Underground pipeline measuring and positioning device

Abstract

The utility model provides an underground pipeline measuring and positioning device, which belongs to the technical field of underground pipeline measurement and comprises two mounting main bodies, universal joints are hinged to the end parts of the mounting main bodies, three fixed mounting plates are arranged on the outer surfaces of the mounting main bodies at equal intervals in the circumferential direction, and walking devices are hinged to one sides, far away from the universal joints, of the fixed mounting plates. An adjusting device is hinged to the other side of the fixed mounting plate, a transmission sliding block is arranged on the fixed mounting plate in a sliding mode, one end of a first spring rod is arranged on the fixed mounting plate, the other end of the first spring rod is connected with the transmission sliding block, and a second spring rod is arranged between the transmission sliding block and the walking device. The problems that a pipeline section with high bending and large diameter change is difficult to pass through for measurement, the measurement period is prolonged, the operation cost is increased, part of the pipeline area can not be effectively detected, potential safety hazards are caused, and the overall detection effect is influenced are solved.

Description

Technical Field

[0001] The utility model relates to the technical field of underground pipeline measurement, in particular to an underground pipeline measurement and positioning device. Background Art

[0002] Today, as the urbanization process continues to accelerate, underground pipelines, as an important part of urban infrastructure, carry many key services such as water supply, drainage, gas, and electricity. Their integrity and stability are directly related to the normal operation of the city and the quality of life of residents. Therefore, regular and accurate measurement of underground pipelines has become a necessary means to ensure the safety of urban infrastructure and prevent accidents. In the existing technology, pipeline robots have become an important tool for underground pipeline measurement due to their non-invasiveness, high efficiency and accuracy. These robots can carry various precision measuring instruments, such as cameras, sensors, etc., and go deep into the pipeline to collect data and record images, providing valuable first-hand information for subsequent pipeline maintenance and management.

[0003] However, when faced with complex and curved underground pipelines, the passability of existing pipeline robots faces severe challenges. Since their structural design is often based on the passage requirements of straight or simply curved pipelines, when encountering highly curved pipeline sections with large diameter changes, the robot's movement ability is limited, making it difficult to smoothly pass through and complete the measurement task. This not only prolongs the measurement cycle and increases operating costs, but more importantly, it may lead to some pipeline areas being unable to be effectively detected, thereby posing a safety hazard and affecting the overall detection effect. Utility Model Content

[0004] In order to make up for the above shortcomings, the utility model provides an underground pipeline measurement and positioning device for solving the above problems.

[0005] The utility model is achieved in this way:

[0006] A device for measuring and positioning an underground pipeline comprises an installation body, wherein the installation body has two bodies, each end of which is hinged with a universal joint, and the outer surface of the installation body is circumferentially equally divided with three fixed installation plates, a walking device is hinged on the side of the fixed installation plate away from the universal joint, and an adjustment device is hinged on the other side of the fixed installation plate, and the adjustment device comprises a transmission slider, a first spring rod and a second spring rod, the transmission slider is slidably arranged on the fixed installation plate, one end of the first spring rod is arranged on the fixed installation plate, and the other end is connected to the transmission slider, and the second spring rod is arranged between the transmission slider and the walking device.

[0007] In an embodiment of the utility model, the cross section of the installation body is a regular hexagon, and hinge ears are provided at both ends of each spacing surface, and the fixed installation plate is detachably arranged on the hinge ears on the same surface.

[0008] In an embodiment of the utility model, the walking device includes a crawler walking mechanism and connecting arms, there are four connecting arms, one end of which is hinged to both sides of the fixed mounting plate away from the side of the universal joint, and the other end is hinged to both sides of the crawler walking mechanism.

[0009] In an embodiment of the utility model, a movable groove is provided on the side of the fixed installation plate in the length direction, and a hinge seat is provided at one end close to the universal joint.

[0010] In an embodiment of the utility model, a slide groove is provided at the bottom of the transmission slider, and the slide groove is placed on the top of the fixed mounting plate. A through hole is provided on one side of the slider, and an anchor bolt is provided at the through hole, and the anchor bolt passes through the slide groove. A mounting plate with a hole is provided on the top of the transmission slider near the opening of the slide groove, a reinforcing rib is provided between the mounting plate with a hole and the transmission slider, and mounting shafts are provided on both sides of the transmission slider.

[0011] In an embodiment of the utility model, the first spring rod includes a first telescopic outer rod and a first telescopic inner rod movably arranged inside the first telescopic outer rod, a first hinge portion is arranged on one side of the first telescopic outer rod, a flange is arranged on the inner wall of the first telescopic outer rod close to the opening, a first limiting piece is arranged at one end of the first telescopic inner rod passing through the flange, and a second limiting piece is arranged at the other end, a first interference spring is arranged between the second limiting piece and the flange, a threaded hole is arranged at the center of the second limiting piece, the first hinge portion is hinged on the hinge seat, and the second limiting piece is fixed to the mounting plate with holes by bolts.

[0012] In an embodiment of the utility model, the second spring rod includes a second telescopic outer rod and a second telescopic inner rod, one end of the second telescopic inner rod is a cylindrical structure, a second interference spring is arranged on the cylindrical structure, one end of the second interference spring interferes with the second telescopic outer rod, and the other end interferes with the junction of the second telescopic inner rod and the cylindrical structure, the cylindrical structure is slidably arranged on the inner side of the second telescopic outer rod, a limiting anchor is arranged on one side of the cylindrical structure, a limiting groove is provided on one side of the second telescopic outer rod, the limiting anchor is located inside the limiting groove, and the second telescopic outer rod is provided with an identical second hinged portion at one end thereof which is separated from the second telescopic inner rod.

[0013] In an embodiment of the utility model, there are two second spring rods, and the second hinged part at one end of the two second spring rods is respectively hinged to the mounting shafts on both sides of the transmission slider, and the other end is respectively hinged to both sides of the crawler walking mechanism near the middle side.

[0014] In an embodiment of the present invention, three auxiliary wheels are equally spaced apart in the circumferential direction on the outer side of the installation body and close to one end of the universal joint.

[0015] The beneficial effects of the utility model are as follows: through the universal joint design at both ends of the installation body, and the independence and adaptability of the walking device and the adjusting device, it can easily cope with the pipeline environment with high curvature and large diameter changes, and significantly improves the passability and adaptability; the articulated design of the crawler walking mechanism and the connecting arm ensures the stability and balance of the device during the movement. At the same time, the setting of the auxiliary wheels further shares the gravity of the middle part of the device, avoids direct contact between the universal joint and the pipeline wall, reduces friction and wear, and improves the overall stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solution of the implementation mode of the utility model, the drawings required for use in the implementation mode will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the utility model and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 A schematic diagram of the structure of an underground pipeline measurement and positioning device provided by an embodiment of the utility model;

[0018] Figure 2 A partial structural schematic diagram of an underground pipeline measurement and positioning device provided in an embodiment of the utility model;

[0019] Figure 3 A schematic diagram of the structure of a transmission slider provided in an embodiment of the utility model;

[0020] Figure 4 A schematic structural diagram of a first spring rod provided in an embodiment of the utility model;

[0021] Figure 5 This is a schematic structural diagram of a second spring rod provided in an embodiment of the utility model.

[0022] In the figure: 10, installation body; 11, fixed installation plate; 1101, movable groove; 1102, hinge seat; 13, auxiliary wheel; 20, walking device; 21, crawler walking mechanism; 22, connecting arm; 30, adjustment device; 31, transmission slider; 3101, slide groove; 3102, mounting plate with holes; 3103, mounting shaft; 32, first spring rod; 321, first telescopic outer rod; 3211, first hinged part; 3212, flange; 322, first telescopic inner rod; 3221, first limiting piece; 3222, second limiting piece; 3223, threaded hole; 323, first conflict spring; 33, second spring rod; 331, second telescopic outer rod; 3311, limiting groove; 332, second telescopic inner rod; 3321, limiting anchor; 333, second hinged part; 334, second conflict spring; 40, universal joint. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solution and advantages of the implementation of the utility model clearer, the technical solution in the implementation of the utility model will be clearly and completely described below in conjunction with the drawings in the implementation of the utility model. Obviously, the described implementation is a part of the implementation of the utility model, not all of the implementations. Based on the implementation of the utility model, all other implementations obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0024] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present invention.

[0025] like Figure 1As shown, the utility model provides an underground pipeline measurement and positioning device, including an installation body 10, the installation body 10 has two, and the ends of the installation bodies 10 are hinged with universal joints 40, and the outer surface of the installation body 10 is circumferentially equally divided with three fixed installation plates 11, and the side of the fixed installation plate 11 away from the universal joint 40 is hinged with a walking device 20, and the other side of the fixed installation plate 11 is hinged with an adjustment device 30, and the adjustment device 30 includes a transmission slider 31, a first spring rod 32 and a second spring rod 33, and the transmission slider 31 is slidably arranged on the fixed installation plate 11, and one end of the first spring rod 32 is arranged On the fixed mounting plate 11, the other end is connected to the transmission slider 31, and the second spring rod 33 is arranged between the transmission slider 31 and the walking device 20. The elastic force is applied to the walking device 20 through the adjusting device 30, so that it always keeps a tendency to move away from the direction of the installation body 10, so that the walking device 20 can adapt to the expansion amplitude of the environment inside the pipeline to increase the passability. At the same time, since each walking device 20 and the interacting adjusting device 30 are independent, after combining with the universal joint 40, when it passes through a curve, it can adapt to the extrusion amplitude of the walking component, thereby bringing better passability.

[0026] like Figure 2 As shown, the cross section of the installation body 10 is a regular hexagon, and hinge ears are provided at both ends of each spacing surface, and the fixed installation plate 11 is detachably arranged on the hinge ears of the same surface.

[0027] In this embodiment, the walking device 20 includes a crawler walking mechanism 21 and a connecting arm 22. There are four connecting arms 22, one end of which is hinged to the two sides of the fixed mounting plate 11 away from the side of the universal joint 40, and the other end is hinged to the two sides of the crawler walking mechanism 21, so that the crawler walking mechanism 21 can be lost and remain parallel to the installation body 10, ensuring the contact area with the side wall of the pipeline and increasing stability.

[0028] It should be noted that each crawler-type walking mechanism 21 is equipped with an independent driving structure. This technical solution is a general solution for crawler-type structures, so it will not be described in detail here.

[0029] In this embodiment, a movable groove 1101 is opened in the length direction of the side surface of the fixed installation plate 11 , and a hinge seat 1102 is provided at one end close to the universal joint 40 .

[0030] like Figure 3 As shown, a slide groove 3101 is provided at the bottom of the transmission slider 31, and the slide groove 3101 is placed on the top of the fixed mounting plate 11. A through hole is provided on one side of the slider, and an anchor bolt is provided at the through hole. The anchor bolt passes through the slide groove 3101. A perforated mounting plate 3102 is provided on the top of the transmission slider 31 near the opening of the slide groove 3101, and reinforcing ribs are provided between the perforated mounting plate 3102 and the transmission slider 31, and mounting shafts 3103 are provided on both sides of the transmission slider 31.

[0031] like Figure 4 As shown, the first spring rod 32 includes a first telescopic outer rod 321 and a first telescopic inner rod 322 movably arranged inside the first telescopic outer rod 321, a first hinge portion 3211 is arranged on one side of the first telescopic outer rod 321, a flange 3212 is arranged on the inner wall of the first telescopic outer rod 321 close to the opening, a first limiting piece 3221 is arranged on one end of the first telescopic inner rod 322 penetrating the flange 3212, a second limiting piece 3222 is arranged on the other end, a first interference spring 323 is arranged between the second limiting piece 3222 and the flange 3212, a threaded hole 3223 is opened at the center of the second limiting piece 3222, the first hinge portion 3211 is hinged on the hinge seat 1102, and the second limiting piece 3222 is fixed to the mounting plate 3102 with holes by bolts.

[0032] like Figure 5 As shown, the second spring rod 33 includes a second telescopic outer rod 331 and a second telescopic inner rod 332. One end of the second telescopic inner rod 332 is a cylindrical structure, and a second interference spring 334 is arranged on the cylindrical structure. One end of the second interference spring 334 interferes with the second telescopic outer rod 331, and the other end interferes with the junction of the second telescopic inner rod 332 and the cylindrical structure. The cylindrical structure is slidably arranged on the inner side of the second telescopic outer rod 331, and a limiting anchor 3321 is arranged on one side of the cylindrical structure. A limiting groove 3311 is provided on one side of the second telescopic outer rod 331, and the limiting anchor 3321 is located inside the limiting groove 3311. The second telescopic outer rod 331 and the second telescopic inner rod 332 are separated at one end thereof. The same second hinge part 333 is arranged.

[0033] In this embodiment, there are two second spring rods 33, and the second hinged parts 333 at one end of the two second spring rods 33 are respectively hinged to the mounting shafts 3103 on both sides of the transmission slider 31, and the other ends are respectively hinged to both sides of the crawler walking mechanism 21 near the middle side.

[0034] In this embodiment, three auxiliary wheels 13 are equally distributed circumferentially on the outer side of the installation body 10 near one end of the universal joint 40, which are mainly used to prevent the middle part of the underground pipeline measurement and positioning device from being subjected to excessive gravity, causing the universal joint part to contact the pipeline wall, resulting in the universal joint 40 being entangled with too many debris and unable to flexibly turn.

[0035] Specifically, the working principle of the underground pipeline measuring and positioning device is that when it is placed in the pipeline, the transmission slider 31 slides in the direction close to the crawler walking mechanism 21 under the elastic force of the first spring rod 32, and the transmission slider 31 further acts on the second spring rod 33, and the second spring rod 33 further supports the crawler walking mechanism 21 in the direction away from the installation body 10, so that each walking device 20 is in conflict with the inner wall of the pipeline. The elastic structure of the first spring rod 32 and the second spring rod 33 makes its expansion and compression and contraction process smoother and more stable, and the auxiliary wheel 13 is used to ensure that the universal wheel does not rub against the pipeline to cause damage. Through the above structure, the problem that the movement ability of the existing robot is limited by its structure and it is difficult to smoothly pass through the pipeline section with high curvature and large diameter change for measurement is solved, which not only prolongs the measurement cycle and increases the operation cost, but also may cause some pipeline areas to be unable to be effectively detected, thereby burying safety hazards and affecting the overall detection effect.

[0036] The utility model is further described above with the help of specific embodiments, but it should be understood that the specific description here should not be construed as limiting the essence and scope of the utility model. Various modifications made to the above embodiments by ordinary technicians in this field after reading this specification are all within the scope of protection of the utility model.

Claims

1. An underground pipeline measurement and positioning device, characterized in that: The invention comprises a mounting body (10), wherein the mounting bodies (10) are two in number, and the ends of the mounting bodies (10) are hinged with universal joints (40); the outer surface of the mounting body (10) is equally divided into three fixed mounting plates (11) in the circumferential direction; a walking device (20) is hingedly connected to one side of the fixed mounting plate (11) away from the universal joint (40); an adjusting device (30) is hingedly connected to the other side of the fixed mounting plate (11); the adjusting device (30) comprises a transmission slider (31), a first spring rod (32) and a second spring rod (33); the transmission slider (31) is slidably arranged on the fixed mounting plate (11); one end of the first spring rod (32) is arranged on the fixed mounting plate (11), and the other end is connected to the transmission slider (31); the second spring rod (33) is arranged between the transmission slider (31) and the walking device (20).

2. The underground pipeline measurement and positioning device according to claim 1, characterized in that: The cross section of the installation body (10) is a regular hexagon, and hinged ears are arranged at the two ends of each spacing surface. The fixed installation plate (11) is detachably arranged on the hinged ears on the same surface.

3. The underground pipeline measurement and positioning device according to claim 2, characterized in that: The walking device (20) comprises a crawler-type walking mechanism (21) and connecting arms (22). There are four connecting arms (22), one end of which is hinged to the two sides of the fixed mounting plate (11) away from the side of the universal joint (40), and the other end is hinged to the two sides of the crawler-type walking mechanism (21).

4. The underground pipeline measurement and positioning device according to claim 3, characterized in that: A movable groove (1101) is provided on the side of the fixed installation plate (11) in the length direction, and a hinge seat (1102) is provided at one end close to the universal joint (40).

5. The underground pipeline measurement and positioning device according to claim 4, characterized in that: A slide groove (3101) is provided at the bottom of the transmission slider (31), and the slide groove (3101) is placed on the top of the fixed mounting plate (11). A through hole is provided on one side of the slider, and an anchor bolt is provided at the through hole, and the anchor bolt passes through the slide groove (3101). A mounting plate (3102) with a hole is provided on the top of the transmission slider (31) near the opening of the slide groove (3101), and a reinforcing rib is provided between the mounting plate (3102) with a hole and the transmission slider (31), and mounting shafts (3103) are provided on both sides of the transmission slider (31).

6. The underground pipeline measurement and positioning device according to claim 5, characterized in that: The first spring rod (32) comprises a first telescopic outer rod (321) and a first telescopic inner rod (322) movably arranged inside the first telescopic outer rod (321); a first hinge portion (3211) is arranged on one side of the first telescopic outer rod (321); a flange (3212) is arranged on the inner side wall of the first telescopic outer rod (321) near the opening; and a first limit stop is arranged on one end of the first telescopic inner rod (322) passing through the flange (3212). The hinged portion (3211) is provided with a second limiting plate (3222) at the other end, a first resistance spring (323) is provided between the second limiting plate (3222) and the flange (3212), a threaded hole (3223) is provided at the center of the second limiting plate (3222), the first hinged portion (3211) is hinged on the hinged seat (1102), and the second limiting plate (3222) is fixed to the perforated mounting plate (3102) by bolts.

7. The underground pipeline measurement and positioning device according to claim 6, characterized in that: The second spring rod (33) comprises a second telescopic outer rod (331) and a second telescopic inner rod (332); one end of the second telescopic inner rod (332) is a cylindrical structure; a second resisting spring (334) is arranged on the cylindrical structure; one end of the second resisting spring (334) resists the second telescopic outer rod (331); the other end resists the junction between the second telescopic inner rod (332) and the cylindrical structure; the cylindrical structure is slidably arranged on the inner side of the second telescopic outer rod (331); a limiting anchor (3321) is arranged on one side of the cylindrical structure; a limiting groove (3311) is provided on one side of the second telescopic outer rod (331); the limiting anchor (3321) is located inside the limiting groove (3311); and the end of the second telescopic outer rod (331) separated from the second telescopic inner rod (332) is provided with an identical second hinge portion (333).

8. The underground pipeline measurement and positioning device according to claim 7, characterized in that: There are two second spring rods (33), and the second hinged portion (333) at one end of the two second spring rods (33) is respectively hinged to the mounting shaft (3103) on both sides of the transmission slider (31), and the other end is respectively hinged to one side near the middle of both sides of the crawler walking mechanism (21).

9. The underground pipeline measurement and positioning device according to claim 8, characterized in that: Three auxiliary wheels (13) are equally spaced in the circumferential direction at one end of the outer side of the installation body (10) close to the universal joint (40).

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