Pipeline crawling robot for electrical method leak detector

Abstract

The pipeline crawling robot comprises a displacement push rod mechanism and a power supply box arranged at the top of the displacement push rod mechanism, and the bottom of the displacement push rod mechanism is fixedly provided with a side leakage instrument detection rod through an adjustable connecting piece; the output end and the tail end of the displacement push rod mechanism are each provided with a tensioning and jacking mechanism, and each tensioning and jacking mechanism is provided with an obstacle removing assembly. According to the pipeline crawling robot for the electrical method leak detector, the claw type crawling design of the tensioning jacking mechanism and the plate type obstacle removing design of the obstacle removing assembly are utilized, so that the pipeline crawling robot can adapt to pipe networks with different pipe diameters, can crawl under the condition of being full of water, and can also adapt to various complex environments in a pipeline, such as pipeline dislocation and deposition.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of electric method leak hunting crawling device, concretely relates to pipeline crawling robot for electric method leak detector. BACKGROUND

[0002] Pipe network leakage is one of the important problems of the existing underwater sewage pipe network, which can cause a series of pollution problems, such as soil pollution, and pollution of groundwater and river surface water through leakage, and even drinking water, causing serious water safety threat. The existing sewage pipe network leakage detection mainly relies on CCTV technology, which uses a pipeline robot to visually detect the pipe network, but this technology generally needs to block and drain the pipe network, which is large in engineering quantity and seriously affects the normal operation of the pipe network. As a new technology, electric method leak hunting can be operated with water, which can well overcome the above problems, especially for pipes that are difficult to drain, providing more choices for pipe network leakage detection.

[0003] In the field practice of electric method leak hunting, the electric method leak detector needs to be threaded and manually pulled, and various auxiliary equipment is needed, which is difficult to apply when the pipeline is full of water and the pipeline condition is poor. To solve this problem, a device that can match electric method leak hunting under complex conditions such as full water and siltation of the pipe network is urgently needed to provide a basis for the wide application of electric method leak hunting. UTILITY MODEL CONTENTS

[0004] The utility model provides pipeline crawling robot for electric method leak detector, solves that in the prior art, in the field practice of electric method leak hunting, the electric method leak detector needs to be threaded and manually pulled, and various auxiliary equipment is needed, which is difficult to apply when the pipeline is full of water and the pipeline condition is poor.

[0005] The technical scheme of the utility model is as follows:

[0006] The pipeline crawling robot for electric method leak detector comprises a displacement push rod mechanism and a power supply box arranged at the top of the displacement push rod mechanism, and a side leak detector probe is fixed to the bottom of the displacement push rod mechanism through an adjustable connecting piece; a tensioning and jacking mechanism is arranged at the output end and the tail end of the displacement push rod mechanism, and a barrier clearing assembly is arranged on the tensioning and jacking mechanism;

[0007] The tensioning and jacking mechanism comprises a fixed cylinder, a plurality of driven rods are hingedly connected to the outside of the fixed cylinder, a jacking rod is hingedly connected to the end of the driven rod away from the fixed cylinder, and spring plates are fixed to the adjacent sides of the jacking rod and the driven rod;

[0008] A plurality of sliding holes are formed in the outside of the fixed cylinder; a jacking push rod mechanism is arranged in the inside of the fixed cylinder, a sliding core that slides along the inner wall of the fixed cylinder is arranged at the output end of the jacking push rod mechanism, a hinge seat that slides along the sliding hole is fixed to the outside of the sliding core, a driving rod is hingedly connected to the hinge seat, and the end of the driving rod away from the hinge seat is hingedly connected to the driven rod.

[0009] Further, the obstacle clearing assembly comprises a plurality of baffle plates A and a plurality of baffle plates B arranged on both sides of the tensioning jacking mechanism respectively.

[0010] Further, the side of the baffle plate A close to the tensioning jacking mechanism is fixed to the bottom close to one end of the jacking rod through the arrangement of a support A; the side of the baffle plate B close to the tensioning jacking mechanism is fixed to the top close to one end of the fixed cylinder through the arrangement of a support B.

[0011] Further, the baffle plate A and the baffle plate B are both inclined, and the inclined directions of the two are opposite.

[0012] Further, the end of the jacking rod is hingedly connected with a jacking sleeve.

[0013] Further, a plurality of dredging openings are formed on the outside of the fixed cylinder corresponding to the outside of the jacking push rod mechanism.

[0014] Further, the adjustable connecting piece comprises a perforated vertical plate A and a perforated vertical plate B, the distal ends of the vertical plate A and the perforated vertical plate B are fixed on the displacement push rod mechanism and the side leakage instrument probe rod respectively, and the holes of the vertical plate A and the perforated vertical plate B are aligned and fixed through bolts.

[0015] Further, a universal joint is arranged at the output end of the displacement push rod mechanism, and the universal joint is connected to the end of one of the fixed cylinders.

[0016] The technical scheme provided by the present application has the following beneficial effects:

[0017] 1. The pipe crawling robot for the electrical leakage detection instrument can adapt to different pipe diameters, can crawl under water, and can adapt to various complex environments in the pipe, such as pipe misalignment and siltation, by using the tensioning jacking mechanism claw type crawling and the plate type obstacle clearing design of the obstacle clearing assembly.

[0018] 2. The pipe crawling robot for the electrical leakage detection instrument provides a power system for the electrical leakage detection without the need of stringing and manual pulling by using the power supply box. The electrical leakage detection equipment installed below the power device and having adjustable height can well adapt to the change of the water level in the pipe and can well adapt to low water level and full water working. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical scheme in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiment or prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0020] Fig. 1The utility model discloses a schematic diagram of pipeline crawling robot for electric method leak detector.

[0021] Fig. 2 The utility model discloses a schematic diagram of partial and partial amplification for pipeline crawling robot for electric method leak detector.

[0022] Fig. 3 The utility model discloses a sectional view of tensioning jacking mechanism.

[0023] In the drawing,

[0024] 10 displacement push rod mechanism, 11 universal joint, 20 power supply box, 30 side leak detector probe, 40 tensioning jacking mechanism, 41 fixed cylinder, 41a dredging port, 42 driven rod, 43 jacking rod, 43a jacking sleeve, 44 spring plate, 45 sliding hole, 46 sliding core, 47 hinge base, 48 drive rod, 49 jacking push rod mechanism, 50 obstacle clearing assembly, 51 baffle A, 52 baffle B, 53 support A, 54 support B, 60 adjustable connecting piece, 61 vertical plate A, 62 vertical plate B.

[0025] 40 tensioning jacking mechanism, 41 fixed cylinder, 41a dredging port, 42 driven rod, 43 jacking rod, 43a jacking sleeve, 44 spring plate, 45 sliding hole, 46 sliding core, 47 hinge base, 48 drive rod, 49 jacking push rod mechanism, 50 obstacle clearing assembly, 51 baffle A, 52 baffle B, 53 support A, 54 support B, 60 adjustable connecting piece, 61 vertical plate A, 62 vertical plate B.

[0026] 40 tensioning jacking mechanism, 41 fixed cylinder, 41a dredging port, 42 driven rod, 43 jacking rod, 43a jacking sleeve, 44 spring plate, 45 sliding hole, 46 sliding core, 47 hinge base, 48 drive rod, 49 jacking push rod mechanism, 50 obstacle clearing assembly, 51 baffle A, 52 baffle B, 53 support A, 54 support B, 60 adjustable connecting piece, 61 vertical plate A, 62 vertical plate B.

[0027] 40 tensioning jacking mechanism, 41 fixed cylinder, 41a dredging port, 42 driven rod, 43 jacking rod, 43a jacking sleeve, 44 spring plate, 45 sliding hole, 46 sliding core, 47 hinge base, 48 drive rod, 49 jacking push rod mechanism, 50 obstacle clearing assembly, 51 baffle A, 52 baffle B, 53 support A, 54 support B, 60 adjustable connecting piece, 61 vertical plate A, 62 vertical plate B. DETAILED DESCRIPTION

[0028] The technical scheme of the utility model will be described clearly and completely below in conjunction with the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by the ordinary skilled in the art without creative labor belong to the protection scope of the utility model.

[0029] Referring to Figs. 1-3 , the pipeline crawling robot for electric method leak detector comprises a displacement push rod mechanism 10 and a power supply box 20 arranged at the top of the displacement push rod mechanism 10, the bottom of the displacement push rod mechanism 10 is fixed with a side leak detector probe 30 through an adjustable connecting piece 60; the output end and the tail end of the displacement push rod mechanism 10 are respectively provided with a tensioning jacking mechanism 40, and the tensioning jacking mechanism 40 is provided with an obstacle clearing assembly 50.

[0030] The design of the tensioning and bracing mechanism 40 allows the robot to maintain a stable posture within the pipeline while being able to adapt to different diameters of the pipeline. The robot is placed into the manhole and positioned at the designated depth of the horizontal pipe. Then, the tensioning and bracing mechanism 40 at the end of the displacement push rod mechanism 10 is actuated to secure the robot to the pipe wall. The displacement push rod mechanism 10 is then extended to advance the tensioning and bracing mechanism 40 at the front. The tensioning and bracing mechanism 40 at the front is then actuated to secure the pipe wall, while the tensioning and bracing mechanism 40 at the end is slightly retracted to not brace the pipe wall. The displacement push rod mechanism 10 is then retracted to advance the tensioning and bracing mechanism 40 at the back, completing a forward movement. This process is repeated to achieve the forward crawling of the robot. Similarly, the reverse process can be performed to achieve the backward movement of the robot. That is, when the robot moves within the pipeline, the tensioning and bracing mechanism 40 can automatically adjust its tensioning force according to the diameter of the pipeline to maintain close contact between the robot and the inner wall of the pipeline. This design helps the robot to move stably in pipelines of different diameters. The obstacle removal assembly 50 is designed to remove or bypass obstacles within the pipeline, such as sediments, small stones, or other debris, during the movement of the robot.

[0031] The obstacle removal assembly 50 is used to remove obstacles in the pipeline to ensure that the robot can pass through smoothly. Since the obstacle removal assembly 50 is arranged on the tensioning and bracing mechanism 40, when the tensioning and bracing mechanism 40 is actuated, the obstacle removal assembly 50 can act in conjunction with the tensioning and bracing mechanism 40 to push the garbage and obstacles in the pipeline towards the pipe wall. The obstacle removal assembly 50 is designed to remove or bypass obstacles within the pipeline, such as sediments, small stones, or other debris, during the movement of the robot. This helps the robot to pass through complex or dirty pipeline environments smoothly, improving the efficiency and accuracy of the detection.

[0032] The tensioning and bracing mechanism 40 includes a fixed cylinder 41, a plurality of driven rods 42 are hinged to the outside of the fixed cylinder 41, a bracing rod 43 is hinged to the end of the driven rod 42 away from the fixed cylinder 41, and a spring plate 44 is fixed to the adjacent side of the bracing rod 43 and the driven rod 42; a plurality of sliding holes 45 are formed on the outside of the fixed cylinder 41; a bracing push rod mechanism 49 is arranged inside the fixed cylinder 41, and the output end of the bracing push rod mechanism 49 is provided with a sliding core 46 sliding along the inner wall of the fixed cylinder 41, a hinge seat 47 sliding along the sliding hole 45 is fixed to the outside of the sliding core 46, a drive rod 48 is hinged to the hinge seat 47, and the end of the drive rod 48 away from the hinge seat 47 is hinged to the driven rod 42.

[0033] The function of the tensioning and supporting mechanism 40 is to control the movement of the sliding core 46 through the internal supporting push rod mechanism 49, which drives the movement of the sliding core 46, which in turn drives the sliding of the hinge base 47 along the sliding hole 45 of the fixed cylinder 41, and then the driving rod 48 transmits the action to the driven rod 42 and the supporting rod 43, so that the driven rod 42 and the supporting rod 43 are conveniently opened and abut against the inner wall of the pipeline; the reverse action of the supporting push rod mechanism 49 can realize the contraction of the driven rod 42 and the supporting rod 43, and the disengagement from the contact with the inner wall of the pipeline.

[0034] The spring plate 44 provides the necessary elasticity to ensure that the supporting rod 43 and the driven rod 42 can flexibly respond to changes in the pipeline. This design enables the robot to move stably in pipelines of different diameters and to withstand certain lateral forces, preventing the robot from slipping or getting stuck in the pipeline. In addition, the supporting rod 43 and the driven rod 42 can easily overcome obstacles through the cooperation of the spring plate 44. The supporting rod 43 and the driven rod 42 can be compressed using the elasticity of the spring plate 44, and then the next step is to use the displacement push rod mechanism 10 to make the supporting rod 43 and the driven rod 42 cross the obstacle. The spring plate 44 provides elastic support during the movement of the supporting rod 43 and the driven rod 42, ensuring that they can flexibly adapt to changes in the inner wall of the pipeline.

[0035] In addition, the tensioning and supporting mechanism 40 and the displacement push rod mechanism 10 mentioned above include but are not limited to electric, hydraulic or linear push rods.

[0036] In some embodiments, the obstacle clearing assembly 50 includes a plurality of baffles A 51 and a plurality of baffles B 52 arranged on both sides of the tensioning and supporting mechanism 40, respectively. When the robot moves in the pipeline, if it encounters an obstacle, the baffles A 51 and the baffles B 52 will contact the obstacle through their physical structure, and use their shape and position design to push or guide the obstacle away, thereby providing a clear space for the robot's travel path. This design enables the robot to move stably in uneven or obstacle-laden pipelines, while reducing the dependence on manual intervention. The arrangement of the baffles also helps to protect the robot from damage by obstacles, prolonging its service life. In this way, the obstacle clearing assembly 50 ensures that the pipeline crawling robot for electrical leak detection can effectively perform tasks under various pipeline conditions.

[0037] In some embodiments, the baffle plate A51 is fixed to the bottom of the tensioning support mechanism 40 by a support pillar A53 near the side close to the support rod 43. The baffle plate B52 is fixed to the top of the tensioning support mechanism 40 by a support pillar B54 near the side close to the fixed cylinder 41. The support pillars A53 and B54 serve as connecting components to fix the baffle plates A51 and B52 to the bottom and top of the tensioning support mechanism 40, respectively. The design of the support pillars allows the baffle plates to transfer force to the tensioning support mechanism 40 when they are pushed by obstacles, thereby enhancing the obstacle removal capability of the baffle plates and making the overall robot structure more stable, reducing the instability factors caused by obstacles.

[0038] In some embodiments, the baffle plates A51 and B52 are arranged in a diagonal direction, and the diagonal directions of the two baffle plates are opposite. This design improves the obstacle removal efficiency and adaptability of the robot when moving in the pipeline. The diagonally designed baffle plates can more effectively contact obstacles and generate upward or downward thrust, helping to remove or bypass obstacles while reducing interference with the robot's travel direction.

[0039] The diagonal baffle plates A51 and B52 will generate a component force when their inclined surfaces come into contact with obstacles, which can help push the obstacles to move sideways, thereby clearing the robot's travel path. Since the diagonal directions of the baffle plates A51 and B52 are opposite, they can apply force to the obstacles from different angles and directions, so that obstacles can be effectively removed regardless of which side of the robot they are located on. In addition, the diagonal design also helps to reduce the friction between the baffle plates and the inner wall of the pipeline, reducing the resistance when the robot travels and improving the smoothness of travel.

[0040] In some embodiments, the end of the support rod 43 is hinged with a support sleeve 43a. This design enhances the stability and adaptability of the tensioning support mechanism 40. The support sleeve 43a serves as a movable connecting component, allowing the support rod 43 to adjust the angle within a certain range to adapt to pipelines of different diameters or shapes. When the robot moves in pipelines of different diameters, the support rod 43 can adjust the angle through the hinge point of the support sleeve 43a to maintain the optimal tensioning state. This design helps the robot to maintain stability in the pipeline, reduces instability factors caused by changes in pipeline diameter, and also better adapts to the curvature and irregular shape of the pipeline.

[0041] In addition, the end of the support rod 43 and the support sleeve 43a are connected by a shaft body, and a torsional spring (not labeled in the figure) is installed on the shaft body, allowing the support sleeve 43a to have a certain degree of rotational freedom, so that it can adhere to the pipe wall to increase the friction force and make the internal tensioning force stronger.

[0042] In some embodiments, the exterior of the fixed cylinder 41 is provided with a plurality of sludge discharge ports 41a corresponding to the exterior of the top support push rod mechanism 49. When the robot moves in the pipeline, if the action of the sliding core 46 causes sludge and debris to be brought into the cavity of the top support push rod mechanism 49, the sludge discharge ports 41a provide a discharge channel. The sludge discharge ports 41a allow sludge and debris to be directly discharged into the pipeline under the pressure formed inside the top support push rod mechanism 49. In this way, even in an environment with a lot of sludge, the top support push rod mechanism 49 can remain clean, ensuring the flexibility and reliability of its telescopic action.

[0043] In some embodiments, the adjustable connector 60 includes a perforated vertical plate A 61 and a perforated vertical plate B 62, the opposite ends of the vertical plate A 61 and the perforated vertical plate B 62 are fixed on the displacement push rod mechanism 10 and the side leakage instrument probe 30 respectively, and the adjacent holes of the vertical plate A 61 and the perforated vertical plate B 62 are aligned and fixed by bolts. The adjustable connector 60 allows the side leakage instrument probe 30 to be adjusted in height in the vertical direction, or to be adjusted in angle when needed. When the holes of the vertical plate A 61 and the perforated vertical plate B 62 are aligned and fixed by bolts, the stability of the side leakage instrument probe 30 in the adjusted position can be ensured. This design enables the robot to flexibly adjust the position of the probe according to different detection tasks and pipeline conditions, in order to obtain the best detection effect. For example, when the bottom or side of the pipeline needs to be detected, the angle of the probe can be adjusted to make it closer to the target area.

[0044] In some embodiments, a universal joint 11 is provided at the output end of the displacement push rod mechanism 10, and the universal joint 11 is connected to the end of one of the fixed cylinders 41. The universal joint 11 allows the connection between the displacement push rod mechanism 10 and the fixed cylinder 41 to rotate freely within a certain angle range, so that even if there is an angle change in the pipeline, the displacement push rod mechanism 10 of the robot can maintain effective connection with the fixed cylinder 41, ensuring the stability of the robot and the detection accuracy of the probe 30. The design of the universal joint 11 enables the robot to better adapt to the bending and tilting of the pipeline, improving the passability and detection efficiency of the robot in complex pipeline environments.

[0045] The provision of the universal joint 11 also helps to reduce the stress on the internal structure of the robot caused by changes in the angle of the pipeline, thereby reducing the risk of damage to the robot and prolonging its service life. In this way, the pipeline crawling robot for electrical leak detection can more reliably perform tasks in various complex environments, ensuring the smooth progress of electrical leak detection work.

[0046] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A pipe crawling robot for an electrical leak detector, comprising a displacement push rod mechanism (10) and a power supply box (20) disposed on its top, wherein a side leak detector probe (30) is fixed to the bottom of the displacement push rod mechanism (10) via an adjustable connector (60); characterized in that, The output end and the end end of the displacement push rod mechanism (10) are respectively provided with tensioning support mechanism (40), and the tensioning support mechanism (40) is provided with obstacle clearing component (50); The tensioning top support mechanism (40) includes a fixed cylinder (41), a plurality of driven rods (42) are hinged to the outside of the fixed cylinder (41), a top support rod (43) is hinged to the end of the driven rod (42) away from the fixed cylinder (41), and a spring plate (44) is fixed to the adjacent side of the top support rod (43) and the driven rod (42). The fixed cylinder (41) has multiple sliding holes (45) on its outside; the fixed cylinder (41) has a top support push rod mechanism (49) inside, and the output end of the top support push rod mechanism (49) has a sliding core (46) that slides along the inner wall of the fixed cylinder (41). The sliding core (46) has a hinge seat (47) that slides along the sliding hole (45) fixed on its outside. A drive rod (48) is hinged on the hinge seat (47), and the end of the drive rod (48) away from the hinge seat (47) is hinged to the driven rod (42).

2. The pipe crawling robot for the electrical leak detector as described in claim 1, characterized in that, The obstacle clearing assembly (50) includes multiple baffles A (51) and multiple baffles B (52) respectively disposed on both sides of the tensioning support mechanism (40).

3. The pipe crawling robot for the electrical leak detector as described in claim 2, characterized in that, The side of the baffle A (51) near the tensioning support mechanism (40) is fixed to the bottom end near the top support rod (43) by setting a support column A (53); the side of the baffle B (52) near the tensioning support mechanism (40) is fixed to the top end near the fixed cylinder (41) by setting a support column B (54).

4. The pipe crawling robot for the electrical leak detector as described in claim 2, characterized in that, Both baffle A (51) and baffle B (52) are inclined, and their inclined directions are opposite.

5. The pipe crawling robot for an electrical leak detector as described in claim 1, characterized in that, The top support rod (43) is hinged to a top support sleeve (43a) at its end.

6. The pipe crawling robot for an electrical leak detector as described in claim 1, characterized in that, The fixed cylinder (41) has multiple sludge discharge ports (41a) on the outside corresponding to the outside of the top support push rod mechanism (49).

7. The pipe crawling robot for an electrical leak detector as described in claim 1, characterized in that, The adjustable connector (60) includes a perforated vertical plate A (61) and a perforated vertical plate B (62). The opposite ends of the vertical plate A (61) and the perforated vertical plate B (62) are respectively fixed on the displacement push rod mechanism (10) and the side leakage detector probe (30). The holes of the vertical plate A (61) and the vertical plate B (62) are aligned and then fixed by bolts.

8. The pipe crawling robot for the electrical leak detector as described in claim 1, characterized in that, The output end of the displacement push rod mechanism (10) is provided with a universal joint (11), which is connected to the end of one of the fixed cylinders (41).

Images