upper wheel shaft 204 at the rear end of the well-shaped bracket 201; the left end of the first horizontal rotating shaft 404 is fixedly installed with a fourth pulley 407, and the left end of the upper wheel shaft 204 located at the front end of the well-shaped bracket 201 is fixedly installed with a fifth pulley 408 located in the same vertical plane as the fourth pulley 407, and the fourth pulley 407 and the fifth pulley 408 are connected to each other through a second belt 409; the right end of the first horizontal rotating shaft 404 is fixedly installed with a sixth pulley 4010, and the right end of the upper wheel shaft 204 located at the rear end of the well-shaped bracket 201 is fixedly installed with a seventh pulley 4011 located in the same vertical plane as the sixth pulley 4010, and the sixth pulley 40 10 is connected to the seventh pulley 4011 through the third belt 4012; a second horizontal rotating shaft 4013 is installed vertically and rotatably between the left and right sides of the wheel mounting frame 301, and an eighth pulley 4014 located on the same vertical plane as the second pulley 403 is fixedly installed on the second horizontal rotating shaft 4013, and the second pulley 403 and the eighth pulley 4014 are connected through the fourth belt 4015; the second horizontal rotating shaft 4013 is respectively connected to the lower wheel shaft 302 located on the front side of the wheel mounting frame 301 and the lower wheel shaft 302 located on the rear side of the wheel mounting frame 301; the second horizontal rotating shaft 4013 is located at the eighth pulley 401 A ninth pulley 4016 and a tenth pulley 4017 are mounted on one end on the left side of the wheel mounting frame 301 from right to left in sequence, an eleventh pulley 4018 is fixedly mounted on the lower wheel shaft 302 located on the front side of the wheel mounting frame 301 and is located on the same vertical plane as the ninth pulley 4016, the ninth pulley 4016 and the eleventh pulley 4018 are connected by a fifth belt 4019, a twelfth pulley 4020 is fixedly mounted on the lower wheel shaft 302 located on the rear side of the wheel mounting frame 301 and is located on the same vertical plane as the tenth pulley 4017, the tenth pulley 4017 and the twelfth pulley 4020 are connected by a sixth belt 4021.

[0052] like Figure 2 , Figure 3 , Figure 7 , Fig. 9 , Fig.12 , Fig.13 , Fig.14As shown, the upper walking assembly 2 also includes a roller-type gas pipe clamp installed on the top of the base frame 1, which can be clamped on the outer edge of the gas pipe and slide on the gas pipe, and the clamping distance can be adjusted. The base frame 1 is installed with a changing driving member 5 for changing the clamping distance of the roller-type gas pipe clamp; a criss-cross bracket 201 is fixedly installed on the top of the double-layer frame 103 of the base frame 1; the roller-type gas pipe clamp includes an arc-shaped clamping arm 202 symmetrically rotatably installed on the left and right ends of the criss-cross bracket 201, and a roller 203 capable of rolling on the surface of the gas pipe is rotatably installed on the top of the clamping arm 202. The changing driving member 5 includes an L-shaped plate 501 respectively slidably mounted on the left and right ends of the double-layer frame 103 of the base frame 1, and an inclined block 502 respectively fixedly mounted on a side of the clamping arm 202 away from the center of the base frame 1; a horizontal axis 503 is vertically mounted on both the front and rear sides of one end of the inclined block 502 away from the clamping arm 202, and two elliptical slide rails 504 are arranged from front to back on a side of the vertical part of the L-shaped plate 501 away from the center of the base frame 1 for the horizontal axis 503 to slide up and down respectively; two second capped rods are vertically mounted on a side of the vertical part of the L-shaped plate 501 close to the center of the base frame 1, and a second return spring is arranged on the outer sleeve of the part of the rod body located between the double-layer frame 103 and the vertical part of the L-shaped plate 501, and one end of the second return spring away from the center of the base frame 1 is fixedly connected to a side of the vertical part close to the center of the base frame 1, and one end of the second return spring close to the center of the base frame 1 is fixedly connected to the double-layer frame 103. The driving member 5 also includes an inclined wedge assembly 505 that can be raised and lowered and can drive the two L-shaped plates 501 to move synchronously toward or away from each other during the raising and lowering, and a vertical telescopic member 506 for driving the inclined wedge assembly 505 to be raised and lowered. The vertical telescopic member 506 is an electric push rod or a cylinder. The inclined wedge assembly 505 includes two V-shaped active inclined wedges arranged in parallel from front to back. The two V-shaped active inclined wedges are fixedly connected by connecting the horizontal plate, and the top of the telescopic end of the vertical telescopic member 506 is fixedly connected to the top of the connecting horizontal plate. The bottom surface of one end of the L-shaped plate 501 near the center of the base frame 1 is provided with two working inclined wedges in parallel from front to back. The working inclined wedge located at the front side cooperates with the V-shaped active inclined wedge located at the front side, and the working inclined wedge located at the rear side cooperates with the V-shaped active inclined wedge located at the rear side. Two first capped rods are vertically mounted on the top of the bottom plate of the double-layer frame 103, which are used to limit the movement direction of the two V-shaped active wedges respectively. A third return spring is sleeved on the rod body, and the bottom end of the third return spring is fixedly connected to the inner bottom of the V-shaped active wedge, and the top end of the third return spring is fixedly connected to the bottom of the cap body. A receiving groove for accommodating the rod body and the third return spring is provided on the side of the working wedge close to the first capped rod.

[0053] like Figure 2 , Figure 3 , Fig.15 , Fig.16 , Fig.17As shown, a leakage detection assembly 6 is rotatably installed between the upper circular plate 101 and the lower circular plate 102; a rotating driving member 7 for driving the leakage detection assembly 6 to rotate is installed on the base frame 1; an annular groove for sliding the annular mounting frame 601 is provided on the surface of the upper circular plate 101 and the lower circular plate 102 that are in contact with the annular mounting frame 601, and the leakage detection assembly 6 includes an annular mounting frame 601 rotatably installed between the upper circular plate 101 and the lower circular plate 102, a first annular groove is provided at the position where the top of the annular mounting frame 601 contacts the annular groove of the upper circular plate 101, and a bottom of the annular mounting frame 601 contacts the annular groove of the lower circular plate 102. A second annular groove is provided at the position, and a plurality of balls are arranged in the first annular groove and the second annular groove to facilitate the annular mounting frame 601 to rotate between the upper circular plate 101 and the lower circular plate 102. A camera 602 and a plurality of combustible gas sensors 603 are arranged circumferentially around the central axis of the annular mounting frame 601. A first power supply and a first controller for supplying power to the camera 602 and the plurality of combustible gas sensors 603 are fixedly installed on the inner wall of the annular mounting frame 601. The first power supply is electrically connected to the camera 602 and the plurality of combustible gas sensors 603, and the first controller is control-connected to the camera 602 and the plurality of combustible gas sensors 603. The rotating driving member 7 includes a first vertical motor 701 installed in the base frame 1, a gear 702 is fixedly installed on the output shaft of the first vertical motor 701, and a gear ring 703 meshing with the gear 702 is fixedly installed on the inner wall of the annular mounting frame 601.

[0054] like Figure 4 , Figure 8 , Fig. 9 As shown, the front end of the base frame 1 is provided with an obstacle detection member 9 for detecting obstacles in front, and the obstacle detection member 9 includes a cross bar 901 that is slidably mounted on the front side of the top of the base frame 1 and can slide back and forth, a disc is vertically mounted on the front end of the cross bar 901, and an extension section that can hinder the rotation of the second pulley 403 when in contact with the second pulley 403 is extended from the rear end of the cross bar 901, and the width of the extension section is equal to the width of the second pulley 403; the horizontal motor 401 is a servo motor with an overload protection function, and the overload protection can be set in the servo motor driver, and the overload protection threshold is set according to the rated load and operating requirements of the servo motor. A front limit block 902 and a rear limit block 903 for limiting the sliding direction of the cross bar 901 are installed on the top of the base frame 1 from front to back. A vertical plate is vertically installed on the top of the part of the cross bar 901 located between the front limit block 902 and the rear limit block 903. A first return spring 904 is vertically installed between the rear limit block 903 and the vertical plate. The front end of the first return spring 904 is fixedly connected to the rear side of the vertical plate, and the rear end of the first return spring 904 is fixedly connected to the front side of the rear limit block 903.

[0055] like Figure 2 , Figure 3, Figure 4 , Fig.18 , Fig.19 As shown, a height adjustment assembly 8 capable of driving the base frame 1 to rise or fall is installed on the base frame 1. The height adjustment assembly 8 includes six thirteenth pulleys 802 arranged circumferentially outside the upper circular plate 101 around the central axis of the upper circular plate 101 through a pulley mounting frame 801, at least four of the thirteenth pulleys 802 are provided with vertical lead screws 803 capable of moving up and down, and at least four of the thirteenth pulleys 802 are provided with threads matching the vertical lead screws 803 on the inner walls; the tops of the two vertical lead screws 803 located on the right are fixedly connected by an arc rod, and the tops of the two vertical lead screws 803 located on the left are fixedly connected by an arc rod; a second vertical motor 804 is fixedly installed on the base frame 1, and the output shaft of the second vertical motor 804 is transmission-connected to the six thirteenth pulleys 802. A fourteenth pulley 805 is fixedly sleeved on the output shaft of the second vertical motor 804, and the fourteenth pulley 805 is transmission-connected to the six thirteenth pulleys 802 through a seventh belt 806 arranged in a circular ring.

[0056] The base frame 1 is provided with a second power supply, a second controller and a GPS sensor for supplying power to all electrical components except the camera 602 and the plurality of combustible gas sensors 603. The second controller is connected to the horizontal motor 401, the vertical telescopic member 506, the first vertical motor 701, the second vertical motor 804 and the GPS sensor. Both the first controller and the second controller can communicate with the host computer.

[0057] The working principle of the present invention is as follows: the device is placed just below one end of a horizontally arranged gas pipeline at a lower position that needs to be detected, with the front end of the device facing the other end of the gas pipeline.

[0058] Start the horizontal motor 401, the output shaft of the horizontal motor 401 drives the second pulley 403 to rotate, the second pulley 403 drives the eighth pulley 4014 to rotate through the fourth belt 4015, the eighth pulley 4014 drives the second horizontal rotating shaft 4013 to rotate, the second horizontal rotating shaft 4013 drives the ninth pulley 4016 and the tenth pulley 4017 to rotate, the ninth pulley 4016 drives the eleventh pulley 4018 to rotate through the fifth belt 4019, the eleventh pulley 4018 drives the lower wheel shaft 302 located on the front side of the wheel mounting frame 301 to rotate, the tenth pulley 4017 drives the twelfth pulley 4020 to rotate through the sixth belt 4021, the twelfth pulley 4020 drives the lower wheel shaft 302 located on the rear side of the wheel mounting frame 301 to rotate, and the lower wheel shaft 302 drives the lower wheels 303 installed at both ends thereof to rotate, so that the device starts to walk on the ground. At the same time, the first vertical motor 701 is started, and the output shaft of the first vertical motor 701 begins to rotate, driving the gear 702 to rotate. The gear 702 drives the annular mounting frame 601 to rotate through the ring gear 703. The rotation of the annular mounting frame 601 drives the camera 602 to rotate, thereby realizing a 360° rotation of the camera 602 to obtain a panoramic view of the surroundings. The combustible gas sensor 603 will detect the concentration of the combustible gas and send it to the first controller. If the first controller finds that the concentration of the combustible gas exceeds the threshold, it will send the concentration of the combustible gas in the device to the host computer. The host computer will alarm and remind the staff to check. The second controller will send location information to the host computer in real time, and the staff can go to check according to the location information.

[0059] During the forward movement, if there is an obstacle blocking the front, the disc at the front end of the cross bar 901 will first contact the obstacle. Under the obstruction of the obstacle, the cross bar 901 will slide backwards between the front limit block 902 and the rear limit block 903, and the first return spring 904 will be gradually compressed. When the vertical piece contacts the rear limit block 903, the rear end of the extended section abuts against the second pulley 403, hindering the rotation of the second pulley 403. The second pulley 403 makes the torque of the output shaft of the horizontal motor 401 exceed the torque of its rated load, and the servo motor driver will control the horizontal motor 401 to stop running. After the horizontal motor 401 stops running, the second controller will send position information and a notification that the device has stopped moving to the host computer, reminding the staff to check.

[0060] When the device moves to one end of the horizontally arranged gas pipeline at a lower position, the horizontal motor 401 and the first vertical motor 701 are turned off.

[0061] If it is necessary to inspect the gas pipeline that is slightly higher than the horizontal gas pipeline at the lower position, the second vertical motor 804 is started, and the output shaft of the second vertical motor 804 rotates to drive the fourteenth pulley 805 to rotate, and the fourteenth pulley 805 drives the six thirteenth pulleys 802 to rotate through the seventh belt 806. As the thirteenth pulley 802 rotates, the vertical screw 803 in the thirteenth pulley 802 will move downward as the thirteenth pulley 802 rotates. As the four vertical screws 803 gradually move downward, the base frame 1 will gradually rise. When the roller 203 is higher than the plane where the arc rod is located, the telescopic end of the vertical telescopic member 506 is shortened, and the two V The two L-shaped active wedges rise, the two working wedges on the left side slide to the right along the left inner wall of the two V-shaped active wedges, and the two working wedges on the right side slide to the left along the right inner wall of the two V-shaped active wedges, so that the two L-shaped plates 501 move toward each other synchronously, and the two elliptical slide rails 504 also move toward each other synchronously, the second return spring is gradually compressed, the horizontal axis 503 slides downward in the elliptical slide rail 504, and at the same time, the clamp arm 202 is driven to rotate in a direction away from the center of the base frame 1 under the action of the force of the elliptical slide rail 504, so that the roller-type gas pipeline clamp gradually opens, and the clamping distance continues to increase until it reaches the maximum value of the clamping distance, so that the telescopic end of the vertical telescopic member 506 is maintained at this length. When the base frame 1 rises until the upper wheel 205 contacts the outer surface of the gas pipeline, the second vertical motor 804 is turned off. The telescopic end of the vertical telescopic member 506 is extended, and the two V-shaped active inclined wedges are driven to descend by connecting the cross plate. The two working inclined wedges on the left side slide to the left along the left inner wall of the two V-shaped active inclined wedges, and the two working inclined wedges on the right side slide to the right along the right inner wall of the two V-shaped active inclined wedges, thereby realizing the synchronous backward movement of the two L-shaped plates 501, and the two elliptical slide rails 504 also move backward synchronously, and the second return spring gradually returns to the natural extension state, and the cross shaft 503 slides upward in the elliptical slide rail 504. At the same time, under the action of the force of the elliptical slide rail 504, the clamping arm 202 is driven to rotate in the direction close to the center of the base frame 1, so that the clamping spacing of the roller type gas pipeline clamp continues to decrease until the roller 203 contacts the outer surface of the gas pipeline, so that the telescopic end of the vertical telescopic member 506 is maintained at this length.

[0062] The first horizontal rotating shaft 404 is started, and the output shaft of the first horizontal rotating shaft 404 drives the first pulley 402 to rotate, the first pulley 402 drives the third pulley 405 to rotate through the first belt 406, the third pulley 405 drives the first horizontal rotating shaft 404 to rotate, the first horizontal rotating shaft 404 drives the fourth pulley 407 and the sixth pulley 4010 to rotate, the fourth pulley 407 drives the fifth pulley 408 to rotate through the second belt 409, the fifth pulley 408 drives the upper wheel 205 to rotate through the upper wheel shaft 204 located at the front end of the cross-shaped bracket 201, the sixth pulley 4010 drives the seventh pulley 4011 to rotate through the third belt 4012, and the seventh pulley 4011 drives the upper wheel 205 to rotate through the upper wheel shaft 204 located at the rear end of the cross-shaped bracket 201, so that the upper wheel 205 starts to move on the outer surface of the gas pipeline, and the roller 203 rotates as the device moves. After the device is moved to the other end of the gas pipeline, the first horizontal rotating shaft 404 is closed, and the roller type gas pipeline clamp is opened to remove the device.

[0063] If you want to inspect the gas pipeline at a high place, lift the device, clamp the roller gas pipeline clamp on the outside of the gas pipeline and repeat the above steps.

[0064] It should be noted that the present invention is not limited to the specific structures shown in the drawings in the above-mentioned embodiments, and various changes can be made thereto within the knowledge scope of ordinary technicians in this field.

Claims

1. An automatic patrol type gas leak detection device, characterized in that: The invention comprises a base frame (1), wherein an upper walking assembly (2) capable of walking along the outside of a horizontally arranged gas pipeline is arranged on the top of the base frame (1), a lower walking assembly (3) capable of walking on the ground is arranged on the bottom of the base frame (1), and a walking driving member (4) capable of driving the upper walking assembly (2) and the lower walking assembly (3) to walk is installed on the base frame (1); The upper walking assembly (2) comprises a roller-type gas pipeline clamp installed on the top of the base frame (1) and capable of being clamped outside the gas pipeline and sliding along the gas pipeline, and the clamping distance of which can be adjusted; the base frame (1) is provided with a changing driving member (5) for changing the clamping distance of the roller-type gas pipeline clamp; The base frame (1) comprises an upper circular plate (101) and a lower circular plate (102) which are arranged in parallel from top to bottom, and a leakage detection component (6) is rotatably mounted between the upper circular plate (101) and the lower circular plate (102); the base frame (1) is mounted with a rotation driving member (7) for driving the leakage detection component (6) to rotate; The leakage detection assembly (6) comprises an annular mounting frame (601) rotatably mounted between the upper circular plate (101) and the lower circular plate (102), and a camera (602) and a plurality of combustible gas sensors (603) are arranged on the annular mounting frame (601) in a circumferential direction around its central axis.

2. The automatic patrol type gas leak detection device according to claim 1, characterized in that: A tic-tac-toe-shaped bracket (201) is fixedly mounted on the top of the base frame (1); The roller-type gas pipeline clamp comprises clamp arms (202) symmetrically rotatably mounted on the left and right ends of the cross-shaped bracket (201), and a roller (203) capable of rolling on the surface of the gas pipeline is rotatably mounted on the top end of the clamp arm (202).

3. The automatic patrol type gas leak detection device according to claim 2, characterized in that: The change driving member (5) comprises an L-shaped plate (501) slidably mounted on the left and right ends of the base frame (1) and an inclined block (502) fixedly mounted on a surface of the clamping arm (202) away from the center of the base frame (1); A transverse axis (503) is vertically mounted on both the front and rear sides of one end of the inclined block (502) away from the clamping arm (202); and two elliptical slide rails (504) are arranged from front to back on a surface of the vertical portion of the L-shaped plate (501) away from the center of the base frame (1) for the transverse axis (503) to slide up and down respectively; The change driving member (5) further comprises an inclined wedge assembly (505) which can be raised and lowered and can drive the two L-shaped plates (501) to move synchronously towards or away from each other during the raising and lowering, and a vertical telescopic member (506) for driving the inclined wedge assembly (505) to be raised and lowered.

4. The automatic patrol type gas leak detection device according to claim 2, characterized in that: The upper walking assembly (2) comprises two upper wheels (205) which are rotatably mounted on the front and rear ends of the criss-cross-shaped bracket (201) via an upper wheel shaft (204) and are capable of walking on the outer surface of the gas pipeline; The lower walking assembly (3) comprises a wheel mounting frame (301) fixedly mounted on the bottom of the base frame (1), a lower wheel assembly is rotatably mounted on the front and rear ends of the wheel mounting frame (301), the lower wheel assembly comprises a lower wheel axle (302) rotatably mounted on the wheel mounting frame (301), and lower wheels (303) are fixedly mounted on both left and right ends of the lower wheel axle (302).

5. The automatic patrol type gas leak detection device according to claim 4, characterized in that: The travel drive member (4) comprises a horizontal motor (401) fixedly mounted on the base frame (1), and a first belt pulley (402) and a second belt pulley (403) arranged in parallel are fixedly mounted on the output shaft of the horizontal motor (401); A first horizontal rotating shaft (404) is vertically rotatably mounted between the left side and the right side of the well-shaped bracket (201); a third belt pulley (405) located on the same vertical plane as the first belt pulley (402) is fixedly mounted on the first horizontal rotating shaft (404); the first belt pulley (402) and the third belt pulley (405) are connected in transmission via a first belt (406); the first horizontal rotating shaft (404) is respectively connected in transmission with the upper wheel shaft (204) located at the front end of the well-shaped bracket (201) and the upper wheel shaft (204) located at the rear end of the well-shaped bracket (201); A second horizontal rotating shaft (4013) is vertically rotatably installed between the left side and the right side of the wheel mounting frame (301); an eighth pulley (4014) located on the same vertical plane as the second pulley (403) is fixedly installed on the second horizontal rotating shaft (4013); the second pulley (403) is connected to the eighth pulley (4014) by a fourth belt (4015); the second horizontal rotating shaft (4013) is connected to the lower wheel shaft (302) located on the front side of the wheel mounting frame (301) and the lower wheel shaft (302) located on the rear side of the wheel mounting frame (301) respectively.

6. The automatic patrol type gas leak detection device according to claim 5, characterized in that: The front end of the base frame (1) is provided with an obstacle detection member (9) for detecting obstacles ahead, the obstacle detection member (9) comprising a cross bar (901) slidably mounted on the front side of the top of the base frame (1) and capable of sliding forward and backward, a round piece being vertically mounted on the front end of the cross bar (901), and an extended section extending from the rear end of the cross bar (901) capable of hindering the rotation of the second belt pulley (403) when in contact with the second belt pulley (403); A front limit block (902) and a rear limit block (903) for limiting the sliding direction of the cross bar (901) are installed on the top of the base frame (1) from front to back, and a vertical plate is vertically installed on the top of the portion of the cross bar (901) located between the front limit block (902) and the rear limit block (903), and a first return spring (904) is vertically installed between the rear limit block (903) and the vertical plate.

7. An automatic patrol type gas leak detection device according to any one of claims 1 to 6, characterized in that: The rotary drive member (7) comprises a first vertical motor (701) mounted in the base frame (1), a gear (702) being fixedly mounted on the output shaft of the first vertical motor (701), and a gear ring (703) meshing with the gear (702) being fixedly mounted on the inner wall of the annular mounting frame (601).

8. An automatic patrol type gas leak detection device according to any one of claims 1 to 6, characterized in that: The base frame (1) is provided with a height adjustment component (8) capable of driving the base frame (1) to rise or fall.

9. The automatic patrol type gas leak detection device according to claim 8, characterized in that: The height adjustment assembly (8) comprises six thirteenth pulleys (802) arranged outside the upper circular plate (101) in a circumferential direction around the central axis of the upper circular plate (101) via a pulley mounting frame (801), at least four of the thirteenth pulleys (802) being provided with vertical lead screws (803) capable of moving up and down, and at least four of the thirteenth pulleys (802) being provided with threads matching the vertical lead screws (803) on their inner walls; A second vertical motor (804) is fixedly mounted on the base frame (1), and an output shaft of the second vertical motor (804) is drivingly connected to the six thirteenth pulleys (802).

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