Detection device for leakage of buried pipe

Abstract

The invention discloses a detection device for leakage of a buried pipe, and mainly relates to the technical field of detection devices. Comprising a rack and crawler wheels, an output shaft is rotationally connected to a movable frame, a first spline shaft is arranged at the end of the output shaft, the I-shaped sleeve is arranged at the end of the swing arm, a groove rotationally connected with the rack and a spline groove in sliding connection with the first spline shaft are formed in the I-shaped sleeve, and a supporting rod is arranged at the other end of the swing arm. A supporting arm is rotationally connected to the supporting rod, a mounting seat is rotationally connected to one end of the supporting arm, a detection structure is arranged on the mounting seat, a sliding groove is formed in the other end of the supporting arm, a vertical groove is formed in the end of the first spline shaft, and a first guide column in sliding connection with the sliding groove is arranged in the vertical groove. The crawler-type pipeline robot has the beneficial effects that the problems that a crawler-type pipeline robot is large in number of driving motors and complex in control algorithm are solved, the manufacturing cost and operation difficulty of the crawler-type pipeline robot are reduced, and meanwhile the crawler-type pipeline robot adapts to buried pipes with variable diameters and different inner diameters.

Description

Technical Field

[0001] The present invention relates to the technical field of detection devices, and particularly to a detection device for buried pipe leakage. Background Art

[0002] The ground source heat pump is a good low-temperature heat source with relatively stable temperature and certain energy storage function. The ground source heat pump technology mainly uses the energy of shallow normal-temperature soil as an energy source, which is an efficient energy-saving, pollution-free, and low-operation-cost new air-conditioning technology that can be used for heating, cooling, and providing sanitary hot water. The buried pipe soil heat exchanger is a closed closed-loop circulation system. Through the flow of the heat-conducting medium in the buried pipe, heat exchange is generated between the heat-conducting medium and the ground, thereby realizing the heating or cooling of the heat-conducting medium.

[0003] Currently, generally, an inlet flow meter and an outlet flow meter are respectively arranged at the inlet end and the outlet end of the buried pipe to obtain the inlet water volume and outlet water volume data of the buried pipe in real time. By comparing the inlet water volume and the outlet water volume, if the change range is small or there is no change, the buried pipe is intact and operating normally; if there is a large change, then check the test situation of the in-pipe pressure tester. If the water pressure becomes higher and the outlet water volume becomes smaller, the buried pipe is deformed; if the water pressure becomes smaller, the outlet water volume becomes smaller or there is no water, it indicates that the buried pipe has a leakage. It is necessary to finely detect the buried pipe through a leakage detector to accurately detect the leakage location.

[0004] In order to improve the detection accuracy, currently, generally, an in-pipe inspection is carried out on the buried pipe through a tracked pipeline robot. The current tracked pipeline robot generally consists of a frame, tracked wheels, a support frame, a motor, a driver, a battery, and a controller. The tracked wheels are fixed on the frame through the support frame. The motor, driver, and battery are installed in the tracked wheels, and the controller is installed on the frame. The tracked wheels are driven to rotate by the motor, driving the tracked pipeline robot to move inside the buried pipe, so as to accurately find the leakage of the buried pipe. However, for the current tracked pipeline robot, multiple motors are required to cooperate. The relative positions of the frame, tracked wheels, and support frame can be adjusted by driving the motors through the controller, so that the posture of the robot changes, thereby adapting to buried pipes with variable diameters and different outer diameters within a certain range, and its environmental adaptability is relatively high. However, for the current tracked pipeline robot that can adapt to the working environment of buried pipes with variable diameters, its posture is controlled by a dedicated controller driving dedicated motors, and a relatively large number of motors are required, resulting in a relatively complex control algorithm, which increases the manufacturing cost of the tracked pipeline robot to a certain extent and also increases the difficulty of operating the tracked pipeline robot. Summary of the Invention

[0005] The object of the present invention is to provide a detection device for buried pipe leakage, solve the problems of more driving motors and more complex control algorithms of the crawler-type pipeline robot, reduce the manufacturing cost and operation difficulty of the crawler-type pipeline robot, and at the same time make it adapt to buried pipes with variable diameters and different inner diameters.

[0006] To achieve the above object, the invention is realized through the following technical solutions: A detection device for buried pipe leakage includes a frame and crawler wheels in contact with the buried pipe. A camera and a lighting structure are provided at the head of the frame. An activity frame is slidably connected to the frame. The invention also includes a plurality of first support frames and second support frames. The two ends of the first support frame are respectively rotatably connected to the frame and the crawler wheel. The two ends of the second support frame are respectively rotatably connected to the activity frame and the crawler wheel. An output shaft is rotatably connected to the activity frame. A first spline shaft is provided at the end of the output shaft. The invention also includes a swing arm and an I-shaped sleeve provided at the end of the swing arm. The I-shaped sleeve is provided with a groove for rotatably connecting to the frame and a first spline groove for slidably connecting to the first spline shaft. A support rod is provided at the other end of the swing arm. A support arm is rotatably connected to the support rod. A mounting seat is rotatably connected to one end of the support arm. A detection structure is provided on the mounting seat. A chute is provided at the other end of the support arm. A vertical groove for slidably connecting to the support arm is provided at the end of the first spline shaft. A first guide post for slidably connecting to the chute is provided in the vertical groove.

[0007] Further, a fixed sleeve is provided on the activity frame. A T-shaped groove is provided on the fixed sleeve. A T-shaped block for rotatably connecting to the T-shaped groove is provided at the end of the output shaft. The upper and lower sides of the T-shaped block are respectively rotatably connected to the T-shaped groove.

[0008] Further, a first bevel gear for rotatably connecting to the fixed sleeve is provided on the T-shaped block. A first rotating shaft is rotatably connected in the T-shaped groove. A second bevel gear meshing with the first bevel gear is provided on the first rotating shaft. A first motor is provided in the T-shaped groove. A first driving wheel is provided at the movable end of the first motor. A first driven wheel is provided on the first rotating shaft. A plurality of second guide posts are provided on the side of the first driven wheel. A plurality of third guide posts are provided on one side of the first driving wheel. The plurality of third guide posts are in contact with the corresponding second guide posts and drive them to move to the position where the previous second guide post is located. A convex block is provided on the other side of the first driving wheel. One side of the convex block is in contact with the end of the second guide post and restricts the first driven wheel from rotating on the fixed sleeve.

[0009] Further, a sealing groove communicating with the T-shaped groove is provided on the fixed sleeve. A sealing ring in contact with the T-shaped block is provided in the sealing groove.

[0010] Furthermore, the detection structure includes an ultrasonic probe disposed on the mounting base. A number of vertical blocks are provided on the mounting base. A universal wheel in contact with the buried pipe is rotatably connected to the vertical block. An adjustment groove is provided at the end of the support arm. A first limiting block is slidably connected in the adjustment groove. A fourth guide post rotatably connected to the adjustment groove is provided on the mounting base. One side of the first limiting block is in contact with the fourth guide post. A first spring is provided between the first limiting block and the support arm.

[0011] Furthermore, the crawler wheel includes two support plates rotatably connected to the first support frame and the second support frame, and a crawler, a sprocket, and a number of guide wheels disposed between the two support plates. The crawler is sleeved outside the sprocket and the number of guide wheels and is in contact with them. The crawler is engaged with the sprocket.

[0012] Furthermore, a second rotating shaft is rotatably connected between the two support plates. The sprocket is disposed on the second rotating shaft. A second driven wheel is provided at the end of the second rotating shaft. A number of arc grooves in contact with each other are provided on the side of the second driven wheel. A number of fifth guide posts are provided on one side of the second driven wheel. A second motor is provided on one of the support plates. A second driving wheel is provided at the movable end of the second motor. Pushing blocks in contact with the fifth guide posts are provided on the upper and lower sides of the second driving wheel. Arc-shaped blocks in contact with the arc grooves are provided on the left and right sides of the second driving wheel.

[0013] Furthermore, a third support frame is provided between the crawler wheel and the frame. The two ends of the third support frame are respectively rotatably connected to the crawler wheel and the frame and are parallel to the first support frame. The third support frame includes a first connecting member and a second connecting member. A sliding rod slidably connected to the second connecting member is provided at the end of the first connecting member. A second spring is sleeved outside the sliding rod. The second spring is provided between the first connecting member and the second connecting member.

[0014] Furthermore, a screw rod threadedly connected to the frame is provided at the end of the movable frame. A second spline shaft is provided at the end of the screw rod. A third driven wheel rotatably provided on the frame is further included. A spline sleeve sleeved outside the second spline shaft and rotatably connected to the frame is provided on the third driven wheel. A second spline groove slidably connected to the second spline shaft is provided on the spline sleeve. A sealing block slidably connected to the screw rod is provided on the frame.

[0015] Further, it further includes a third motor disposed on the frame. A third driving wheel is provided at the movable end of the third motor. A sixth guide post is provided on one side of the third driving wheel. A guiding groove slidably connected to the sixth guide post is provided on the third driven wheel. Second limiting blocks in contact with the sixth guide post are symmetrically and slidably connected in the guiding groove. A third spring is provided between the second limiting blocks and the third driven wheel. Limiting rods are slidably connected to both sides of the third driven wheel. A plurality of limiting grooves inserted and matched with the limiting rods are provided on the frame. A wedge-shaped rod is provided at the end of the limiting rod. A conical surface is provided on the side surface of the wedge-shaped rod. Wedge-shaped blocks are respectively provided on both sides of the third driving wheel. An inclined surface in contact with the conical surface is provided on one side of the wedge-shaped block. A protrusion is provided at the top of the limiting rod. A fourth spring is provided between the protrusion and the third driven wheel.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. When it is found that the buried pipe leaks, the crawler-type pipeline robot enters the buried pipe from the water inlet end. Then, the slide plate is driven to slide on the frame. Through the cooperation among the second support frame, the frame, the movable frame, the crawler wheels, and the first support frame, a plurality of crawler wheels are driven to expand outward together until a plurality of crawler wheels are simultaneously in contact with the buried pipe. The reaction force generated after the contact will limit the moving direction of the crawler-type pipeline robot in the buried pipe. Subsequently, a plurality of crawler wheels are driven to rotate, driving the crawler-type pipeline robot to move in the buried pipe. The internal picture of the pipeline is detected through the camera, and the possible leakage position of the buried pipe is initially searched for. It is not necessary to detect the entire section of the buried pipe by a detection structure, improving the detection efficiency of the crawler-type pipeline robot; 2. When encountering a buried pipe with a variable diameter, by adjusting the position of the movable frame on the frame, the distance between the crawler wheels and the frame is changed, enabling the crawler-type pipeline robot to adapt to the requirements of buried pipes with variable diameters and different inner diameters; in addition, it is not necessary to set multiple driving motors to adjust the positions of multiple crawler wheels relative to the frame, thereby reducing the algorithm difficulty of controlling the crawler-type pipeline robot, and further reducing the manufacturing cost and operation difficulty of the crawler-type pipeline robot; 3. During the movement of the movable frame, the output shaft will be driven to move together. At the same time, through the groove provided in the I-shaped sleeve in contact with the frame, the resistance generated after the contact between the two causes the first spline shaft provided at the end of the output shaft to slide relative to the I-shaped sleeve, enabling the first guide post provided at the end of the first spline shaft to further contact the chute provided at one end of the support arm. The generated component force drives the support arm to rotate around the end of the support rod, thereby adjusting the distance from the detection structure on the mounting seat at the other end of the support arm to the central axis of the frame, enabling the detection structure to detect buried pipes with variable diameters and different inner diameters. In addition, it is not necessary to additionally set a power device to drive the output shaft to slide on the frame, further reducing the space required for installing the power device and the cost required for manufacturing; 4. When leakage is found in the buried pipe, the output shaft is driven to rotate on the movable frame so that the first spline shaft provided on the end of the output shaft contacts the first spline groove provided on the I-shaped sleeve. The component force generated drives the I-shaped sleeve to rotate along with the output shaft, and drives the swing arm to rotate on the frame, so that the column makes a circular motion around the output shaft. Since the vertical groove provided on the end of the first spline shaft is slidably connected to the support arm, and the support arm is rotatably connected to the column, the support arm is driven to swing around the output shaft, so that the detection structure rotates around the buried pipe, and further accurately detects whether there is leakage in the buried pipe, thereby improving the detection effect of the crawler pipeline robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Attached Figure 1 It is a structural schematic diagram of the frame of the present invention.

[0018] Attached Figure 2 It is a structural schematic diagram of the movable frame of the present invention.

[0019] Attached Figure 3 It is a schematic diagram of the structure inside the frame of the present invention.

[0020] Attached Figure 4 The present invention is attached Figure 3 A partial enlarged view of area A in the middle.

[0021] Attached Figure 5 It is a schematic structural diagram of the first driving wheel of the present invention.

[0022] Attached Figure 6 It is a schematic structural diagram of the first driven wheel of the present invention.

[0023] Attached Figure 7 It is a structural schematic diagram of the second spline shaft of the present invention.

[0024] Attached Figure 8 It is a schematic structural diagram of the third driven wheel of the present invention.

[0025] Attached Figure 9 It is a schematic structural diagram of the sixth guide column of the present invention.

[0026] Attached Figure 10 It is a structural schematic diagram of the limiting rod of the present invention.

[0027] Attached Figure 11 It is a structural schematic diagram of the sprocket of the present invention.

[0028] Attached Figure 12 It is a structural schematic diagram of the second support frame of the present invention.

[0029] Attached Figure 13 The present invention is attached Figure 12 A partial enlarged view of area B in the middle.

[0030] AttachedFigure 14 This is a schematic structural diagram of the first connecting member of the present invention.

[0031] Reference numerals shown in the accompanying drawings: 1, frame; 2, buried pipe; 3, crawler wheel; 4, camera; 5, lighting structure; 6, movable frame; 7, first support frame; 8, second support frame; 9, output shaft; 10, first spline shaft; 11, swing arm; 12, I-shaped sleeve; 13, groove; 14, first spline groove; 15, support rod; 16, support arm; 17, mounting seat; 18, detection structure; 19, chute; 20, vertical groove; 21, first guide post; 22, fixed sleeve; 23, T-shaped groove; 24, T-shaped block; 25, first bevel gear; 26, first rotating shaft; 27, second bevel gear; 28, first motor; 29, first driving wheel; 30, first driven wheel; 31, second guide post; 32, third guide post; 33, convex block; 34, sealing groove; 35, sealing ring; 36, vertical block; 37, caster; 38, adjustment groove; 39, first limit block; 40, fourth guide post; 41, first spring; 42, support plate; 43, crawler; 44, sprocket; 45, guide wheel; 46, second rotating shaft; 47, second driven wheel; 48, arc groove; 49, fifth guide post; 50, second motor; 51, second driving wheel; 52, dial block; 53, arc block; 54, third support frame; 55, first connecting member; 56, second connecting member; 57, slide bar; 58, second spring; 59, screw; 60, second spline shaft; 61, third driven wheel; 62, spline sleeve; 63, sealing block; 64, third motor; 65, third driving wheel; 66, sixth guide post; 67, guide groove; 68, second limit block; 69, third spring; 70, limiting rod; 71, limiting groove; 72, wedge rod; 73, conical surface; 74, wedge block; 75, inclined surface; 76, protrusion; 77, fourth spring. Specific embodiments

[0032] The present invention will be further described below in conjunction with specific embodiments. It should be understood that these embodiments are only used to illustrate the present invention and not to limit the scope of the present invention. In addition, it should be understood that after reading the content taught by the present invention, those skilled in the art can make various changes or modifications to the present invention, and these equivalent forms also fall within the scope defined by this application.

[0033] The present invention provides a detection device for buried pipe leakage, as Figures 1 - 3As shown in the figure, it includes a frame 1 and a crawler wheel 3 in contact with the buried pipe 2. A camera 4 and a lighting structure 5 are provided at the head of the frame 1. With the cooperation of the lighting mechanism for illumination, the camera 4 is used to detect the internal picture of the pipeline, initially searching for the possible leakage positions of the buried pipe 2, without the need for the detection structure 18 to detect the entire section of the buried pipe 2, improving the detection efficiency of the crawler-type pipeline robot; a movable frame 6 is slidably connected to the frame 1, and it also includes a plurality of first support frames 7 and second support frames 8. The two ends of the first support frame 7 are respectively rotatably connected to the frame 1 and the crawler wheel 3, and the two ends of the second support frame 8 are respectively rotatably connected to the movable frame 6 and the crawler wheel 3; by driving the sliding plate to slide on the frame 1, one end of a plurality of second support frames 8 is driven to move together with the frame 1. Since the two ends of the second support frame 8 are respectively rotatably connected to the movable frame 6 and the crawler wheel 3, and at the same time, since the two ends of the first support frame 7 are respectively rotatably connected to the frame 1 and the crawler wheel 3, it plays a role in guiding the movement drive of the crawler wheel 3 on the frame 1, so as to drive a plurality of crawler wheels 3 to expand outward simultaneously until a plurality of crawler wheels 3 are in contact with the buried pipe 2 at the same time. The reaction force generated after contact will limit the movement direction of the crawler-type pipeline robot in the buried pipe 2; then drive a plurality of crawler wheels 3 to rotate to drive the crawler-type pipeline robot to move in the buried pipe 2; in addition, by adjusting the position of the movable frame 6 on the frame 1, the distance between the crawler wheel 3 and the frame 1 is changed, so that the crawler-type pipeline robot can adapt to the requirements of buried pipes 2 with variable diameters and different inner diameters. At the same time, there is no need to set multiple drive motors to adjust the positions of multiple crawler wheels 3 relative to the frame 1, thereby reducing the algorithm difficulty of controlling the crawler-type pipeline robot, and further reducing the manufacturing cost and operation difficulty of the crawler-type pipeline robot; The output shaft 9 is rotatably connected to the movable frame 6. A first spline shaft 10 is provided at the end of the output shaft 9. It further includes a swing arm 11 and an I-shaped sleeve 12 provided at the end of the swing arm 11. A groove 13 for rotatably connecting to the frame 1 is provided on the I-shaped sleeve 12, and a first spline groove 14 for slidably connecting to the first spline shaft 10 is provided. A support rod 15 is provided at the other end of the swing arm 11. A support arm 16 is rotatably connected to the support rod 15. A mounting seat 17 is rotatably connected to one end of the support arm 16. A detection structure 18 is provided on the mounting seat 17. A chute 19 is provided at the other end of the support arm 16. A vertical chute 20 for slidably connecting to the support arm 16 is provided at the end of the first spline shaft 10. A first guide post 21 for slidably connecting to the chute 19 is provided in the vertical chute 20. During the movement of the movable frame 6, the output shaft 9 will be driven to move together. At the same time, the groove 13 provided on the I-shaped sleeve 12 contacts the frame 1, and the resistance generated after the contact between the two causes the first spline shaft 10 provided at the end of the output shaft 9 to slide relative to the I-shaped sleeve 12, so that the first guide post 21 provided at the end of the first spline shaft 10 further contacts the chute 19 provided at one end of the support arm 16, and the generated component force drives the support arm 16 to rotate around the end of the support rod 15, thereby adjusting the distance from the detection structure 18 on the mounting seat 17 at the other end of the support arm 16 to the central axis of the frame 1, enabling the detection structure 18 to detect the buried pipe 2 with variable diameter and different inner diameters. In addition, there is no need to additionally provide a power device to drive the output shaft 9 to slide on the frame 1, further reducing the space required for installing the power device and the cost required for manufacturing; when it is found that the buried pipe 2 has a leakage situation, by driving the output shaft 9 to rotate on the movable frame 6, the first spline shaft 10 provided at the end of the output shaft 9 contacts the first spline groove 14 provided on the I-shaped sleeve 12, and the generated component force drives the I-shaped sleeve 12 to rotate together with the output shaft 9, driving the swing arm 11 to rotate on the frame 1, causing the upright column to make a circular motion around the output shaft 9. Since the vertical chute 20 provided at the end of the first spline shaft 10 is slidably connected to the support arm 16, and at the same time the support arm 16 is rotatably connected to the upright column, the support arm 16 will be driven to swing around the output shaft 9, causing the detection structure 18 to rotate around the buried pipe 2 for one circle, further accurately detecting whether the buried pipe 2 has a leakage, thereby improving the detection effect of the crawler-type pipeline robot.

[0034] Preferably, as Figure 5 and Figure 6As shown, a fixed sleeve 22 is provided on the movable frame 6. Specifically, several maintenance openings communicating with the T-shaped groove 23 are provided around the fixed sleeve 22, which is convenient for installing the first bevel gear 25 and the second bevel gear 27. In addition, a partition cover made of acrylic material is provided at the maintenance opening to prevent external dust from entering the T-shaped groove 23, affecting the meshing relationship between the first bevel gear 25 and the second bevel gear 27, thereby improving the stability of the overall structure of the pipeline robot and the efficiency of maintaining the buried pipe 2; a T-shaped groove 23 is provided on the fixed sleeve 22, and a T-shaped block 24 rotatably connected to the T-shaped groove 23 is provided at the end of the output shaft 9. The upper and lower sides of the T-shaped block 24 are respectively rotatably connected to the T-shaped groove 23. When the movable frame 6 slides on the frame 1, the T-shaped groove 23 provided on the fixed sleeve 22 of the movable frame 6 contacts the T-shaped block 24 provided at the end of the output shaft 9, and the generated component force will drive the output shaft 9 to move along with the movable frame 6. In addition, when the output shaft 9 rotates on the movable frame 6, since the T-shaped block 24 is rotatably connected to the T-shaped groove 23, the movable frame 6 is prevented from rotating together with the output shaft 9, thus ensuring that the output shaft 9 rotates normally on the movable frame 6 and driving the detection structure 18 to rotate around the central axis of the frame 1, thereby improving the detection effect of the crawler-type pipeline robot.

[0035] Preferably, as Figure 3 、 Figure 5 and Figure 6As shown, a first bevel gear 25 rotatably connected to the fixed sleeve 22 is provided on the T-shaped block 24. A first rotating shaft 26 is rotatably connected in the T-shaped groove 23. A second bevel gear 27 meshing with the first bevel gear 25 is provided on the first rotating shaft 26. A first motor 28 is provided in the T-shaped groove 23. A first driving wheel 29 is provided at the movable end of the first motor 28. A first driven wheel 30 is provided on the first rotating shaft 26. A plurality of second guide posts 31 are provided on the side of the first driven wheel 30. A plurality of third guide posts 32 are provided on one side of the first driving wheel 29. The plurality of third guide posts 32 are in contact with the corresponding second guide posts 31 and drive them to move to the position where the previous second guide post 31 is located. A convex block 33 is provided on the other side of the first driving wheel 29. One side of the convex block 33 is in contact with the end of the second guide post 31 and restricts the rotation of the first driven wheel 30 on the fixed sleeve 22. The first motor 28 drives the first driving wheel 29 to rotate on the fixed sleeve 22, driving the convex block 33 provided on one side to move together, so that it is no longer in contact with the end of the second guide post 31, releasing the restriction on the rotation of the first driven wheel 30 on the fixed sleeve 22. Then, the third guide posts 32 provided on the other side of the first driving wheel 29 are sequentially in contact with the corresponding second guide posts 31, and the generated component force drives the first driven wheel 30 to rotate on the fixed sleeve 22. Since both the first driven wheel 30 and the second bevel gear 27 are provided on the first rotating shaft 26, the second bevel gear 27 is driven to move together. Since the first bevel gear 25 provided on the T-shaped block 24 meshes with the second bevel gear 27, the output shaft 9 is driven to rotate on the movable frame 6, driving the detection structure 18 to rotate around the central axis of the frame 1. When the output shaft 9 rotates one circle, the convex block 33 comes into contact with the end of the first guide post 21 again. Through the resistance generated by the contact between the two, the rotation of the output shaft 9 on the movable frame 6 is restricted, avoiding the output shaft 9 being accidentally driven to rotate by an external force, changing the position of the detection structure 18, and affecting the subsequent normal detection of the leakage of the buried pipe 2, thereby improving the detection effect of the crawler-type pipeline robot. In addition, the power devices for driving the output shaft 9 to rotate are all provided in the T-shaped groove 23 of the fixed sleeve 22. On the one hand, it avoids the power devices being provided on one side of the frame 1, affecting the stability of the crawler-type pipeline robot during the moving process. On the other hand, the fixed sleeve 22 can play a protective role, preventing impurities in the buried pipe 2 from entering the power devices and affecting the connection effect between the components, thereby increasing the service life of the crawler-type pipeline robot and reducing the frequency and cost of maintaining the crawler-type pipeline robot.

[0036] Preferably, as Figure 5As shown, a sealing groove 34 communicating with the T-shaped groove 23 is provided on the fixed sleeve 22, and a sealing ring 35 in contact with the T-shaped block 24 is provided in the sealing groove 34, preventing impurities in the buried pipe 2 from flowing in through the gap between the T-shaped block 24 and the fixed sleeve 22, further improving the service life of the crawler-type pipeline robot, reducing the frequency and cost of maintaining the crawler-type pipeline robot, and improving the sealing effect between the inside of the fixed sleeve 22 and the outside world.

[0037] Preferably, as Figure 3 and Figure 4 shown, the detection structure 18 includes an ultrasonic probe arranged on the mounting seat 17. The crawler-type pipeline robot carries the ultrasonic probe into the buried pipe 2. After reaching the detection position, the ultrasonic probe emits ultrasonic pulses. When the ultrasonic waves propagate in the pipe wall and the internal medium and encounter defects such as leaks, part of the ultrasonic waves will be reflected back and received by the ultrasonic probe, and the received ultrasonic signal will be transmitted to the ground control terminal. Professionals use signal processing software to analyze the ultrasonic signal and judge whether there is a leak in the pipeline and the specific situation of the leak according to the signal characteristics; a number of vertical blocks 36 are provided on the mounting seat 17, and a universal wheel 37 in contact with the buried pipe 2 is rotatably connected to the vertical block 36. An adjustment groove 38 is provided at the end of the support arm 16, and a first limit block 39 is slidably connected in the adjustment groove 38. A fourth guide post 40 rotatably connected to the adjustment groove 38 is provided on the mounting seat 17. One side of the first limit block 39 is in contact with the fourth guide post 40. A first spring 41 is provided between the first limit block 39 and the support arm 16. When the movable frame 6 slides on the frame 1 and drives the mounting seat 17 to move towards the pipe wall of the buried pipe 2, when one of the universal wheels 37 is in contact with the pipe wall, the generated component force drives the mounting seat 17 to rotate on the support arm 16 until the remaining universal wheels 37 are simultaneously in contact with the pipe wall, so that the detection structure 18 is slidably arranged on the pipe wall, controlling the distance between the detection structure 18 and the pipe wall, so that the detection structure 18 is always in the best detection position during the movement process, thereby improving the detection effect of the crawler-type pipeline robot. In addition, during the movement of the movable frame 6, if a number of universal wheels 37 provided on the mounting seat 17 are in contact with the pipe wall first and the crawler wheels 3 are not in contact with the pipe wall yet, the acting force generated by further contact will drive the fourth guide post 40 provided on the mounting seat 17 to slide in the adjustment groove 38 provided on the support arm 16 and further contact with the first limit block 39, driving it to slide in the adjustment groove 38 and simultaneously compressing the first spring 41 provided between the first limit block 39 and the support arm 16 until multiple crawler wheels 3 are simultaneously in contact with the pipe wall, thereby compensating for the error generated by the movable frame 6 driving the crawler wheels 3 and the detection structure 18 to slide on buried pipes 2 with different inner diameters; When encountering the buried pipe 2 with a variable diameter, the acting force generated by the contact between the universal wheels 37 and the pipe wall drives the fourth guide post 40 to rotate in the adjustment groove 38. The component force, combined with the resilience generated after the compression of the first spring 41, will drive the mounting seat 17 to move on the support arm 16 until the multiple universal wheels 37 provided on the mounting seat 17 come into contact with the pipe wall again, while ensuring that the distance between the detection structure 18 and the pipe wall is in the optimal state, thereby improving the efficiency of the tracked pipeline robot in detecting the buried pipe 2 with a variable diameter.

[0038] Preferably, as Figure 11 shown, the crawler wheel 3 includes two support plates 42 rotatably connected to the first support frame 7 and the second support frame 8, and a crawler 43, a sprocket 44 and a plurality of guide wheels 45 arranged between the two support plates 42. The crawler 43 is sleeved outside the sprocket 44 and the plurality of guide wheels 45 and is in contact with them. The crawler 43 is meshed with the sprocket 44. The crawler 43, the sprocket 44 and the plurality of guide wheels 45 fixed by the support plates 42 support the crawler 43 through the guide wheels 45 to prevent it from deviating from the predetermined track, and the sprocket 44 provides power for the rotation of the crawler 43.

[0039] Preferably, as Figure 11 、 Figure 12 and Figure 13As shown, a second rotating shaft 46 is rotatably connected between the two support plates 42. The sprocket 44 is arranged on the second rotating shaft 46. The end of the second rotating shaft 46 is provided with a second driven wheel 47. The side of the second driven wheel 47 is provided with a plurality of arc-shaped grooves 48 in contact with each other. One side of the second driven wheel 47 is provided with a plurality of fifth guide posts 49. A second motor 50 is arranged on one of the support plates 42. The movable end of the second motor 50 is provided with a second driving wheel 51. The upper and lower sides of the second driving wheel 51 are provided with blocks 52 in contact with the fifth guide posts 49. The left and right sides of the second driving wheel 51 are provided with arc-shaped blocks 53 in contact with the arc-shaped grooves 48. By driving the second driving wheel 51 to rotate through the second motor 50, the arc-shaped block 53 provided on the upper side of the second driving wheel 51 slides out of the arc-shaped groove 48, releasing the restriction on the rotation of the second driven wheel 47. Then, through the contact between the block 52 provided on the right side of the second driving wheel 51 and the fifth guide post 49, the generated component force drives the second driven wheel 47 to rotate on the support plate 42, and the torque is transmitted through the second rotating shaft 46 to drive the sprocket 44 to rotate between the two support plates 42, providing power for the rotation of the crawler 43. In addition, after each drive of the crawler 43, the arc-shaped block 53 provided on the other side of the second driving wheel 51 enters the next arc-shaped groove 48, and through the resistance generated by the contact between the two, the rotation of the second driven wheel 47 on the support plate 42 is restricted, avoiding the forward movement of the crawler-type pipeline robot from stopping. When using the detection structure 18 to detect the buried pipe 2, if an external force accidentally drives the second driven wheel 47 to rotate, resulting in the movement of the crawler-type pipeline robot in the buried pipe 2, it will affect the detection effect of the detection structure 18, thereby improving the detection effect of the crawler-type pipeline robot; in addition, the second motor 50 is arranged inside the crawler wheel 3, further improving the stability of the overall structure. At the same time, since the driving mode of the sprocket 44 is that the block 52 drives the fifth guide post 49 to rotate, when impurities in the buried pipe 2 enter it, it will not affect the connection relationship between the two, thereby improving the service life of the crawler-type pipeline robot, reducing the number and cost of maintaining the crawler-type pipeline robot, and improving the sealing effect between the inside of the fixed sleeve 22 and the outside.

[0040] Preferably, as Figure 12 and Figure 14As shown, a third support frame 54 is provided between the crawler wheel 3 and the frame 1. The two ends of the third support frame 54 are respectively rotatably connected to the crawler wheel 3 and the frame 1, and are parallel to the first support frame 7, so as to ensure that during the unfolding and folding of several crawler wheels 3, the central axes of the crawler wheels 3 and the frame 1 are parallel to each other, ensuring that the crawler-type pipeline robot moves forward in the non-variable-diameter buried pipe 2; the third support frame 54 includes a first connecting member 55 and a second connecting member 56. A sliding rod 57 slidably connected to the second connecting member 56 is provided at the end of the first connecting member 55. A second spring 58 is sleeved outside the sliding rod 57. The second spring 58 is arranged between the first connecting member 55 and the second connecting member 56. When encountering a variable-diameter buried pipe 2, if one side of the first support frame 7 contacts the pipe wall first, and further moves the movable frame 6 on the support, since one end of the crawler wheel 3 cannot move further, the thrust generated by the second support frame 8 will drive the crawler wheel 3 to tilt until the crawler wheel 3 is completely in contact with the pipe wall. At the same time, the resilience generated after the compression of the second spring 58 will drive the relative movement of the first connecting member 55 and the second connecting member 56. If one side of the third support frame 54 contacts the pipe wall first, and further moves the movable frame 6 on the support, since the other end of the crawler wheel 3 cannot move further, the thrust generated by the second support frame 8 will drive the crawler wheel 3 to tilt in the reverse direction until the crawler wheel 3 is completely in contact with the pipe wall. At the same time, the acting force of the support on the third support frame 54 will cause the first connecting member 55 and the second connecting member 56 to move relatively in the reverse direction, compressing the spring between the first connecting member 55 and the second connecting member 56, thus ensuring the normal movement of the crawler-type pipeline robot in the variable-diameter buried pipe 2. In addition, there is no need to additionally set a power device to adjust the angle and position of the crawler wheel 3, further reducing the space required for the installation of the power device and the cost required for manufacturing, while reducing the algorithm difficulty of controlling the crawler-type pipeline robot, and thus reducing the manufacturing cost and operation difficulty of the crawler-type pipeline robot.

[0041] Preferably, as Figure 7 , Figure 8 and Figure 9As shown, a screw rod 59 threadedly connected to the frame 1 is provided at the end of the movable frame 6. A second spline shaft 60 is provided at the end of the screw rod 59. Further included is a third driven wheel 61 rotatably provided on the frame 1. A spline sleeve 62 sleeved outside the second spline shaft 60 and rotatably connected to the frame 1 is provided on the third driven wheel 61. The spline sleeve 62 is provided with a second spline groove slidably connected to the second spline shaft 60. A sealing block 63 slidably connected to the screw rod 59 is provided on the frame 1. By rotating the third driven wheel 61 on the frame 1, the spline sleeve 62 is driven to rotate together. Since the second spline shaft 60 is slidably connected to the second spline groove provided on the spline sleeve 62, the screw rod 59 will be driven to rotate on the frame 1. Since the screw rod 59 is threadedly connected to the frame 1, the movable frame 6 is caused to slide on the frame 1, changing the positions of the detection structure 18 and the crawler wheels 3 on the frame 1, realizing the movement and detection of the crawler-type pipeline robot on variable-diameter and different-inner-diameter buried pipes 2.

[0042] Preferably, as Figure 7 , Figure 8 , Figure 9 and Figure 10As shown in the figure, it further includes a third motor 64 arranged on the frame 1. A third driving wheel 65 is provided at the movable end of the third motor 64. A sixth guide post 66 is provided on one side of the third driving wheel 65. A guide groove 67 slidably connected to the sixth guide post 66 is provided on the third driven wheel 61. Second limit blocks 68 in contact with the sixth guide post 66 are symmetrically and slidably connected in the guide groove 67. A third spring 69 is provided between the second limit block 68 and the third driven wheel 61. Limit rods 70 are slidably connected to both sides of the third driven wheel 61. A number of limit grooves 71 inserted and matched with the limit rods 70 are provided on the frame 1. A wedge-shaped rod 72 is provided at the end of the limit rod 70. A conical surface 73 is provided on the side of the wedge-shaped rod 72. Wedge-shaped blocks 74 are respectively provided on both sides of the third driving wheel 65. An inclined surface 75 in contact with the conical surface 73 is provided on one side of the wedge-shaped block 74. A protrusion 76 is provided at the top of the limit rod 70. A fourth spring 77 is provided between the protrusion 76 and the third driven wheel 61. By driving the third driving wheel 65 to rotate through the third motor 64, the wedge-shaped blocks 74 provided on both sides of the third driving wheel 65 are driven to move, and the inclined surface 75 provided on one side of the wedge-shaped block 74 is in contact with the conical surface 73 provided on the side of the wedge-shaped rod 72, and the generated component force drives the limit rod 70 to slide on the second driven wheel 47 and compresses the fourth spring 77 provided between the third driven wheel 61 and the protrusion 76. At the same time, the sixth guide post 66 provided on one side of the third driving wheel 65 slides in the guide groove 67 and contacts the second limit block 68, and the generated component force drives the second limit block 68 to slide in the guide groove 67 and compresses the third spring 69 provided between the second limit block 68 and the third driven wheel 61 until the limit rod 70 slides out of the corresponding limit groove 71, releasing the restriction on the rotation of the third driven wheel 61. Further rotate the third driving wheel 65 on the frame 1, and transmit the thrust through the third spring 69 to drive the third driven wheel 61 to rotate together with the third driving wheel 65, changing the positions of the detection structure 18 and the track wheels 3 on the frame 1, so as to realize the movement and detection of the tracked pipeline robot on the variable-diameter and different-inner-diameter buried pipes 2. When the detection structure 18 and the track wheels 3 move in place, the power applied to the third motor 64 is withdrawn. Under the action of the spring force of the third spring 69, the corresponding second limit block 68 is driven to reset, and at the same time, the third driving wheel 65 is driven to rotate relative to the third driven wheel 61, so that the wedge-shaped blocks 74 provided on the third driving wheel 65 move in the reverse direction until the inclined surface 75 provided on the wedge-shaped block 74 is no longer in contact with the conical surface 73 provided on the wedge-shaped rod 72, and under the action of the resilience of the fourth spring 77, the limit rod 70 is driven to reset until the limit rod 70 enters the corresponding limit groove 71 and restricts the rotation of the third driven wheel 61 on the frame 1, thereby avoiding the unintentional driving of the screw 59 to rotate by external force and changing the positions of the detection structure 18 and the track wheels 3 on the frame 1, and further improving the stability of the overall structure and the detection effect of the tracked pipeline robot.

[0043] Embodiment 1 The present invention provides a detection device for buried pipe leakage, as Figures 1 - 3 shown. In the initial state, multiple crawler wheels 3 of the crawler-type pipeline robot are in a closed state, facilitating its entry into the buried pipe 2; When it is found that the buried pipe 2 leaks, first drain the heat exchange medium of the buried pipe 2, open the water inlet end of the buried pipe 2, and let the crawler-type pipeline robot enter the buried pipe 2 from the water inlet end. Then drive the slide plate to slide on the frame 1, driving one end of several second support frames 8 to move together with the frame 1. Since both ends of the second support frame 8 are rotatably connected to the movable frame 6 and the crawler wheel 3 respectively, and at the same time, since both ends of the first support frame 7 are rotatably connected to the frame 1 and the crawler wheel 3 respectively, which plays a role in driving and guiding the movement of the crawler wheel 3 on the frame 1, thus driving multiple crawler wheels 3 to expand outward simultaneously until multiple crawler wheels 3 are in contact with the buried pipe 2 at the same time. The reaction force generated after the contact will limit the movement direction of the crawler-type pipeline robot in the buried pipe 2. Subsequently, drive multiple crawler wheels 3 to rotate, driving the crawler-type pipeline robot to move in the buried pipe 2, and implement the detection of the internal picture of the pipeline through the camera 4 to initially find the possible leakage position of the buried pipe 2, without the need to detect the entire section of the buried pipe 2 by the detection structure 18, improving the detection efficiency of the crawler-type pipeline robot; when encountering a buried pipe 2 with a variable diameter, by adjusting the position of the movable frame 6 on the frame 1, changing the distance between the crawler wheel 3 and the frame 1, enabling the crawler-type pipeline robot to adapt to the requirements of buried pipes 2 with different diameters and different inner diameters; in addition, there is no need to set multiple driving motors to adjust the positions of multiple crawler wheels 3 relative to the frame 1, thereby reducing the algorithm difficulty of controlling the crawler-type pipeline robot, and further reducing the manufacturing cost and operation difficulty of the crawler-type pipeline robot; In addition, during the movement of the movable frame 6, the output shaft 9 will be driven to move together. At the same time, through the groove 13 provided in the I-shaped sleeve 12 in contact with the frame 1, the resistance generated after the contact between the two makes the first spline shaft 10 provided at the end of the output shaft 9 slide relative to the I-shaped sleeve 12, so that the first guide post 21 provided at the end of the first spline shaft 10 further contacts the chute 19 provided at one end of the support arm 16, and the generated component force drives the support arm 16 to rotate around the end of the support rod 15, thereby adjusting the distance from the detection structure 18 on the mounting seat 17 at the other end of the support arm 16 to the central axis of the frame 1, enabling the detection structure 18 to detect buried pipes 2 with different diameters and different inner diameters. In addition, there is no need to additionally set a power device to drive the output shaft 9 to slide on the frame 1, further reducing the space required for installing the power device and the cost required for manufacturing; When it is found that the buried pipe 2 has a leakage situation, by driving the output shaft 9 to rotate on the movable frame 6, the first spline shaft 10 provided at the end of the output shaft 9 is in contact with the first spline groove 14 provided on the I-shaped sleeve 12. The generated component force drives the I-shaped sleeve 12 to rotate together with the output shaft 9, driving the swing arm 11 to rotate on the frame 1, so that the column makes a circular motion around the output shaft 9. Since the vertical groove 20 provided at the end of the first spline shaft 10 is slidably connected to the support arm 16, and at the same time the support arm 16 is rotatably connected to the column, it will drive the support arm 16 to swing around the output shaft 9, so that the detection structure 18 rotates around the buried pipe 2 for one circle, further accurately detecting whether the buried pipe 2 has leakage, thereby improving the detection effect of the tracked pipeline robot.

[0044] Embodiment 2 On the basis of Embodiment 1, as Figure 3 、 Figure 5 and Figure 6 shown, when the movable frame 6 slides on the frame 1, the T-shaped groove 23 provided on the fixed sleeve 22 of the movable frame 6 is in contact with the T-shaped block 24 provided at the end of the output shaft 9. The generated component force will drive the output shaft 9 to move along with the movable frame 6. In addition, when the driving output shaft 9 rotates on the movable frame 6, since the T-shaped block 24 is rotatably connected to the T-shaped groove 23, it prevents the movable frame 6 from rotating together with the output shaft 9, thus ensuring that the output shaft 9 rotates normally on the movable frame 6, driving the detection structure 18 to rotate around the central axis of the frame 1, thereby improving the detection effect of the tracked pipeline robot.

[0045] When the buried pipe 2 initially leaks, the first motor 28 drives the first driving wheel 29 to rotate on the fixed sleeve 22, driving the convex block 33 provided on one side to move together, so that it is no longer in contact with the end of the second guide post 31, releasing the restriction on the rotation of the first driven wheel 30 on the fixed sleeve 22. Then, the third guide post 32 provided on the other side of the first driving wheel 29 contacts the corresponding second guide post 31 in turn. The generated component force drives the first driven wheel 30 to rotate on the fixed sleeve 22. Since both the first driven wheel 30 and the second bevel gear 27 are arranged on the first rotating shaft 26, it drives the second bevel gear 27 to move together. Since the first bevel gear 25 provided on the T-shaped block 24 meshes with the second bevel gear 27, it further drives the output shaft 9 to rotate on the movable frame 6, driving the detection structure 18 to rotate around the central axis of the frame 1, and the ultrasonic probe emits ultrasonic pulses. Through the propagation of ultrasonic waves in the pipe wall and internal medium, when encountering defects such as leakage, part of the ultrasonic waves will be reflected back and received by the ultrasonic probe, and the received ultrasonic signal will be transmitted to the ground control terminal. Professional personnel use signal processing software to analyze the ultrasonic signal, and judge whether the pipeline has leakage and the specific situation of the leakage according to the signal characteristics; After the output shaft 9 rotates one full circle, the convex block 33 comes into contact with the end of the first guide post 21 again. Through the resistance generated by the contact between the two, the rotation of the output shaft 9 on the movable frame 6 is restricted, preventing the output shaft 9 from being inadvertently driven by an external force to rotate, changing the position of the detection structure 18, and affecting the subsequent normal detection of the leakage of the buried pipe 2. Furthermore, the detection effect of the crawler-type pipeline robot is improved. In addition, the power devices for driving the rotation of the output shaft 9 are all arranged in the T-shaped groove 23 of the fixed sleeve 22. On the one hand, this avoids setting the power devices on one side of the frame 1, which affects the stability of the crawler-type pipeline robot during movement. On the other hand, the fixed sleeve 22 can play a protective role, preventing impurities in the buried pipe 2 from entering the power devices and affecting the connection effect between various components. Thus, the service life of the crawler-type pipeline robot is extended, and the frequency and cost of maintaining the crawler-type pipeline robot are reduced. In addition, the sealing ring 35 is arranged in the sealing groove 34 provided in the fixed sleeve 22 and contacts the T-shaped block 24, preventing impurities in the buried pipe 2 from flowing in through the gap between the T-shaped block 24 and the fixed sleeve 22, further improving the service life of the crawler-type pipeline robot, reducing the frequency and cost of maintaining the crawler-type pipeline robot, and enhancing the sealing effect between the inside of the fixed sleeve 22 and the outside.

[0046] Embodiment 3 Based on Embodiment 2, as Figure 3 and Figure 4 shown, when the movable frame 6 slides on the frame 1 and drives the mounting seat 17 to move towards the pipe wall of the buried pipe 2, one of the universal wheels 37 contacts the pipe wall, and the generated component force drives the mounting seat 17 to rotate on the support arm 16 until the remaining universal wheels 37 contact the pipe wall simultaneously, enabling the detection structure 18 to be slidably arranged on the pipe wall, controlling the distance between the detection structure 18 and the pipe wall, and ensuring that the detection structure 18 is always in the optimal detection position during movement. Furthermore, the detection effect of the crawler-type pipeline robot is improved. In addition, during the movement of the movable frame 6, if several universal wheels 37 provided on the mounting seat 17 contact the pipe wall first and the crawler wheels 3 have not yet contacted the pipe wall, the further generated acting force will drive the fourth guide post 40 provided on the mounting seat 17 to slide in the adjustment groove 38 provided on the support arm 16 and further contact the first limit block 39, driving it to slide in the adjustment groove 38 and simultaneously compressing the first spring 41 provided between the first limit block 39 and the support arm 16 until multiple crawler wheels 3 contact the pipe wall simultaneously, thereby compensating for the error generated when the movable frame 6 drives the crawler wheels 3 and the detection structure 18 to slide on buried pipes 2 with different inner diameters. When encountering the buried pipe 2 with a changing diameter, the acting force generated by the contact of the universal wheels 37 with the pipe wall will produce a component force that drives the fourth guide post 40 to rotate in the adjustment groove 38. In cooperation with the resilience generated after the compression of the first spring 41, it will drive the mounting seat 17 to move on the support arm 16 until the multiple universal wheels 37 provided on the mounting seat 17 come into contact with the pipe wall again, while ensuring that the distance between the detection structure 18 and the pipe wall is in the optimal state, thereby improving the efficiency of the tracked pipeline robot in detecting the buried pipe 2 with a changing diameter.

[0047] Embodiment 4 On the basis of Embodiment 1, as Figure 11 、 Figure 12 and Figure 13 shown, the second motor 50 drives the second driving wheel 51 to rotate, so that the arc-shaped block 53 provided on the upper side of the second driving wheel 51 slides out of the arc-shaped groove 48, releasing the restriction on the rotation of the second driven wheel 47. Then, the dial block 52 provided on the right side of the second driving wheel 51 contacts the fifth guide post 49, and the generated component force drives the second driven wheel 47 to rotate on the support plate 42, and transmits the torque through the second rotating shaft 46 to drive the sprocket 44 to rotate between the two support plates 42, providing power for the rotation of the crawler 43. In addition, after each drive of the crawler 43, the arc-shaped block 53 provided on the other side of the second driving wheel 51 enters the next arc-shaped groove 48, and the resistance generated by their contact will restrict the rotation of the second driven wheel 47 on the support plate 42, avoiding the tracked pipeline robot from moving forward when using the detection structure 18 to detect the buried pipe 2, and accidentally driving the second driven wheel 47 to rotate, resulting in the tracked pipeline robot moving in the buried pipe 2 and affecting the detection effect of the detection structure 18, thereby improving the detection effect of the tracked pipeline robot; in addition, the second motor 50 is arranged in the crawler wheel 3, further improving the stability of the overall structure. At the same time, since the driving mode of the sprocket 44 is that the dial block 52 drives the fifth guide post 49 to rotate, when impurities in the buried pipe 2 enter it, it will not affect the connection relationship between the two, thereby improving the service life of the tracked pipeline robot, reducing the number and cost of maintaining the tracked pipeline robot, and improving the sealing effect between the inside of the fixed sleeve 22 and the outside.

[0048] Embodiment 5 On the basis of Embodiment 1, as Figure 12 and Figure 14 shown, a third support frame 54 is provided between the crawler wheel 3 and the frame 1. The two ends of the third support frame 54 are respectively rotationally connected to the crawler wheel 3 and the frame 1, and are parallel to the first support frame 7, so as to ensure that during the process of the expansion and contraction of several crawler wheels 3, the central axes of the crawler wheel 3 and the frame 1 are parallel to each other, ensuring that the tracked pipeline robot moves forward in the non-changing-diameter buried pipe 2; In addition, the third support frame 54 includes a first connecting member 55 and a second connecting member 56. A sliding rod 57 is provided at the end of the first connecting member 55 and is slidably connected to the second connecting member 56. A second spring 58 is sleeved outside the sliding rod 57. The second spring 58 is arranged between the first connecting member 55 and the second connecting member 56. When encountering a variable-diameter buried pipe 2, if one side of the first support frame 7 comes into contact with the pipe wall first, and further moves the movable frame 6 on the support, since one end of the crawler wheel 3 cannot move further, the thrust generated by the second support frame 8 will drive the crawler wheel 3 to tilt until the crawler wheel 3 is completely in contact with the pipe wall. At the same time, the resilience generated after the compression of the second spring 58 will drive the relative movement of the first connecting member 55 and the second connecting member 56. If one side of the third support frame 54 comes into contact with the pipe wall first, and further moves the movable frame 6 on the support, since the other end of the crawler wheel 3 cannot move further, the thrust generated by the second support frame 8 will drive the crawler wheel 3 to tilt in the opposite direction until the crawler wheel 3 is completely in contact with the pipe wall. At the same time, the force exerted by the support on the third support frame 54 will cause the first connecting member 55 and the second connecting member 56 to move relatively in the opposite direction, compressing the spring between the first connecting member 55 and the second connecting member 56, so as to ensure the normal movement of the tracked pipeline robot in the variable-diameter buried pipe 2. In addition, there is no need to additionally set a power device to adjust the angle and position of the crawler wheel 3, further reducing the space required for the installation of the power device and the cost required for manufacturing, while reducing the algorithm difficulty of controlling the tracked pipeline robot, and thus reducing the manufacturing cost and operation difficulty of the tracked pipeline robot.

[0049] Embodiment 6 On the basis of Embodiment 1, as Figure 7 , Figure 8 , Figure 9 and Figure 10As shown in the figure, when it is necessary to change the positions of the detection structure 18 and the crawler wheel 3 on the frame 1, the third driving wheel 65 is driven to rotate by the third motor 64, driving the wedge blocks 74 provided on both sides of the third driving wheel 65 to move. The inclined surface 75 provided on one side of the wedge block 74 contacts the conical surface 73 provided on the side surface of the wedge rod 72, and the generated component force drives the limiting rod 70 to slide on the third driven wheel 61 and compress the fourth spring 77 provided between the third driven wheel 61 and the protrusion 76. At the same time, the sixth guide post 66 provided on one side of the third driving wheel 65 slides in the guide groove 67 and contacts the second limiting block 68, and the generated component force drives the second limiting block 68 to slide in the guide groove 67 and compress the third spring 69 provided between the second limiting block 68 and the third driven wheel 61 until the limiting rod 70 slides out of the corresponding limiting groove 71, releasing the restriction on the rotation of the third driven wheel 61. Further, the third driving wheel 65 is rotated on the frame 1, and the thrust is transmitted through the third spring 69 to drive the third driven wheel 61 to rotate together with the third driving wheel 65, thereby driving the spline sleeve 62 provided on the third driven wheel 61 to rotate together. Since the second spline shaft 60 is slidably connected to the second spline groove provided on the spline sleeve 62, the screw rod 59 will be driven to rotate on the frame 1. Since the screw rod 59 is threadedly connected to the frame 1, the movable frame 6 slides on the frame 1, changing the positions of the detection structure 18 and the crawler wheel 3 on the frame 1, realizing the movement and detection of the crawler-type pipeline robot on the variable-diameter and different-inner-diameter buried pipes 2; After the detection structure 18 and the crawler wheel 3 are moved in place, the power applied to the third motor 64 is withdrawn. Under the action of the spring force of the third spring 69, the corresponding second limiting block 68 is driven to reset, and at the same time, the third driving wheel 65 is driven to rotate relative to the third driven wheel 61, causing the wedge block 74 provided on the third driving wheel 65 to move in the reverse direction until the inclined surface 75 provided on the wedge block 74 no longer contacts the conical surface 73 provided on the wedge rod 72. Under the action of the resilience of the fourth spring 77, the limiting rod 70 is driven to reset until the limiting rod 70 enters the corresponding limiting groove 71 and restricts the rotation of the third driven wheel 61 on the frame 1, thereby preventing the screw rod 59 from being inadvertently driven to rotate by an external force and changing the positions of the detection structure 18 and the crawler wheel 3 on the frame 1, and further improving the stability of the overall structure and the detection effect of the crawler-type pipeline robot.

Claims

1. A detection device for buried pipe leakage, comprising a frame (1) and a crawler wheel (3) in contact with the buried pipe (2), wherein a camera (4) and a lighting structure (5) are provided at the head of the frame (1), and it is characterized in that: A movable frame (6) is slidably connected to the frame (1). There are also several first support frames (7) and second support frames (8). Both ends of the first support frame (7) are rotatably connected to the frame (1) and the crawler wheel (3) respectively. Both ends of the second support frame (8) are rotatably connected to the movable frame (6) and the crawler wheel (3) respectively. An output shaft (9) is rotatably connected to the movable frame (6). A first spline shaft (10) is provided at the end of the output shaft (9). There is also a swing arm (11) and an I-shaped sleeve (12) provided at the end of the swing arm (11). A groove (13) for rotatably connecting to the frame (1) and a first spline groove (14) for slidably connecting to the first spline shaft (10) are provided on the I-shaped sleeve (12). A support rod (15) is provided at the other end of the swing arm (11). A support arm (16) is rotatably connected to the support rod (15). A mounting seat (17) is rotatably connected to one end of the support arm (16). A detection structure (18) is provided on the mounting seat (17). A chute (19) is provided at the other end of the support arm (16). A vertical groove (20) for slidably connecting to the support arm (16) is provided at the end of the first spline shaft (10). A first guide post (21) for slidably connecting to the chute (19) is provided in the vertical groove (20).

2. The detection device for buried pipe leakage according to claim 1, wherein: A fixed sleeve (22) is provided on the movable frame (6). A T-shaped groove (23) is provided on the fixed sleeve (22). A T-shaped block (24) for rotatably connecting to the T-shaped groove (23) is provided at the end of the output shaft (9). The upper and lower sides of the T-shaped block (24) are rotatably connected to the T-shaped groove (23) respectively.

3. The detection device for buried pipe leakage according to claim 2, characterized in that: A first bevel gear (25) for rotatably connecting to the fixed sleeve (22) is provided on the T-shaped block (24). A first rotating shaft (26) is rotatably connected in the T-shaped groove (23). A second bevel gear (27) meshing with the first bevel gear (25) is provided on the first rotating shaft (26). A first motor (28) is provided in the T-shaped groove (23). A first driving wheel (29) is provided at the movable end of the first motor (28). A first driven wheel (30) is provided on the first rotating shaft (26). Several second guide posts (31) are provided on the side of the first driven wheel (30). Several third guide posts (32) are provided on one side of the first driving wheel (29). The several third guide posts (32) are in contact with the corresponding second guide posts (31) and drive them to move to the position where the previous second guide post (31) is located. A convex block (33) is provided on the other side of the first driving wheel (29). One side of the convex block (33) is in contact with the end of the second guide post (31) and restricts the first driven wheel (30) from rotating on the fixed sleeve (22).

4. The detection device for buried pipe leakage according to claim 2, characterized in that: A sealing groove (34) communicating with the T-shaped groove (23) is provided on the fixed sleeve (22). A sealing ring (35) in contact with the T-shaped block (24) is provided in the sealing groove (34).

5. The detection device for buried pipe leakage according to claim 1, characterized in that: The detection structure (18) includes an ultrasonic probe disposed on the mounting base (17). A plurality of vertical blocks (36) are provided on the mounting base (17). A universal wheel (37) in contact with the buried pipe (2) is rotatably connected to the vertical block (36). An adjustment groove (38) is provided at the end of the support arm (16). A first limit block (39) is slidably connected in the adjustment groove (38). A fourth guide post (40) rotatably connected to the adjustment groove (38) is provided on the mounting base (17). One side of the first limit block (39) is in contact with the fourth guide post (40). A first spring (41) is provided between the first limit block (39) and the support arm (16).

6. The detection device for buried pipe leakage according to claim 1, wherein: The crawler wheel (3) includes two support plates (42) rotatably connected to the first support frame (7) and the second support frame (8), as well as a crawler (43), a sprocket (44), and a plurality of guide wheels (45) disposed between the two support plates (42). The crawler (43) is sleeved outside the sprocket (44) and the plurality of guide wheels (45) and is in contact with them. The crawler (43) meshes with the sprocket (44).

7. The detection device for buried pipe leakage according to claim 6, wherein: A second rotating shaft (46) is rotatably connected between the two support plates (42). The sprocket (44) is disposed on the second rotating shaft (46). A second driven wheel (47) is provided at the end of the second rotating shaft (46). A plurality of arc-shaped grooves (48) in contact with each other are provided on the side surface of the second driven wheel (47). A plurality of fifth guide posts (49) are provided on one side of the second driven wheel (47). A second motor (50) is provided on one of the support plates (42). A second driving wheel (51) is provided at the movable end of the second motor (50). Pushing blocks (52) in contact with the fifth guide posts (49) are provided on the upper and lower sides of the second driving wheel (51). Arc-shaped blocks (53) in contact with the arc-shaped grooves (48) are provided on the left and right sides of the second driving wheel (51).

8. The detection device for buried pipe leakage according to claim 1, characterized in that: A third support frame (54) is provided between the crawler wheel (3) and the frame (1). The two ends of the third support frame (54) are respectively rotatably connected to the crawler wheel (3) and the frame (1) and are parallel to the first support frame (7). The third support frame (54) includes a first connecting member (55) and a second connecting member (56). A sliding rod (57) slidably connected to the second connecting member (56) is provided at the end of the first connecting member (55). A second spring (58) is sleeved outside the sliding rod (57). The second spring (58) is provided between the first connecting member (55) and the second connecting member (56).

9. The detection device for buried pipe leakage according to claim 1, characterized in that: The end of the movable frame (6) is provided with a screw rod (59) threadedly connected to the frame (1). The end of the screw rod (59) is provided with a second spline shaft (60). It further includes a third driven wheel (61) rotatably arranged on the frame (1). A spline sleeve (62) sleeved on the outer side of the second spline shaft (60) and rotatably connected to the frame (1) is arranged on the third driven wheel (61). The spline sleeve (62) is provided with a second spline groove slidably connected to the second spline shaft (60). A sealing block (63) slidably connected to the screw rod (59) is arranged on the frame (1).

10. The detection device for buried pipe leakage according to claim 9, wherein: It further includes a third motor (64) arranged on the frame (1). A third driving wheel (65) is arranged at the movable end of the third motor (64). A sixth guide post (66) is arranged on one side of the third driving wheel (65). A guide groove (67) slidably connected to the sixth guide post (66) is arranged on the third driven wheel (61). Second limit blocks (68) in contact with the sixth guide post (66) are symmetrically and slidably connected in the guide groove (67). A third spring (69) is arranged between the second limit blocks (68) and the third driven wheel (61). Limit rods (70) are slidably connected to both sides of the third driven wheel (61). A number of limit grooves (71) inserted and matched with the limit rods (70) are arranged on the frame (1). A wedge-shaped rod (72) is arranged at the end of the limit rod (70). A conical surface (73) is arranged on the side surface of the wedge-shaped rod (72). Wedge-shaped blocks (74) are respectively arranged on both sides of the third driving wheel (65). An inclined surface (75) in contact with the conical surface (73) is arranged on one side of the wedge-shaped block (74). A protrusion (76) is arranged at the top of the limit rod (70). A fourth spring (77) is arranged between the protrusion (76) and the third driven wheel (61).

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