Deformation detection device for underground drainage pipe

Abstract

The invention relates to the technical field of pipeline deformation detection, and mainly relates to a deformation detection device for an underground drainage pipe, which comprises a robot vehicle and a lifting platform mounted on the robot vehicle, side plates are fixed at two ends of the lifting platform, and fitting parts fitted with the inner wall of the underground drainage pipe are mounted on the side plates; the device comprises a lifting platform and a fitting part, the lifting platform is provided with two side plates, the outer sides of the two side plates are sleeved with the drawing roll, the lifting platform is provided with a drawing part used for drawing the drawing roll, and the fitting part is provided with a surveying and mapping assembly fitted with the outer side of the drawing roll. And after the pipeline inner wall is moved to the to-be-detected area, the fitting rod in the fitting part rotates, rotary fitting is performed on the pipeline inner wall, and the deformation condition of the pipeline inner wall is drawn on the drawing roll by means of the surveying and mapping assembly, so that the deformation condition of the pipeline inner wall can be accurately and effectively detected.

Description

Technical Field

[0001] The invention relates to the technical field of pipeline deformation detection, and in particular to a deformation detection device for an underground drainage pipe. Background Art

[0002] Underground drainage pipes are pipe systems used to collect and discharge urban domestic sewage, industrial wastewater, rainwater, etc. They are usually buried at a certain depth underground and are made of different materials, such as reinforced concrete pipes, UPVC pipes, cast iron pipes, etc.

[0003] Since the pipeline is underground, it will be deformed due to factors such as foundation settlement. Pipeline deformation will cause the stress distribution of the pipe wall to change, and stress concentration will occur at the deformed part. If it is in this high stress state for a long time, the pipeline material is prone to fatigue damage, which will cause cracks and even cause the pipeline to rupture; therefore, it is necessary to detect the deformation of the inner wall of the pipeline in advance. Conventional inspections rely on visual inspection by personnel, or by using a robot vehicle with a camera to go deep into the pipeline to take pictures. Usually, only the more obvious defects on the pipeline can be observed, but personnel cannot intuitively judge the smaller deformations on the pipeline through the video. Summary of the invention

[0004] The object of the present invention is to provide a deformation detection device for underground drainage pipes, so as to solve the problem in the above background technology that it is difficult for personnel to intuitively detect the deformation of pipes with small deformation amounts.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a deformation detection device for an underground drainage pipe, comprising a robot vehicle and a lifting platform installed on the robot vehicle, side panels are fixed at both ends of the lifting platform, and a fitting portion that fits with the inner wall of the underground drainage pipe is installed on the side panel; and a drawing roll is sleeved on the outside of the two side panels, a pulling portion for pulling the drawing roll is installed on the lifting platform, and a surveying and mapping component that fits with the outside of the drawing roll is installed on the fitting portion.

[0006] Preferably, the fitting part includes a rotating motor fixed to the side plate through a motor frame, the output end of the rotating motor is fixed with a connecting platform through a coupling, a connecting frame is fixed on the connecting platform, a movable rod is slidably inserted in the connecting frame, a fitting rod is installed at the top of the movable rod, and a ball fitting with the inner wall of the pipe is fixed at the outer end of the fitting rod, an end plate is fixed to the bottom end of the movable rod, and a tension spring fixed to the end plate and the connecting frame is sleeved on the outer side of the movable rod, and the surveying and mapping component is fixed to the end plate.

[0007] Preferably, the connecting frame comprises a bottom plate fixed to the connecting platform, a connecting rod is fixed on the bottom plate, and a top plate is fixed on the top of the connecting rod, and the movable rod is slidably inserted in the top plate.

[0008] Preferably, the pulling part includes a mounting plate fixed on the lifting platform, and two winding shafts rotatably connected to the surface of the lifting platform are rotatably mounted on the mounting plate, and a partition is fixed to the outside of the winding shaft. Two drawing rolls are provided, and the two ends of the two drawing rolls are respectively wound around the outside of the two winding shafts and separated by a partition, and a pulling cylinder that fits the outside of the drawing roll is rotatably mounted on the mounting plate, and a driving component that drives the pulling cylinder and the winding shaft to rotate is installed on the mounting plate.

[0009] Preferably, the driving assembly includes a gear fixed to the top end of the inner shaft of the pulling cylinder, the two gears at the top end of the inner shaft of the pulling cylinder are meshed with each other, and a driving motor is fixed to the mounting plate through a motor frame, the output end of the driving motor is fixed to the outer end of one of the inner shafts of the pulling cylinder, a driving wheel is fixed to the outside of the two gears, a driven wheel is fixed to the top of the winding shaft, a recess is opened on the mounting plate, and a transmission member that fits the driving wheel and the driven wheel is installed in the recess.

[0010] Preferably, the transmission member includes a sliding rod fixed in the recess, a transmission rod slidingly sleeved on the outer side of the sliding rod and plugged into the recess, and a transmission wheel rotatably mounted on the outer end of the transmission rod and fitted with the driving wheel and the driven wheel, and an extrusion spring is sleeved on the outer side of the sliding rod and pressed against the inner wall of the recess and the transmission rod.

[0011] Preferably, outer sides of the driving wheel, the driven wheel and the transmission wheel are all frosted structures.

[0012] Preferably, a guide plate that fits the drawing roll is fixed on the lifting platform.

[0013] Preferably, the surveying and mapping assembly includes a drawing rod fixed on the end plate, the drawing rod slides through the top plate, and is equipped with a drawing pen, and the drawing pen fits against the outer side of the drawing roll.

[0014] Preferably, the fitting rod and the movable rod are threadedly connected.

[0015] Compared with the prior art, the present invention has the following beneficial effects: The present invention uses a robot vehicle to travel in an underground drainage pipe, drives the components on the lifting platform to enter the drainage pipe, and after moving to the area to be detected, the bonding rod in the bonding part is rotated to rotate and bond the inner wall of the pipe. The deformation of the inner wall of the pipe is drawn on a drawing roll by means of a mapping component, so that the deformation of the inner wall of the pipe can be accurately and effectively detected; In the present invention, the drawing roll can be pulled out by utilizing the pulling part, and detection can be performed at multiple locations in the underground drainage pipe by utilizing the movement of the robot vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the present invention as a whole when testing an underground drainage pipe; Figure 2 This is a front view of the bonding part of the present invention when detecting underground drainage; Figure 3 It is a front view of the present invention when the bonding part is in another position to detect underground drainage; Figure 4 It is a schematic diagram of the overall structure of the present invention; Figure 5 It is an overall side view of the present invention; Figure 6 It is a partial cross-sectional top view of the present invention; Figure 7 It is a schematic diagram of the structure of the present invention from another angle; Figure 8 This is a schematic diagram of the structure of the drawer portion of the present invention; Fig. 9 for Figure 8 Enlarged view of point A in the middle; Fig.10 It is a schematic diagram of the structure of the laminating part and the surveying and mapping component of the present invention.

[0017] In the figure: 1. robot car; 2. lifting platform; 3. side plate; 4. laminating part; 5. drawing roll; 6. pulling part; 7. mapping component; 8. rotating motor; 9. connecting platform; 10. connecting frame; 11. movable rod; 12. laminating rod; 13. ball; 14. end plate; 15. tension spring; 16. bottom plate; 17. connecting rod; 18. top plate; 19. mounting plate; 20. winding shaft; 21. partition; 22. pulling cylinder; 23. driving component; 24. gear; 25. driving motor; 26. driving wheel; 27. driven wheel; 28. notch; 29. ​​transmission member; 30. sliding rod; 31. transmission rod; 32. transmission wheel; 33. extrusion spring; 34. guide plate; 35. drawing rod; 36. drawing pen. DETAILED DESCRIPTION

[0018] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0019] Example 1: Please refer to Figure 1 - Figure 5 , a deformation detection device for underground drainage pipes shown in the figure includes a robot vehicle 1, and also includes a lifting platform 2 installed on the robot vehicle 1, with side plates 3 fixed at both ends of the lifting platform 2, and a fitting portion 4 fitted with the inner wall of the underground drainage pipe is installed on the side plate 3; and a drawing roll 5 sleeved on the outside of the two side plates 3, a drawing part 6 for pulling out the drawing roll 5 is installed on the lifting platform 2, and a surveying and mapping component 7 fitted with the outside of the drawing roll 5 is installed on the fitting portion 4; In this solution, the robot vehicle 1 is an existing remote-controlled vehicle that can travel deep inside an underground drainage pipe. It is also equipped with a camera and a lighting lamp. When it moves to the area to be inspected in the pipe, the fitting portion 4 is used to rotate and contact the inner wall of the pipe, and then the shape of the pipe is drawn in proportion on the drawing roll 5 with the help of the mapping component 7, so that the shape of the pipe at that location can be drawn, which is convenient for subsequent personnel to judge the shape of the pipe and realize accurate detection of deformation in the pipe. It should also be noted that the lifting platform 2 can be raised and lowered, and the lifting height of the lifting platform 2 is controlled according to the inner diameter of the underground drainage pipe. During normal driving, the lifting platform 2 is at a low position, so that the fitting part 4 does not contact the inner wall of the pipe until it moves to the area to be inspected, and then the lifting platform 2 rises again, so that the fitting part 4 can rotate to fit the inner wall of the pipe.

[0020] For further information, see Figure 4 - Figure 7 and Fig.10 The fitting part 4 includes a rotating motor 8 fixed to the side plate 3 through a motor frame, a connecting platform 9 is fixed to the output end of the rotating motor 8 through a coupling, a connecting frame 10 is fixed to the connecting platform 9, a movable rod 11 is slidably inserted in the connecting frame 10, a fitting rod 12 is installed at the top of the movable rod 11, a ball 13 that fits the inner wall of the pipeline is fixed to the outer end of the fitting rod 12, an end plate 14 is fixed to the bottom end of the movable rod 11, a tension spring 15 fixed to the end plate 14 and the connecting frame 10 is sleeved on the outer side of the movable rod 11, and the surveying and mapping component 7 is fixed to the end plate 14; In order to allow the surveying and mapping component 7 to have enough space to move, a connecting frame 10 is provided, including a base plate 16 fixed to the connecting platform 9, a connecting rod 17 is fixed on the base plate 16, a top plate 18 is fixed on the top of the connecting rod 17, and the movable rod 11 is slidably inserted in the top plate 18.

[0021] In this solution, the principle of the fitting part 4 fitting along the inner wall of the pipe is as follows: first, the robot vehicle 1 moves to the area to be inspected, and then is lifted up by the lifting platform 2, so that the center position of the connecting platform 9 is consistent with the center position of the pipe, and then the rotating motor 8 is used to drive the connecting platform 9 and its outer parts to rotate accordingly. When the ball 13 fits and rotates with the inner wall of the pipe, the corresponding movement of the surveying and mapping component 7 can be controlled, and the tension spring 15 is used to make the ball 13 fit stably with the inner wall of the pipe, so that it is more convenient to fit and move the deformed part of the pipe, and the deformation state of the pipe can be accurately measured by the surveying and mapping component 7.

[0022] For further information, see Figure 6 - Figure 8 The drawing part 6 includes a mounting plate 19 fixed on the lifting platform 2, on which two winding shafts 20 are rotatably mounted and connected to the surface of the lifting platform 2, and a partition 21 is fixed to the outside of the winding shaft 20. Two drawing rolls 5 are provided, and the two ends of the two drawing rolls 5 are respectively wound around the outside of the two winding shafts 20 and separated by the partition 21. A drawing cylinder 22 that fits the outside of the drawing roll 5 is rotatably mounted on the mounting plate 19, and a driving component 23 that drives the drawing cylinder 22 and the winding shaft 20 to rotate is installed on the mounting plate 19; Among them, the driving component 23 includes a gear 24 fixed to the top of the inner shaft of the pulling cylinder 22, and the gears 24 at the top of the inner shafts of the two pulling cylinders 22 are meshed with each other. A driving motor 25 is fixed to the mounting plate 19 through a motor frame, and the output end of the driving motor 25 is fixed to the outer end of the inner shaft of one of the pulling cylinders 22. A driving wheel 26 is fixed to the outside of the two gears 24, and a driven wheel 27 is fixed to the top of the winding shaft 20. A recess 28 is opened on the mounting plate 19, and a transmission member 29 that fits with the driving wheel 26 and the driven wheel 27 is installed in the recess 28. The driving motor 25 drives one of the pulling cylinders 22 to rotate, and with the help of two gears 24, the two pulling cylinders 22 rotate synchronously in opposite directions, so that the drawing scroll 5 between the two pulling cylinders 22 can be pulled.

[0023] In this solution, the principle of using the drawing roll 5 to be pulled out by the pulling part 6 is as follows: First, after the laminating portion 4 rotates around the pipe for one circle, the two pulling cylinders 22 in the driving assembly 23 rotate synchronously in opposite directions to pull the drawing roll 5. At the same time, the driving wheel 26 drives the driven wheel 27 to rotate with the help of the transmission member 29. At the same time, the two driven wheels 27 also rotate synchronously in opposite directions with the help of the transmission member 29, and the two winding shafts 20 are controlled to rotate synchronously in opposite directions, so as to realize the unwinding of the drawing roll 5 at one end and the winding operation at the other end. In this solution, in order to allow the drawing roll 5 to be stably pulled out, a guide plate 34 that fits the drawing roll 5 is fixed on the lifting platform 2. Two drawing rolls 5 are provided, mainly to facilitate the installation of the drive shaft of the rotating motor 8 at the middle interval.

[0024] For further information, see Figure 4 and Fig.10 , the surveying and mapping assembly 7 includes a drawing rod 35 fixed on the end plate 14, the drawing rod 35 slides through the top plate 18, and is equipped with a drawing pen 36, and the drawing pen 36 is in contact with the outer side of the drawing roll 5; Among them, when the connecting platform 9 rotates, the surveying and mapping component 7 will rotate along with the rotation of the end plate 14, and when the fitting rod 12 at the outer end of the movable rod 11 fits with the inner wall of the pipe, it will slide due to the deformation of the inner wall of the pipe. The movable rod 11 will simultaneously drive the drawing rod 35 to move, so that the drawing pen 36 can draw the shape of the pipe in proportion on the drawing roll 5, thereby facilitating personnel to more accurately judge the deformation state in the pipe and improve the accuracy of deformation detection in the pipe.

[0025] In this solution, the fitting rod 12 and the movable rod 11 are threadedly connected, so that when the deformation of the inner wall of pipes with different inner diameters is detected, the rotation between the fitting rod 12 and the movable rod 11 can be used to adjust the overall length, making the detection more flexible.

[0026] In this scheme, the specific process of underground drainage pipe deformation detection includes the following steps: In the first step, the personnel first debug the equipment, then place the robot vehicle 1 at the pipe opening, and control the robot vehicle 1 to move to the area to be inspected; In the second step, the lifting platform 2 is raised so that the center of the connecting platform 9 is aligned with the axis of the center of the pipeline, and then the laminating part 4 is used to drive the laminating rod 12 to rotate, so as to achieve laminating rotation on the inner wall of the pipeline; In the third step, after one rotation, the surveying and mapping component 7 will draw the shape of the inner wall of the pipeline in proportion on the drawing roll 5; In the fourth step, the drawing roll 5 is pulled out through the pulling part 6 until the drawn area is pulled out and replaced with a new drawing area, and at the same time, the lifting platform 2 is lowered so that the ball 13 does not fit the inner wall of the pipe; In the fifth step, the robot 1 moves a certain distance, repeats the second to fourth steps, and starts to perform deformation detection on the next location of the pipeline; In the sixth step, the robot vehicle 1 drives away from the pipeline, and the personnel take out the drawing roll 5, observe the pipeline inner wall drawing on the drawing roll 5, and determine the deformation state of the pipeline inner wall.

[0027] In this solution, the fitting part 4 is rotated in fit with the inner wall of the pipeline, and the state of the inner wall of the pipeline is drawn in proportion with the help of the surveying and mapping component 7, so that the deformation state of the inner wall of the pipeline can be observed more intuitively, and personnel can detect the deformation amount of the pipeline more accurately and conveniently.

[0028] In this embodiment, two laminating parts 4 are provided, which are distributed on two side panels 3, and the drawing roll 5 is as shown in FIG. Figure 6 As shown, it is in an "S" shape and is sleeved on the outside of the two side plates 3. The two surveying and mapping components 7 respectively map the inside and outside of the drawing roll 5, thereby realizing front and back side mapping and improving the utilization rate of the drawing roll 5.

[0029] Example 2: Please refer to Figure 8 and Fig. 9 This embodiment further explains the first embodiment, and the difference lies in that a specific implementation of the transmission member 29 is disclosed.

[0030] Specifically, the transmission member 29 includes a sliding rod 30 fixed in the recess 28, a transmission rod 31 is slidably sleeved on the outer side of the sliding rod 30 and is plugged into the recess 28, a transmission wheel 32 is rotatably mounted on the outer end of the transmission rod 31 and is fitted with the driving wheel 26 and the driven wheel 27, and an extrusion spring 33 is sleeved on the outer side of the sliding rod 30 and is pressed against the inner wall of the recess 28 and the transmission rod 31.

[0031] In this solution, when the driving wheel 26 rotates, the transmission wheel 32 is driven to rotate, and the rotation of the transmission wheel 32 causes the driven wheel 27 in contact with it to rotate accordingly, thereby realizing the rotation of the winding shaft 20, and realizing the winding and unwinding operation of the drawing roll 5. Considering that the drawing roll 5 outside the winding shaft 20 may cause the winding shaft 20 to rotate a different number of times due to the number of winding layers, when the driving wheel 26 rotates without the driven wheel 27 rotating, the transmission wheel 32 cannot rotate normally at this time, and will retreat in the notch 28 through the transmission rod 31, so that the driving wheel 26 rotates, while the driven wheel 27 does not rotate, so that the driving wheel 26 rotates normally, and the driven wheel 27 rotates as needed; It should also be noted that in order to ensure that the driving wheel 26 , the driven wheel 27 and the transmission wheel 32 can be driven stably, the outer sides of the driving wheel 26 , the driven wheel 27 and the transmission wheel 32 are designed to be frosted structures.

[0032] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0033] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A deformation detection device for an underground drainage pipe, comprising: Robot Car (1); It is characterized by further comprising: A lifting platform (2) mounted on a robot vehicle (1), side panels (3) being fixed at both ends of the lifting platform (2), and a fitting portion (4) fitted with the inner wall of an underground drainage pipe being mounted on the side panels (3); and, A drawing roll (5) is sleeved on the outside of two side panels (3); a drawing portion (6) for drawing the drawing roll (5) is installed on the lifting platform (2); and a mapping component (7) that is in contact with the outside of the drawing roll (5) is installed on the contact portion (4).

2. The deformation detection device for underground drainage pipe according to claim 1, characterized in that: The fitting portion (4) comprises a rotating motor (8) fixed to the side plate (3) via a motor frame, a connecting platform (9) being fixed to the output end of the rotating motor (8), a connecting frame (10) being fixed to the connecting platform (9), a movable rod (11) being slidably inserted in the connecting frame (10), a fitting rod (12) being installed at the top end of the movable rod (11), and a ball (13) fitting with the inner wall of the pipe being fixed at the outer end of the fitting rod (12), an end plate (14) being fixed to the bottom end of the movable rod (11), and a tension spring (15) being fixed to the end plate (14) and the connecting frame (10) being sleeved on the outer side of the movable rod (11), and the surveying and mapping component (7) being fixed to the end plate (14).

3. The deformation detection device for underground drainage pipe according to claim 2, characterized in that: The connecting frame (10) comprises a bottom plate (16) fixed to the connecting platform (9), a connecting rod (17) being fixed on the bottom plate (16), and a top plate (18) being fixed on the top of the connecting rod (17), and the movable rod (11) being slidably inserted in the top plate (18).

4. The deformation detection device for underground drainage pipe according to claim 1, characterized in that: The drawing portion (6) comprises a mounting plate (19) fixed on the lifting platform (2); two winding shafts (20) rotatably mounted on the mounting plate (19) and rotatably docked with the surface of the lifting platform (2); a partition plate (21) is fixed to the outside of the winding shaft (20); two drawing rolls (5) are provided, and the two ends of the two drawing rolls (5) are respectively wound around the outside of the two winding shafts (20) and separated by the partition plate (21); a drawing cylinder (22) in contact with the outside of the drawing roll (5) is rotatably mounted on the mounting plate (19); and a driving assembly (23) for driving the drawing cylinder (22) and the winding shaft (20) to rotate is mounted on the mounting plate (19).

5. The deformation detection device for underground drainage pipe according to claim 4, characterized in that: The driving assembly (23) comprises a gear (24) fixed to the top end of the inner shaft of the drawing cylinder (22), the gears (24) at the top ends of the inner shafts of the two drawing cylinders (22) mesh with each other, and a driving motor (25) is fixed to the mounting plate (19) via a motor frame, the output end of the driving motor (25) is fixed to the outer end of the inner shaft of one of the drawing cylinders (22), a driving wheel (26) is fixed to the outer side of the two gears (24), a driven wheel (27) is fixed to the top of the winding shaft (20), and a notch (28) is provided on the mounting plate (19), and a transmission member (29) is installed in the notch (28) and is in contact with the driving wheel (26) and the driven wheel (27).

6. The deformation detection device for underground drainage pipe according to claim 5, characterized in that: The transmission member (29) comprises a slide bar (30) fixed in the recess (28); a transmission bar (31) is slidably sleeved on the outer side of the slide bar (30) and is plugged into the recess (28); a transmission wheel (32) is rotatably mounted on the outer end of the transmission bar (31) and is fitted with the driving wheel (26) and the driven wheel (27); and a compression spring (33) is sleeved on the outer side of the slide bar (30) and is pressed against the inner wall of the recess (28) and the transmission bar (31).

7. The deformation detection device for underground drainage pipe according to claim 6, characterized in that: The outer sides of the driving wheel (26), the driven wheel (27) and the transmission wheel (32) are all frosted structures.

8. The deformation detection device for underground drainage pipe according to claim 1, characterized in that: A guide plate (34) that fits the drawing roll (5) is fixed on the lifting platform (2).

9. The deformation detection device for underground drainage pipe according to claim 3, characterized in that: The surveying and mapping assembly (7) comprises a drawing rod (35) fixed on the end plate (14), the drawing rod (35) slidably passes through the top plate (18) and is provided with a drawing pen (36), the drawing pen (36) being in contact with the outer side of the drawing roll (5).

10. The deformation detection device for underground drainage pipe according to claim 2, characterized in that: The fitting rod (12) and the movable rod (11) are threadedly sleeved.

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