A deformation detection device for underground drain pipes

Abstract

The application relates to the technical field of pipeline detection, and provides a deformation detection device for an underground drainage pipe, wherein the deformation detection device for the underground drainage pipe comprises a travelling vehicle and a camera installed on the travelling vehicle; a stabilizing mechanism, the stabilizing mechanism comprises a stabilizing seat and a telescopic supporting mechanism, the stabilizing seat is arranged above the travelling vehicle, the telescopic supporting mechanism is connected to both sides of the travelling vehicle along the width direction of the travelling vehicle, the telescopic supporting mechanism comprises a first telescopic rod and a supporting wheel, the first end of the first telescopic rod is connected to the stabilizing seat, the supporting wheel is connected to the second end of the first telescopic rod, the first telescopic rod can be telescopically extended along the width direction of the travelling vehicle, and the supporting wheel can be supported on the inner wall of the underground drainage pipe along the length direction of the travelling vehicle, and the working stability and the operation reliability of the deformation detection device for the underground drainage pipe are excellent.

Description

Technical Field

[0001] This application relates to the field of pipeline inspection technology, and more specifically, to a deformation detection device for underground drainage pipes. Background Technology

[0002] Underground drainage pipe systems play a vital role in collecting and discharging urban sewage, industrial wastewater, and rainwater, and are typically buried deep underground. Due to their unique underground service environment, these pipes are subjected to a variety of complex external forces over long periods, including foundation settlement, changes in ground load, and disturbances from surrounding construction, inevitably leading to structural deformation. This deformation significantly alters the stress distribution within the pipe wall, creating highly dangerous stress concentration zones at the deformed areas. Prolonged exposure to high stress concentration makes the pipe material highly susceptible to fatigue damage, which can then lead to and propagate cracks, ultimately causing pipe rupture, leaks, ground subsidence, environmental pollution, and even public safety incidents, resulting in significant economic losses and social impacts. Therefore, regular and precise inspection of the deformation of the inner walls of underground drainage pipes and assessment of their structural integrity are crucial for ensuring the safe and stable operation of this urban "lifeline."

[0003] Currently, the industry commonly uses underground drainage pipe deformation detection robots that can autonomously travel inside pipelines to perform this task. The core component of such robots is an electrically controlled trolley equipped with a camera. Its working principle involves driving the trolley inside the pipeline, using the camera to collect real-time image data of the pipeline's inner wall, and then identifying deformed areas through subsequent image analysis. However, this technical solution has a significant inherent drawback: because the inner wall of drainage pipes has a continuous curved surface, when the electrically controlled trolley travels at the bottom of the pipe, especially when encountering uneven pipe walls, foreign objects, or bends, it is very prone to tipping over. Tipping over not only interrupts the detection process and, in severe cases, can damage expensive detection equipment (such as cameras), but also leads to detection failure due to the inability to obtain effective image data, greatly reducing the overall stability and reliability of the drainage pipe deformation detection robot. Summary of the Invention

[0004] In view of this, this application provides a deformation detection device for underground drainage pipes to solve the technical problems of poor working stability and operational reliability of existing drainage pipe deformation detection robots.

[0005] This application provides a deformation detection device for underground drainage pipes, wherein the deformation detection device for underground drainage pipes includes: The vehicle and the camera mounted on the vehicle; A stabilizing mechanism includes a stabilizing base and a telescopic support mechanism. The stabilizing base is disposed above the traveling vehicle. The telescopic support mechanism is connected to both sides of the stabilizing base along the width direction of the traveling vehicle. The telescopic support mechanism includes a first telescopic rod and a support wheel. The first end of the first telescopic rod is connected to the stabilizing base, and the support wheel is connected to the second end of the first telescopic rod. The first telescopic rod can extend and retract along the width direction of the traveling vehicle, and the support wheel can travel along the length direction of the traveling vehicle and support the inner wall of the underground drainage pipe.

[0006] Furthermore, the telescopic support mechanism includes a plurality of first telescopic rods arranged at intervals along the length direction of the traveling vehicle.

[0007] Furthermore, the stabilizing seat is positioned above the traveling vehicle via a lifting drive mechanism. The deformation detection device for the underground drainage pipe includes a traveling drive mechanism mounted on the stabilizing seat. When the support wheels of the telescopic support mechanisms on both sides of the stabilizing seat are supported on the inner wall of the underground drainage pipe, the lifting drive mechanism can drive the traveling vehicle to rise to a suspended position. In the suspended position, the traveling drive mechanism can rub against the inner wall of the underground drainage pipe to drive the deformation detection device for the underground drainage pipe to travel within the underground drainage pipe.

[0008] Furthermore, the travel drive mechanism includes a second telescopic rod rotatably connected to the stable seat. The end of the second telescopic rod is connected to a flexible friction element. In the suspended position, when the second telescopic rod rotates, it can drive the flexible friction element to rotate. The flexible friction element can make frictional contact with the inner wall of the underground drainage pipe once for each rotation.

[0009] Furthermore, the traveling drive mechanism includes an external gear ring and a first gear that mesh with each other. The external gear ring is rotatably connected above the stable seat, and the first gear is rotatably connected to the stable seat via a gear shaft. The second telescopic rod is connected to the gear shaft. The traveling vehicle includes traveling wheels and a motor for driving the traveling wheels. The deformation detection device for the underground drainage pipe also includes a power clutch. The power clutch is driven by the motor. When the traveling vehicle rises to a suspended position and reaches a predetermined position relative to the stable seat, the power clutch engages with the external gear ring to drive the motor to the external gear ring. When the traveling vehicle descends away from the predetermined position, the power clutch disengages from the external gear ring.

[0010] Furthermore, the traveling drive mechanism includes a mating sleeve connected to the inner side of the external gear ring. The mating sleeve has a downward mating hole, and the sidewall of the mating hole forms a sliding channel extending radially along the mating sleeve. A slidable coupling head is provided in the sliding channel, and the coupling head is connected to the channel wall of the sliding channel by an elastic element. The power clutch is a vertical rotating shaft, the lower end of which is drivenly connected to the motor. A locking hole is provided on the side of the upper end of the vertical rotating shaft. When the traveling vehicle reaches a predetermined position relative to the stabilizer, the coupling head enters the locking hole, so that when the vertical rotating shaft rotates, it can push the coupling head to rotate around the axis of the vertical rotating shaft. When the traveling vehicle descends and leaves the predetermined position, the coupling head leaves the locking hole.

[0011] Furthermore, the locking hole extends along the circumferential direction of the vertical rotation axis. The connector includes a rectangular slider and a semi-circular locking block connected to the first end of the rectangular slider. The rectangular slider is located in the sliding channel. The second end of the rectangular slider is connected to the channel wall of the sliding channel through the elastic element. The semi-circular locking block protrudes from the sliding channel. The arc-shaped surface of the semi-circular locking block faces the center of the docking hole of the mating sleeve. The two sides of the semi-circular locking block form a first vertical contact surface. The locking hole forms a second vertical contact surface at both ends along the circumferential direction of the vertical rotation axis. When the connector enters the locking hole and the vertical rotation axis rotates until the second vertical contact surface contacts and engages with the first vertical contact surface and continues to rotate, the second vertical contact surface can push the first vertical contact surface to rotate axially around the vertical rotation axis.

[0012] Furthermore, the stabilizing seat forms a vertical through cavity, the docking hole of the docking sleeve faces the vertical through cavity, the traveling vehicle includes a chassis and a power compartment disposed above the chassis, the camera and the traveling wheels are both mounted on the chassis, the motor is located in the power compartment, the lower end of the vertical rotating shaft passes through the upper end of the power compartment, and the upward projection of the outer contour of the power compartment is located in the vertical through cavity, so that when the traveling vehicle rises to the suspended position, the power compartment is accommodated in the vertical through cavity.

[0013] Furthermore, the deformation detection device for the underground drainage pipe also includes an auxiliary traveling mechanism. The auxiliary traveling mechanism and the gear shaft are respectively arranged on both sides of the stabilizing seat along the width direction of the traveling vehicle. The auxiliary traveling mechanism includes a third telescopic rod and an auxiliary wheel. The auxiliary wheel can travel and support itself on the inner wall of the underground drainage pipe. The first end of the third telescopic rod is connected to the stabilizing seat, and the auxiliary wheel is rotatably connected to the second end of the third telescopic rod.

[0014] Furthermore, the first telescopic rod, the second telescopic rod, and the third telescopic rod are all driven to extend and retract by cylinders.

[0015] The beneficial effects of the deformation detection device for underground drainage pipes provided by this invention are as follows: Compared to existing technologies, the deformation detection device for underground drainage pipes provided by this invention includes a stabilizing mechanism in addition to the two core components, the traveling vehicle and the camera. This stabilizing mechanism comprises a stabilizing base and a telescopic support mechanism. The telescopic support mechanism is connected to both sides of the stabilizing base along the width direction of the traveling vehicle. Each telescopic support mechanism includes a first telescopic rod and support wheels. The support wheels can travel along the length direction of the traveling vehicle and support the inner wall of the underground drainage pipe. Therefore, when the traveling vehicle is working in the underground drainage pipe, it can be supported by the support wheels in the telescopic support mechanisms on both sides of the inner wall of the underground drainage pipe. During travel, the support wheels also travel along the inner wall of the underground drainage pipe, thus guiding and stabilizing the vehicle's movement. This effectively prevents the vehicle from overturning when traveling independently, thereby improving the stability and reliability of the underground drainage pipe deformation detection device. Furthermore, since the first telescopic rod can extend and retract along the width of the vehicle, its length can be adjusted to match underground drainage pipes of different diameters. This ensures that the stabilizing mechanism can guide and stabilize the vehicle's movement when the deformation detection device is used in underground drainage pipes of different diameters.

[0016] Other beneficial effects of the present invention will be described below. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a three-dimensional schematic diagram of a deformation detection device for underground drainage pipes according to an embodiment of this application; Figure 2 This is another perspective view of a deformation detection device for underground drainage pipes according to an embodiment of this application; Figure 3 This is another perspective view of a deformation detection device for underground drainage pipes according to an embodiment of this application; Figure 4 This is another perspective view of a deformation detection device for underground drainage pipes according to an embodiment of this application; Figure 5 for Figure 4 Enlarged view of point A in the middle; Figure 6 This is a schematic diagram illustrating the application of a deformation detection device for underground drainage pipes according to an embodiment of this application in an underground drainage pipe. Figure 7 This is a diagram showing the assembly relationship of some components in a deformation detection device for underground drainage pipes according to an embodiment of this application. Figure 8 This is another diagram showing the fit and arrangement of some components in a deformation detection device for underground drainage pipes according to an embodiment of this application; Figure 9 This is a schematic diagram of the transmission principle of some components in a deformation detection device for underground drainage pipes according to an embodiment of this application; Figure 10 This is a perspective view of some components in a deformation detection device for underground drainage pipes according to an embodiment of this application; Figure 11 This is a perspective view of the traveling vehicle in the deformation detection device for underground drainage pipes according to an embodiment of this application; Figure 12 for Figure 11 Enlarged view of point B in the middle.

[0019] Explanation of reference numerals in the attached figures: 1-Camera; 2-Ear plate; 3-First telescopic rod; 4-Support wheel; 5-Underground drainage pipe; 6-Second telescopic rod; 7-Flexible friction element; 8-External gear ring; 9-First gear; 10-Gear shaft; 11-Elastic element; 12-Lifting cylinder; 13-Third telescopic rod; 14-Auxiliary wheel; 15-Heightening wheel axle; 16-First cylinder; 17-Second cylinder; 18-Third cylinder; 81-Rotating ring; 82-Matching ring head; 100-Traveling vehicle; 101-Traveling wheel; 102-Motor; 103-Output shaft; 10 4-Second gear; 105-Vertical transmission shaft; 106-Third gear; 107-First bevel gear; 108-Second bevel gear; 109-Chassis; 110-Power compartment; 200-Stabilizing seat; 201-Ring seat; 203-Vertical through cavity; 300-Mating sleeve; 301-Mating hole; 302-Sliding channel; 400-Mating joint; 401-Rectangular slider; 402-Semi-circular locking block; 403-First vertical contact surface; 500-Vertical rotation shaft; 501-Locking hole; 502-Second vertical contact surface. Detailed Implementation

[0020] To facilitate understanding of this application, a more comprehensive description will be provided below with reference to the accompanying drawings. One or at least three embodiments of this application are exemplarily shown in the drawings to provide a more accurate and thorough understanding of the technical solutions disclosed herein. However, it should be understood that this application can be implemented in many different forms and is not limited to the embodiments described below.

[0021] In the accompanying drawings of this application, the same or similar reference numerals correspond to the same or similar components. In the description of this application, it should be understood that if terms such as "upper," "lower," "left," "right," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, they are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the drawings are only for illustrative purposes and should not be construed as limiting this application. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0022] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, if "and / or" or "and / or" appears throughout the text, its meaning includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously.

[0023] Furthermore, the technical solutions of the various embodiments can be combined with each other, but only if they are based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0024] See Figures 1 to 6 This application provides a deformation detection device for underground drainage pipes, wherein the deformation detection device for underground drainage pipes includes: The vehicle 100 and the camera 1 installed on the vehicle 100 are provided, and the camera 1 is preferably located at the front of the vehicle 100 in the direction of travel. The stabilizing mechanism includes a stabilizing seat 200 and a telescopic support mechanism. The stabilizing seat 200 is positioned above the traveling vehicle 100. Telescopic support mechanisms are connected to both sides of the stabilizing seat 200 along the width direction of the traveling vehicle 100. The telescopic support mechanism includes a first telescopic rod 3 and a support wheel 4. The first end of the first telescopic rod 3 is connected to the stabilizing seat 200, and the support wheel 4 is connected to the second end of the first telescopic rod 3. The first telescopic rod 3 can extend and retract along the width direction of the traveling vehicle 100, and the support wheel 4 can travel along the length direction of the traveling vehicle 100 and support the inner wall of the underground drainage pipe 5.

[0025] In addition to the two core components, the traveling vehicle 100 and the camera 1, the deformation detection device for underground drainage pipes provided by this invention also includes a stabilizing mechanism. The stabilizing mechanism comprises a stabilizing base 200 and a telescopic support mechanism. The stabilizing base 200 is connected to telescopic support mechanisms on both sides along the width direction of the traveling vehicle 100. Each telescopic support mechanism includes a first telescopic rod 3 and support wheels 4. The support wheels 4 can travel along the length direction of the traveling vehicle 100 and support the inner wall of the underground drainage pipe 5. Therefore, when the traveling vehicle 100 travels and works within the underground drainage pipe 5, it can be supported by the support wheels 4 in the telescopic support mechanisms on both sides, allowing the traveling vehicle 100 to move smoothly within the underground drainage pipe 5. The support wheel 4 also travels along the inner wall of the underground drainage pipe 5, thereby guiding and stabilizing the movement of the traveling vehicle 100. This effectively prevents the traveling vehicle 100 from overturning when traveling independently, thus improving the working stability and operational reliability of the underground drainage pipe deformation detection device. In addition, since the first telescopic rod 3 can extend and retract along the width of the traveling vehicle 100, the length of the first telescopic rod 3 can be adjusted to match underground drainage pipes 5 of different diameters. This ensures that when the underground drainage pipe deformation detection device works in underground drainage pipes 5 of different diameters, the stabilizing mechanism can guide and stabilize the movement of the traveling vehicle 100.

[0026] According to one embodiment of this application, the telescopic support mechanism includes a plurality of first telescopic rods 3 arranged at intervals along the length direction of the traveling vehicle 100. For example, each telescopic support mechanism includes two first telescopic rods 3, and the second end of each first telescopic rod 3 is connected to a support wheel 4. This can better guide and stabilize the traveling process of the traveling vehicle 100. The plurality of first telescopic rods 3 in the same telescopic support mechanism can be independently telescopically controlled or can form a synchronous linkage.

[0027] According to one embodiment of this application, the stabilizing seat 200 is mounted above the traveling vehicle 100 via a lifting drive mechanism. The deformation detection device for the underground drainage pipe includes a traveling drive mechanism mounted on the stabilizing seat 200. When the support wheels 4 of the telescopic support mechanisms on both sides of the stabilizing seat 200 are supported on the inner wall of the underground drainage pipe 5, the lifting drive mechanism can drive the traveling vehicle 100 to rise to a suspended position. In the suspended position, the traveling drive mechanism can rub against the inner wall of the underground drainage pipe 5 to drive the deformation detection device for the underground drainage pipe to travel in the underground drainage pipe 5. When there are obstacles in the underground drainage pipe 5... When obstacles such as clumps, branches, or garbage are encountered, the lifting drive mechanism can drive the traveling vehicle 100 to a suspended position, allowing the traveling vehicle 100 to be at a height higher than the obstacle. Then, the traveling drive mechanism rubs against the inner wall of the underground drainage pipe 5, driving the deformation detection device of the underground drainage pipe to move within the underground drainage pipe 5. After the entire deformation detection device of the underground drainage pipe has passed the obstacle, the traveling vehicle 100 can be lowered and supported at the bottom of the inner wall of the underground drainage pipe 5. Thus, the traveling vehicle 100 itself continues to drive the deformation detection device of the entire underground drainage pipe to work.

[0028] According to a specific embodiment of this application, the traveling drive mechanism includes a second telescopic rod 6 rotatably connected to the stable seat 200. The end of the second telescopic rod 6 is connected to a flexible friction element 7. The flexible friction element 7 can be a circular, semi-circular, or spherical rubber structure, etc. In the suspended position, when the second telescopic rod 6 rotates, it can drive the flexible friction element 7 to rotate. The flexible friction element 7 can make friction contact with the inner wall of the underground drainage pipe 5 once for each rotation. Each rotation of the second telescopic rod 6 drives the flexible friction element 7 to rotate to the position of contact with the inner wall of the underground drainage pipe 5. By rubbing against the inner wall of the underground drainage pipe 5, the inner wall of the underground drainage pipe 5 gives the flexible friction element 7 a reaction force in the opposite direction, thereby pushing the traveling drive mechanism forward, thereby driving the stable seat 200 forward, and finally realizing the forward movement of the entire underground drainage pipe deformation detection device.

[0029] According to a specific embodiment of this application, the travel drive mechanism includes an external gear ring 8 and a first gear 9 that mesh with each other. The external gear ring 8 is rotatably connected above the stable seat 200, and the first gear 9 is rotatably connected to the stable seat 200 via a gear shaft 10. The second telescopic rod 6 is connected to the gear shaft 10. The traveling vehicle 100 includes a traveling wheel 101 and a motor 102 for driving the traveling wheel 101. The deformation detection device for underground drainage pipes also includes a power clutch component, which is connected to the motor 102. When the traveling vehicle 100 rises to a suspended position and reaches a predetermined position relative to the stable seat 200, the power clutch component engages with the external gear ring 8 to make the motor 102 connected to the external gear ring 8. When the traveling vehicle 100 descends away from the predetermined position, the power clutch component separates from the external gear ring 8. In this embodiment, the travel drive mechanism is driven by the power source (motor 102) of the traveling vehicle 100 itself, making full use of the power system of the deformation detection device for underground drainage pipes.

[0030] Of course, as another embodiment, the travel drive mechanism can also be driven by a separate power system.

[0031] According to a specific embodiment of this application, a rotating ring 81 is provided at the lower end of the external gear ring 8, and a mating ring head 82 is formed at the lower end of the rotating ring 81. An annular seat 201 is provided at the upper end of the stabilizing seat 200, and an annular groove is formed on the upper surface of the annular seat 201. The mating ring head 82 is rotatably limited in the annular groove. Auxiliary rotating components such as bearings can also be provided between the annular groove and the mating ring head 82. A lug plate 2 is installed on the side of the annular seat 201, and the gear shaft 10 can be installed on the lug plate 2.

[0032] See Figures 1 to 3 , Figure 5 , Figure 7 , Figure 8 as well as Figures 10 to 12According to one embodiment of this application, the driving mechanism includes a mating sleeve 300 connected to the inner side of the external gear ring 8. The mating sleeve 300 has a downward mating hole 301. The sidewall of the mating hole 301 forms a sliding channel 302 extending radially along the mating sleeve 300. A slidable coupling head 400 is provided in the sliding channel 302. The coupling head 400 is connected to the channel wall of the sliding channel 302 by an elastic member 11. The power clutch is a vertical rotating shaft 500. The lower end of the vertical rotating shaft 500 is connected to the motor 102 for transmission. A locking hole is provided on the side of the upper end of the vertical rotating shaft 500. 501. When the traveling vehicle 100 reaches the predetermined position relative to the stabilizing seat 200, the coupling 400 enters the locking hole 501, so that when the vertical rotating shaft 500 rotates, it can push the coupling 400 to rotate around the axis of the vertical rotating shaft 500. When the traveling vehicle 100 descends and leaves the predetermined position, the coupling 400 leaves the locking hole 501. If the traveling vehicle 100 rises to the predetermined position relative to the stabilizing seat 200, the coupling 400 is pressed against the outer peripheral wall of the vertical rotating shaft 500. At this time, it is only necessary to control the rotation of the vertical rotating shaft 500, and the coupling 400 will eventually enter the locking hole 501.

[0033] According to a specific embodiment of this application, the slot 501 extends circumferentially along the vertical rotation axis 500. The connector 400 includes a rectangular slider 401 and a semi-circular locking block 402 connected to the first end of the rectangular slider 401. The rectangular slider 401 is located in the sliding channel 302. The second end of the rectangular slider 401 is connected to the channel wall of the sliding channel 302 by an elastic element 11 (e.g., a spring). The semi-circular locking block 402 protrudes from the sliding channel 302, and the arcuate surface of the semi-circular locking block 402 faces the mating sleeve 3. The center of the mating hole 301 of 00, the two sides of the semi-circular locking block 402 form a first vertical contact surface 403, and the two ends of the locking hole 501 along the circumferential direction of the vertical rotation shaft 500 form a second vertical contact surface 502. When the mating joint 400 enters the locking hole 501 and the vertical rotation shaft 500 rotates until the second vertical contact surface 502 contacts and engages with the first vertical contact surface 403 and continues to rotate, the second vertical contact surface 502 can push the first vertical contact surface 403 to rotate around the axial direction of the vertical rotation shaft 500.

[0034] According to a preferred embodiment of this application, the stabilizer 200 forms a vertical through cavity 203, the docking hole 301 of the docking sleeve 300 faces the vertical through cavity 203, the vehicle 100 includes a chassis 109 and a power compartment 110 disposed above the chassis 109, the camera 1 and the driving wheels 101 are both mounted on the chassis 109, the motor 102 is located in the power compartment 110, the lower end of the vertical rotating shaft 500 passes through the upper end of the power compartment 110, and the upward projection of the outer contour of the power compartment 110 is located in the vertical through cavity 203, so that the vehicle 100... When raised to the suspended position, the power compartment 110 is contained (either fully or partially) in the vertical through cavity 203. The lifting drive mechanism can be a lifting cylinder 12. The cylinder body of each of the two lifting cylinders 12 is installed on the cavity wall of the vertical through cavity 203 of the stabilizer 200. The piston rod of each lifting cylinder 12 is connected downward to the chassis 109 of the traveling vehicle 100. The two sides of the power compartment 110 form clearance grooves for the piston rod of the cylinder to pass through. A known shock absorption structure (such as a spring shock absorber) can also be provided between the piston rod of the cylinder and the chassis 109.

[0035] See Figure 9 According to a specific embodiment of this application, the output shaft 103 of the motor 102 can be arranged vertically upwards. The output shaft 103 is connected to the lower end of the vertical rotation shaft 500. A second gear 104 can be installed on the output shaft 103. The traveling vehicle 100 includes a vertical transmission shaft 105. A third gear 106 is provided at the upper end of the vertical transmission shaft 105. The third gear 106 meshes with the second gear 104. A first bevel gear 107 is provided at the lower end of the vertical transmission shaft 105. The first bevel gear 107 is arranged in the chassis 109. A second bevel gear 108 can also be provided in the chassis 109. The second bevel gear 108 meshes with the first bevel gear 107. Then, the second bevel gear 108 is connected to the traveling wheel 101 of the traveling vehicle 100 through a known mechanical transmission mechanism (such as a gear transmission mechanism, a pulley transmission mechanism, a sprocket transmission mechanism, etc.).

[0036] See Figures 1 to 6 According to a preferred embodiment of this application, the deformation detection device for underground drainage pipes further includes an auxiliary traveling mechanism. The auxiliary traveling mechanism and the gear shaft 10 are respectively arranged on both sides of the stabilizing seat 200 along the width direction of the traveling vehicle 100. The auxiliary traveling mechanism includes a third telescopic rod 13 and an auxiliary wheel 14. The auxiliary wheel 14 can travel and support itself on the inner wall of the underground drainage pipe 5. The first end of the third telescopic rod 13 is connected to the stabilizing seat 200, and the auxiliary wheel 14 is rotatably connected to the second end of the third telescopic rod 13. On the one hand, the auxiliary traveling mechanism can form a gravitational balance with the second telescopic rod 6 and the first gear 9. On the other hand, when the second telescopic rod 6 drives the flexible friction element 7 to rub against one side of the inner wall of the underground drainage pipe 5, it can also form a better auxiliary support effect on the other side of the inner wall of the drainage pipe.

[0037] See Figures 1 to 6 According to one embodiment of this application, the first telescopic rod 3, the second telescopic rod 6, and the third telescopic rod 13 are all driven to extend and retract by cylinders. Specifically, the first telescopic rod 3 is driven by a first cylinder 16, the second telescopic rod 6 is driven by a second cylinder 17, and the third telescopic rod 13 is driven by a third cylinder 18. The first telescopic rod 3 includes multiple nested first sleeves, the second telescopic rod 6 includes multiple nested second sleeves, and the third telescopic rod 13 includes multiple nested third sleeves. The cylinder body of the first cylinder 16 is mounted on the stabilizing seat 200, and the piston rod of the first cylinder 16 and the support wheel 4 are connected to the last sleeve of the multiple first sleeves. Each telescopic support mechanism includes multiple first extension... When the first telescopic rod 3 is retracted, the corresponding final sleeves of each first telescopic rod 3 of the same telescopic support mechanism are connected to each other through a synchronization frame. At this time, the piston rod of the first cylinder 16 can be connected to the synchronization frame. The cylinder body of the second cylinder 17 is installed on the first sleeve of the multi-stage second sleeve, and the piston rod of the second cylinder 17 is connected to the final sleeve of the multi-stage second sleeve. The cylinder body of the third cylinder 18 is installed on the first sleeve of the multi-stage third sleeve, and the piston rod of the third cylinder 18 and the auxiliary wheel 14 are connected to the final sleeve of the multi-stage third sleeve. The final sleeve of the multi-stage third sleeve is equipped with a heightening wheel axle 15, and the auxiliary wheel 14 is installed on the upper end of the heightening wheel axle 15. The auxiliary wheel 14 is preferably at the same height as the flexible friction element 7.

[0038] It should be noted that the above embodiments only illustrate preferred embodiments of this application, and their descriptions are relatively specific and detailed, but they should not be construed as limiting this application. It should be pointed out that those skilled in the art can make several modifications and improvements without departing from the concept of this application, such as combining different features in various embodiments, and these should all fall within the protection scope of this application.

Claims

1. A deformation detection device for underground drainage pipes, characterized in that, The deformation detection device for the underground drainage pipe includes: The vehicle and the camera mounted on the vehicle; A stabilizing mechanism includes a stabilizing base and a telescopic support mechanism. The stabilizing base is disposed above the traveling vehicle. The telescopic support mechanism is connected to both sides of the stabilizing base along the width direction of the traveling vehicle. The telescopic support mechanism includes a first telescopic rod and a support wheel. A first end of the first telescopic rod is connected to the stabilizing base, and the support wheel is connected to a second end of the first telescopic rod. The first telescopic rod can extend and retract along the width direction of the traveling vehicle, and the support wheel can travel along the length direction of the traveling vehicle and support the inner wall of the underground drainage pipe. The telescopic support mechanism includes a plurality of first telescopic rods arranged at intervals along the length direction of the traveling vehicle.

2. The deformation detection device for underground drainage pipes according to claim 1, characterized in that, The stabilizing seat is mounted above the traveling vehicle via a lifting drive mechanism. The deformation detection device for the underground drainage pipe includes a traveling drive mechanism mounted on the stabilizing seat. When the support wheels of the telescopic support mechanisms on both sides of the stabilizing seat are supported on the inner wall of the underground drainage pipe, the lifting drive mechanism can drive the traveling vehicle to rise to a suspended position. In the suspended position, the traveling drive mechanism can rub against the inner wall of the underground drainage pipe to drive the deformation detection device for the underground drainage pipe to travel in the underground drainage pipe.

3. The deformation detection device for underground drainage pipes according to claim 2, characterized in that, The travel drive mechanism includes a second telescopic rod rotatably connected to the stable seat. A flexible friction element is connected to the end of the second telescopic rod. In the suspended position, when the second telescopic rod rotates, it can drive the flexible friction element to rotate. The flexible friction element can make friction contact with the inner wall of the underground drainage pipe once for each rotation.

4. The deformation detection device for underground drainage pipes according to claim 3, characterized in that, The traveling drive mechanism includes an external gear ring and a first gear that mesh with each other. The external gear ring is rotatably connected above the stable seat. The first gear is rotatably connected to the stable seat via a gear shaft. A second telescopic rod is connected to the gear shaft. The traveling vehicle includes traveling wheels and a motor for driving the traveling wheels. The deformation detection device for the underground drainage pipe also includes a power clutch. The power clutch is driven by the motor. When the traveling vehicle rises to a suspended position and reaches a predetermined position relative to the stable seat, the power clutch engages with the external gear ring to drive the motor to the external gear ring. When the traveling vehicle descends away from the predetermined position, the power clutch disengages from the external gear ring.

5. The deformation detection device for underground drainage pipes according to claim 4, characterized in that, The traveling drive mechanism includes a mating sleeve connected to the inner side of the external gear ring. The mating sleeve has a downward mating hole, and the sidewall of the mating hole forms a sliding channel extending radially along the mating sleeve. A slidable coupling head is provided in the sliding channel, and the coupling head is connected to the channel wall of the sliding channel by an elastic element. The power clutch is a vertical rotating shaft, the lower end of which is connected to the motor drive. A locking hole is provided on the side of the upper end of the vertical rotating shaft. When the traveling vehicle reaches a predetermined position relative to the stabilizer, the coupling head enters the locking hole, so that when the vertical rotating shaft rotates, it can push the coupling head to rotate around the axis of the vertical rotating shaft. When the traveling vehicle descends and leaves the predetermined position, the coupling head leaves the locking hole.

6. The deformation detection device for underground drainage pipes according to claim 5, characterized in that, The locking hole extends along the circumferential direction of the vertical rotation axis. The connector includes a rectangular slider and a semi-circular locking block connected to the first end of the rectangular slider. The rectangular slider is located in the sliding channel. The second end of the rectangular slider is connected to the channel wall of the sliding channel through the elastic element. The semi-circular locking block protrudes from the sliding channel. The arc-shaped surface of the semi-circular locking block faces the center of the mating hole of the mating sleeve. The two sides of the semi-circular locking block form a first vertical contact surface. The locking hole forms a second vertical contact surface at both ends along the circumferential direction of the vertical rotation axis. When the connector enters the locking hole and the vertical rotation axis rotates until the second vertical contact surface contacts and engages with the first vertical contact surface and continues to rotate, the second vertical contact surface can push the first vertical contact surface to rotate axially around the vertical rotation axis.

7. The deformation detection device for underground drainage pipes according to claim 6, characterized in that, The stabilizing seat forms a vertical through cavity, and the docking hole of the docking sleeve faces the vertical through cavity. The traveling vehicle includes a chassis and a power compartment disposed above the chassis. The camera and the traveling wheels are both mounted on the chassis. The motor is located in the power compartment. The lower end of the vertical rotating shaft passes through the upper end of the power compartment. The upward projection of the outer contour of the power compartment is located in the vertical through cavity, so that when the traveling vehicle rises to the suspended position, the power compartment is accommodated in the vertical through cavity.

8. The deformation detection device for underground drainage pipes according to claim 7, characterized in that, The deformation detection device for the underground drainage pipe also includes an auxiliary traveling mechanism. The auxiliary traveling mechanism and the gear shaft are respectively arranged on both sides of the stabilizing seat along the width direction of the traveling vehicle. The auxiliary traveling mechanism includes a third telescopic rod and an auxiliary wheel. The auxiliary wheel can travel and support itself on the inner wall of the underground drainage pipe. The first end of the third telescopic rod is connected to the stabilizing seat, and the auxiliary wheel is rotatably connected to the second end of the third telescopic rod.

9. The deformation detection device for underground drainage pipes according to claim 8, characterized in that, The first, second, and third telescopic rods are all driven to extend and retract by cylinders.

10. The deformation detection device for underground drainage pipes according to claim 9, characterized in that, The first telescopic rod includes multiple nested first sleeves, the second telescopic rod includes multiple nested second sleeves, and the third telescopic rod includes multiple nested third sleeves. A heightening wheel axle is installed on the last sleeve of the multiple third sleeves, and an auxiliary wheel is installed on the upper end of the heightening wheel axle.

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