A sonar structure of a pipeline inspection robot

Abstract

The utility model provides a pipeline detection robot sonar structure, which includes a cylinder body, a sound-transmitting cover, a driving assembly and a transducer, wherein a first chamber with an open front end is formed in the cylinder body, the open end of the first chamber is provided with a first thread, and a flange is provided on the side wall of the cylinder body; the sound-transmitting cover is sealed and connected to the open end of the cylinder body, and a second chamber with an open rear end is formed in the sound-transmitting cover, and the second chamber is interconnected with the first chamber to form a sealed chamber; the driving assembly includes a motor seat fixed in the first chamber and a driving motor installed on the motor seat, and the output shaft of the driving motor is parallel to the axis of the sound-transmitting cover; the transducer is located in the second chamber, and the transducer is fixed on the output shaft of the driving motor and can rotate with the rotation of the output shaft. The utility model pipeline detection robot sonar structure is easy to process, has low manufacturing cost and high precision, can adapt to deep water environment, has a wide range of adaptability, good flexibility in use, fast response, high detection efficiency and good effect.

Description

Technical Field

[0001] The utility model relates to a pipeline detection device, in particular to a pipeline detection robot sonar structure. Background Art

[0002] With the rapid development of urbanization in China, the scale of urban construction has been expanding, and the health of urban drainage pipe networks is also facing serious problems such as sedimentation blockage, accumulation and corruption, deformation, infiltration, backflow, etc. Therefore, it is urgent to detect the drainage pipe networks of different forms in the city, find out the health status of the pipe networks, and propose effective solutions.

[0003] Early pipeline inspection methods were mainly traditional methods, such as manual ground inspection, in-pipe inspection, and inspection by reflecting sunlight into the pipeline with the help of simple equipment such as reflectors. These traditional inspection methods are subject to many factors, poor inspection results, and high costs. In particular, when the pipeline is small in size and complex in structure, manual inspection is impossible. At present, advanced pipeline inspection methods at home and abroad mainly use crawling robot TV inspection (CCTV inspection), acoustic sonar inspection, and pipeline leak location inspection. Moreover, with the widespread application of sonar technology in the civilian field, different forms of pipeline inspection robot sonars can measure and display the contours of drainage pipes in real time, and can accurately locate and quantify pipeline defects. They have excellent performance such as low error rate, portability, low power consumption, and stability, and have good market application prospects.

[0004] However, the current inspection of pipelines with different structural forms still has obvious pain points, such as safety hazards for operators, low inspection methods and efficiency, high labor costs, etc. Utility Model Content

[0005] Technical issues to be solved

[0006] The technical problem to be solved by the utility model is to provide a pipeline detection robot sonar structure which has compact structure, small volume, convenient assembly, good use performance and low cost.

[0007] Technical solutions to the problem

[0008] The utility model provides a pipeline detection robot sonar structure, which includes:

[0009] A cylinder body 2, wherein a first chamber 20 with an open front end is formed in the cylinder body 2, a first thread 22 is provided at the open end of the first chamber 20, a side wall of the cylinder body 2 is provided with an annular protrusion and forms a flange 21, and a first mounting hole 210 is opened on the flange 21;

[0010] A sound-transmitting cover 1 is sealed and connected to the open end of the cylinder body 2. A second chamber 10 with an open rear end is formed in the sound-transmitting cover 1. The open end of the second chamber 10 is provided with a second thread for connecting with the first thread 22. The second chamber 10 is communicated with the first chamber 20 to form a sealed chamber.

[0011] A driving assembly, comprising a motor base 5 fixed in the first chamber 20 and a driving motor 6 mounted on the motor base 5, wherein an output shaft of the driving motor 6 is parallel to an axis of the sound-transmitting enclosure 1;

[0012] The transducer 4 is located in the second chamber 10 . The transducer 4 is fixed on the output shaft of the driving motor 6 and can rotate along with the rotation of the output shaft.

[0013] Furthermore, the normal line of the working surface of the transducer 4 is perpendicular to the rotation axis of the output shaft.

[0014] Furthermore, the cross-sections of the cylinder body 2, the sound-transmitting enclosure 1, the first chamber 20 and the second chamber 10 are circular.

[0015] Furthermore, two threaded openings are provided at the end of the cylinder body 2 and serve as a cable interface and an oil plug interface respectively. A cable connector 31 is sealedly connected to the cable interface, and an oil plug 32 is sealedly connected to the oil plug interface.

[0016] Furthermore, the sound-transmitting cover 1 includes a ring-shaped metal support ring 11 and a sound-transmitting cover body which is injection molded on the metal support ring 11 and can achieve sound transmission. The metal support ring 11 includes a ring body, the inner wall of the ring body is provided with an internal thread and forms the second thread, the tail of the ring body extends radially inward and forms a mounting portion 111, and the end of the mounting portion 111 is provided with a connecting portion 112 for connecting the sound-transmitting cover body.

[0017] Furthermore, the connecting portion 112 is annular and coaxial with the annular body, and an annular groove or an annular protrusion is provided on the inner wall and / or outer wall of the connecting portion 112 .

[0018] Furthermore, the outer wall of the annular body is provided with anti-slip grooves.

[0019] Furthermore, a plurality of protrusions 23 are provided on the inner wall of the first chamber 20, and an installation area for installing the motor base 5 and realizing radial positioning thereof is formed between the side wall of the protrusion 23 and the inner wall of the first chamber 20, and the end of the protrusion 23 forms a first installation surface 23a, and a second installation hole for fixing the motor base 5 is opened on the first installation surface.

[0020] Furthermore, the motor seat 5 includes a base 51 and a support that are interconnected, the base 51 can be axially inserted into the installation area and achieve radial limitation, the base 51 is provided with a motor mounting groove that can accommodate the axial insertion and installation of the drive motor 6, the support is provided with a second mounting surface that can contact the first mounting surface 23a, and the first mounting surface and the second mounting surface are fixedly connected by bolts; a main shaft 62 connected to the output shaft of the drive motor is rotatably installed in the support, and the head of the main shaft 62 extends outside the support and is connected to the transducer 4 through a connecting seat 55.

[0021] Furthermore, the support includes a support plate 53 and a first support 52 and a second support 54 fixed on both sides of the support plate 53, and the centers of the support plate, the first support and the second support are provided with an axial hole for accommodating the main shaft to pass through, and the base 51 is fixed to the end of the first support 52, and the end surface of the first support 52 extends radially outward and forms the second mounting surface, and the second mounting surface is provided with a third mounting hole coaxial with the second mounting hole.

[0022] Beneficial Effects

[0023] The sonar structure of the utility model pipeline detection robot adopts a split structure, which is easy to process, has low manufacturing cost and high precision, and can be assembled quickly and accurately; it has a compact structure and a small size, can adapt to deep water environments, has a wide range of adaptability, good flexibility in use, fast response, high detection efficiency and good effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a schematic diagram of the sonar structure of the pipeline inspection robot of the utility model;

[0025] Figure 2 This is a schematic diagram of the exploded structure of the sonar structure of the pipeline inspection robot of the utility model;

[0026] Figure 3 This is a schematic diagram of the structure of the water-permeable cover of the sonar structure of the pipeline inspection robot of the utility model;

[0027] Figure 4 It is a cross-sectional view of the water-permeable cover of the sonar structure of the pipeline inspection robot of the utility model;

[0028] Figure 5 for Figure 4 Enlarged view of part A in the middle;

[0029] Figure 6 This is a structural schematic diagram of the cylinder body of the sonar structure of the pipeline detection robot of the utility model;

[0030] Figure 7It is a cross-sectional view of the cylinder body of the sonar structure of the pipeline detection robot of the utility model;

[0031] Figure 8 This is a structural schematic diagram of the driving component of the sonar structure of the pipeline inspection robot of the utility model;

[0032] Fig. 9 It is a schematic diagram of the exploded structure of the driving component of the sonar structure of the pipeline inspection robot of the utility model;

[0033] Fig.10 This is a cross-sectional view of a driving component of the sonar structure of the pipeline inspection robot of the utility model. DETAILED DESCRIPTION

[0034] The following is a detailed description of the embodiments of the present utility model in conjunction with the accompanying drawings.

[0035] See also Figure 1-Figure 10 The utility model provides a pipeline detection robot sonar structure, which can realize pipeline detection, and includes a cylinder body 2, a water-permeable cover 1, a driving component and a transducer 4.

[0036] The cylinder body 2 is made of corrosion-resistant stainless steel, and after machining, the surface is electrolytically polished. Specifically, the cylinder body 2 is cylindrical, and a first chamber 20 is formed in the cylinder body 2. The first installation chamber 20 is cylindrical, and its front end is open (open), and a first thread 22 is provided at the open end of the first chamber 20. In this embodiment, the first thread 22 is an external thread. At the same time, an annular protrusion is provided on the side wall of the cylinder body 2, and the annular protrusion forms a flange 21. A first installation hole 210 is opened on the flange 21. The cylinder body has high structural strength and strong installation adaptability. The overall structure can withstand high pressure and can well meet the use requirements of deep water areas with greater depths.

[0037] The sound-permeable cover 1 is cylindrical as a whole and is made of a material with good sound permeability and water pressure resistance. In the present embodiment, it is made of polyurethane. The sound-permeable cover is sealed and connected to the open end of the cylinder body 2. A second chamber 10 is formed in the sound-permeable cover 1. The second chamber 10 is cylindrical and has a second thread at the open end of the second chamber 10. The second thread is an internal thread and is used to connect with the first thread 22 to achieve a water-permeable and sealed connection with the cylinder body 2. The second chamber 10 is coaxial with the first chamber 20 and is interconnected to form a sealed chamber structure. The sound-permeable cover 1 mainly plays the role of sealing, sound transmission and balancing the internal and external pressures of the underwater shell to ensure the reliability and stability of the overall operation. In the present application, the sound-permeable cover 1 includes a metal support ring 11 and a sound-permeable cover body, wherein the metal support ring 11 is annular and is made of metal or other materials with high structural strength. It is made of a material. In the present embodiment, it is made of corrosion-resistant stainless steel. The sound-transmitting cover body is injection-molded by polyurethane. Specifically, it is injection-molded at the end of the metal support ring. The metal support ring 11 comprises a circular body. An internal thread is provided on the inner wall of the circular body. The internal thread forms a second thread. The tail of the circular body extends radially inward to form a mounting portion 111. A connecting portion 112 is provided at the end of the tail of the mounting portion 111. The connecting portion 112 is used to connect the sound-transmitting cover body, that is, to fix the sound-transmitting body during injection molding. The connecting portion 112 is in the shape of a circular ring and is coaxial with the circular body. At the same time, an annular groove or annular protrusion 1121 is provided on the inner wall or outer wall of the connecting portion 112, which is used to increase the connection reliability between the sound-transmitting cover and the metal support ring and improve the connection strength. In order to facilitate loading and unloading, anti-slip grooves are provided on the outer wall of the circular body to facilitate tightening operations.

[0038] The driving assembly includes a motor base 5 and a driving motor 6 . The motor base 5 is fixed in the first chamber 20 . The driving motor 6 is mounted on the motor base 5 , wherein the output shaft of the driving motor 6 is parallel to the axis of the sound-transmitting enclosure 1 .

[0039] The transducer 4 is located in the second chamber 10. The transducer 4 is fixed on the output shaft of the drive motor 6. It can rotate with the rotation of the output shaft of the drive motor to achieve 360-degree scanning detection. The transducer 4 is circular, and the normal 9 (vertical line) of its working surface is perpendicular to the rotation axis of the output shaft. The transducer is an important component of the sonar. It can convert underwater sound signals into electrical signals, or convert electrical signals into underwater sound signals. The performance of the transducer will directly affect the performance indicators of the sonar. At present, piezoelectric ceramics have very outstanding electromechanical characteristics and are widely used in underwater acoustic transducers. They have high transmission efficiency when used as a transmitter, high sensitivity when used as a receiver, and a relatively wide working frequency band. Therefore, the transducer in this application uses piezoelectric ceramic materials, and its appearance is generally designed to be a cylindrical disc.

[0040] In order to facilitate rapid and accurate assembly, a plurality of protrusions 23 are provided on the inner wall of the first chamber 20. In this embodiment, there are two protrusions 23, which are symmetrically arranged. A mounting area is formed between the side walls of the two protrusions 23 and the inner wall of the first chamber 20. The mounting area is used to mount the motor seat 5 and to achieve radial positioning thereof. A first mounting surface 23a is formed at the end of the protrusion 23. The plane where the first mounting surface is located is perpendicular to the axis of the mounting area. A second mounting hole is opened on the first mounting surface, which is used to fix the motor seat 5. The motor seat 5 includes a base 51 and a support that are connected to each other. The base 51 can be axially inserted into the mounting hole. Zone, to achieve radial limitation, in this embodiment, the cross-sectional shape of the base 51 and the mounting zone is the same, both are runway-shaped, and a motor mounting groove is opened on the base 51, and the motor mounting groove can accommodate the axial insertion of the drive motor 6, thereby achieving the installation of the motor, and the cross-sectional shape of the motor mounting groove is the same as the cross-sectional shape of the drive motor 6; a second mounting surface is provided on the support, and the second mounting surface faces the first mounting surface, which can be in contact with the first mounting surface 23a, thereby achieving axial limitation, and the first mounting surface and the second mounting surface are fixedly connected by bolts, thereby achieving fixed connection between the cylinder body and the motor seat 5.

[0041] A main shaft 62 is rotatably mounted in the support, the tail of the main shaft is connected to the output shaft of the driving motor, the head of the main shaft 62 extends outside the support, and is connected to the transducer 4 through a connecting seat 55; the connecting seat is L-shaped, and its end is fixed to the end of the main shaft, a first wire hole 550 is opened at the root of the connecting seat, a center hole is opened at the head of the main shaft, and a second wire hole 620 is formed, and a hole body is provided on the side wall to form a third wire hole 621, and the conductor of the transducer passes through the first wire hole, the second wire hole and the third wire hole in sequence. The support includes a support plate 53 and a first support 52 and a second support 54 fixed on both sides of the support plate 53 by bolts. An axial hole for accommodating the main shaft to pass through is opened in the center of the support plate, the first support and the second support. The base 51 is fixed to the end of the first support 52. At the same time, the end face of the first support 52 extends radially outward to form a second mounting surface. A third mounting hole is opened on the second mounting surface. The third mounting hole is coaxial with the second mounting hole and is used to fix the two by bolts.

[0042] Two threaded holes are opened at the end of the cylinder body 2 and serve as a cable interface and an oil plug interface respectively. Both interfaces are threaded holes. A cable connector 31 is sealed and connected to the cable interface, and an oil plug 32 is sealed and connected to the oil plug interface. In this embodiment, the cable interface is located at the center of the cylinder body, and the signal transmission cable is integrated with the cable connector through vulcanization and connected to the cylinder body through threads. The cable can provide a stable power supply for the sonar and transmit the detected data from underwater to the back-end display and control platform when the sonar is working, which is convenient for data collection, storage and management, and serves the purpose of power supply and signal transmission.

[0043] The sonar structure of the utility model pipeline detection robot adopts a split structure, which is easy to process, has low manufacturing cost and high precision, and can be assembled quickly and accurately; it has a compact structure and a small size, can adapt to deep water environments, has a wide range of adaptability, good flexibility in use, fast response, high detection efficiency and good effect.

[0044] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principle of the present invention. These improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. A pipeline inspection robot sonar structure, characterized in that: include: A cylinder body, wherein a first chamber with an open front end is formed in the cylinder body, a first thread is provided at the open end of the first chamber, a side wall of the cylinder body is provided with an annular protrusion and forms a flange, and a first mounting hole is opened on the flange; A sound-transmitting cover, sealed and connected to the open end of the cylinder body, a second chamber with an open rear end is formed in the sound-transmitting cover, a second thread for connecting with the first thread is provided at the open end of the second chamber, and the second chamber is communicated with the first chamber to form a sealed chamber; A driving assembly, comprising a motor base fixed in the first chamber and a driving motor mounted on the motor base, wherein an output shaft of the driving motor is parallel to an axis of the sound-transmitting enclosure; The transducer is located in the second chamber, and the transducer is fixed on the output shaft of the driving motor and can rotate with the rotation of the output shaft.

2. The pipeline inspection robot sonar structure according to claim 1, characterized in that: The normal line of the working surface of the transducer is perpendicular to the rotation axis of the output shaft.

3. The pipeline inspection robot sonar structure according to claim 1, characterized in that: The cross sections of the cylinder body, the sound-transmitting cover, the first chamber and the second chamber are circular.

4. The pipeline inspection robot sonar structure according to claim 1, characterized in that: Two threaded openings are provided at the end of the cylinder body and serve as a cable interface and an oil plug interface respectively. A cable connector is sealedly connected to the cable interface, and an oil plug is sealedly connected to the oil plug interface.

5. The pipeline inspection robot sonar structure according to claim 1, characterized in that: The sound-transmitting cover includes a ring-shaped metal support ring and a sound-transmitting cover body which is injection-molded on the metal support ring and can achieve sound transmission. The metal support ring includes a ring body, the inner wall of the ring body is provided with an internal thread and forms the second thread, the tail of the ring body extends radially inward and forms a mounting portion, and the end of the mounting portion is provided with a connecting portion for connecting the sound-transmitting cover body.

6. The pipeline inspection robot sonar structure as claimed in claim 5, characterized in that: The connecting portion is annular and coaxial with the annular body, and an annular groove or an annular protrusion is provided on the inner wall and / or the outer wall of the connecting portion.

7. The pipeline inspection robot sonar structure as claimed in claim 5, characterized in that: The outer wall of the annular body is provided with anti-slip grooves.

8. The pipeline inspection robot sonar structure according to claim 1, characterized in that: The inner wall of the first chamber is provided with a plurality of protrusions, and a mounting area for mounting the motor base and realizing radial positioning thereof is formed between the side wall of the protrusion and the inner wall of the first chamber, and the end of the protrusion forms a first mounting surface, and a second mounting hole for fixing the motor base is formed on the first mounting surface.

9. The pipeline inspection robot sonar structure as claimed in claim 8, characterized in that: The motor seat includes a base and a support that are connected to each other. The base can be axially inserted into the installation area and achieve radial limitation. The base is provided with a motor installation groove that can accommodate the axial insertion and installation of the drive motor. The support is provided with a second installation surface that can contact the first installation surface, and the first installation surface and the second installation surface are fixedly connected by bolts; a main shaft connected to the output shaft of the drive motor is rotatably installed in the support, and the head of the main shaft extends outside the support and is connected to the transducer through a connecting seat.

10. The pipeline inspection robot sonar structure according to claim 9, characterized in that: The support includes a support plate and a first support and a second support fixed on both sides of the support plate. An axial hole for accommodating the main shaft to pass through is opened in the center of the support plate, the first support and the second support. The base is fixed to the end of the first support. The end surface of the first support extends radially outward and forms the second mounting surface. The second mounting surface is provided with a third mounting hole coaxial with the second mounting hole.

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