Non-excavation inner pipe accurate positioning device for municipal pipe network

Abstract

The utility model discloses a municipal pipe network non-excavation inner pipe accurate positioning device, a walking mechanism comprises a walking body and walking assemblies, a shooting mechanism and a positioning piece are arranged on the walking body, the walking assemblies are sequentially arranged at intervals in the circumferential direction of the walking body, each walking assembly comprises a walking beam and walking wheels on the walking beam, and the walking beams are arranged on the walking wheels. The walking beam is provided with a driving mechanism for driving the walking wheels, the walking body is provided with an annular mounting seat, the end, away from the walking wheels, of the walking beam is rotationally connected to the annular mounting seat, the walking body is provided with a moving body, the moving body is connected with the walking beam through a connecting beam, and the walking body is provided with a driving unit. According to the non-excavation inner pipe accurate positioning device for the municipal pipe network, in the process that the walking body walks along the pipeline, the shooting mechanism can clearly capture the situation of the inner wall of the pipeline, the positioning piece can accurately determine the position information of the device in the pipeline, and accurate data support is provided for follow-up pipeline repair and transformation work.

Description

TECHNICAL FIELD

[0001] The utility model relates to municipal pipe network repair technical field, especially municipal pipe network non -excavation inner tube accurate positioning device. BACKGROUND

[0002] Municipal pipe network engineering includes power supply pipeline, rainwater pipeline, sewage pipeline, water supply pipeline, fire control pipeline, gas pipeline, communication pipeline and community intelligent pipeline etc., however, along with the long -term uninterrupted operation of municipal pipeline system, various problems gradually appear. Due to the influence of factors such as water flow scouring, sediment accumulation, pipeline material aging and external environmental pressure, blockage, leakage and other conditions often appear in the pipeline. These problems not only will lead to resource waste, but also can cause the threat to the safety and normal order of city. Like water supply pipeline leakage will cause the waste of water resources in large quantities, increases the water supply cost;Sewage pipeline leakage can contaminate soil and groundwater, and cause environmental pollution problems.

[0003] Therefore, it is crucial to periodically detect and evaluate the pipeline condition, and through regular detection, potential problems can be found in time, effective repair measures are taken, the service life of the pipeline is prolonged, and the safe and stable operation of the municipal pipe network system is ensured. However, in the actual detection work, most of the pipelines are usually buried under the ground, and the distance between the inspection wells is far. This makes it difficult to detect the leakage in time, and the traditional manual leakage detection method needs the detection personnel to use professional tools to check one by one on the ground, which is not only low in efficiency, but also is greatly disturbed by environmental noise and other factors, and the accuracy is difficult to guarantee. In some traffic -heavy road sections, the noise generated by vehicle driving can cover up the sound of pipeline leakage, so that the detection personnel are difficult to accurately determine the leakage position. In addition, in today's city construction development, ground buildings are increasingly dense, and when detecting underground pipelines, not damaging ground buildings has become an important limiting condition. UTILITARIAN CONTENT

[0004] The utility model aims at providing a kind of municipal pipe network non -excavation inner tube accurate positioning device to solve the above insufficient in prior art.

[0005] In order to realize the above-mentioned purpose, the utility model provides the following technical scheme:

[0006] The utility model provides a kind of municipal pipe network non-excavation inner tube accurate positioning device, including walking mechanism, the walking mechanism includes walking body and walking assembly being arranged on the walking body, shooting mechanism and positioning piece are arranged on the walking body, the walking assembly at least has three, the walking assembly is sequentially spaced along the circumference of the walking body, each walking assembly includes walking beam and walking wheel on the walking beam, driving mechanism is arranged on the walking beam to drive the walking wheel, annular mounting seat is arranged on the walking body, the end of the walking beam away from the walking wheel is rotatably connected on the annular mounting seat, movement body is arranged on the walking body, the movement body is connected with the walking beam by connecting beam, driving unit is arranged on the walking body, the movement body can reciprocate along the length direction of the walking body by the driving of the driving unit.

[0007] The utility model provides a kind of municipal pipe network non-excavation inner tube accurate positioning device described above, the walking assembly has three, three walking assemblies are sequentially spaced along the circumference of the annular mounting seat.

[0008] The utility model provides a kind of municipal pipe network non-excavation inner tube accurate positioning device described above, the movement body includes movement seat, three connecting beams are arranged on the movement seat, one end of the connecting beam is rotatably connected with the movement seat, the other end of the connecting beam is rotatably connected with the middle position of the walking beam.

[0009] The utility model provides a kind of municipal pipe network non-excavation inner tube accurate positioning device described above, the driving unit includes screw rod being arranged on the walking body, mounting sleeve is arranged on the movement seat and is transmissionally connected with the screw rod.

[0010] The utility model provides a kind of municipal pipe network non-excavation inner tube accurate positioning device described above, three guide rods are arranged on the walking body, three guide rods are parallelly arranged with the screw rod, and mounting through-hole is arranged on the movement body for the guide rod.

[0011] The utility model provides a kind of municipal pipe network non-excavation inner tube accurate positioning device described above, the end of the walking body is provided with circular mounting seat, and the shooting mechanism and positioning piece are arranged on the circular mounting seat.

[0012] The utility model provides a kind of municipal pipe network non-excavation inner tube accurate positioning device described above, further include positioning auxiliary assembly, the positioning auxiliary assembly has three, three positioning auxiliary assemblies are sequentially spaced along the circumference of the circular mounting seat.

[0013] The municipal pipe network non-excavation inner pipe accurate positioning device, the positioning auxiliary assembly includes a radial positioning member and a positioning cross bar arranged at the end of the radial positioning member, and a positioning wheel set is arranged on the positioning cross bar; the radial positioning member includes a first positioning rod and a second positioning rod, the positioning cross bar is arranged at the end of the second positioning rod, a mounting channel for mounting the second positioning rod is arranged on the first positioning rod, and a spring support is arranged in the mounting channel.

[0014] The municipal pipe network non-excavation inner pipe accurate positioning device, the circular mounting seat is sequentially and spacedly provided with three radial positioning seats in the circumferential direction, and a movement channel for movement of the first positioning rod is arranged on the radial positioning seat.

[0015] The municipal pipe network non-excavation inner pipe accurate positioning device, the center position of the circular mounting seat is provided with a rotary driving body, the rotary driving body is provided with a spiral driving groove, the end of the first positioning rod is provided with a connecting seat, and the connecting seat is in transmission connection with the rotary driving body.

[0016] In the above technical scheme, the utility model provides a kind of municipal pipe network non-excavation inner pipe accurate positioning device, walking mechanism includes walking body and walking assembly being arranged on walking body, and shooting mechanism and positioning member are arranged on walking body, each walking assembly includes walking beam and walking wheel on walking beam, and driving mechanism for driving walking wheel is arranged on walking beam, walking wheel can be walked along the inner wall of pipeline by driving mechanism to driving walking wheel, and the position of walking wheel can be adjusted by driving unit and moving body, so that walking wheel can adapt to pipeline of different sizes, the subtle condition in the inside of pipeline can be clearly captured by shooting mechanism in the walking process of walking body along pipeline, crack, corrosion trace on pipeline wall and sediment accumulation condition in pipeline can be accurately shot and recorded. Operator can intuitively judge whether pipeline exists breakage, blockage and other problems by these shot images, and positioning member can accurately determine the position information of device in pipeline, to provide accurate data support for subsequent pipeline repair and reconstruction work. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical scheme in the embodiments of the present application or the prior art, the drawings needed in the embodiments will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments described in the utility model, and other drawings can also be obtained by those skilled in the art according to these drawings.

[0018] Figure 1 The utility model provides a municipal pipe network non-excavation inner pipe accurate positioning device for the utility model embodiment provides the perspective drawing of municipal pipe network non-excavation inner pipe accurate positioning device;

[0019] Figure 2 The main view of the municipal pipe network non-excavation inner pipe accurate positioning device is provided for the utility model embodiment;

[0020] Figure 3 The installation schematic view of the positioning auxiliary assembly and the rotary driving body is provided for the utility model embodiment;

[0021] Figure 4 The structure schematic view of the positioning auxiliary assembly is provided for the utility model embodiment.

[0022] Mark explanation:

[0023] 1, walking mechanism; 11, walking body; 12, walking assembly; 121, walking beam; 122, walking wheel; 123, driving mechanism; 13, shooting mechanism; 14, positioning piece; 15, annular mounting seat; 16, moving body; 161, movement seat; 17, connecting beam; 18, lead screw; 181, mounting sleeve; 19, guide rod; 2, circular mounting seat; 3, positioning auxiliary assembly; 31, radial positioning piece; 311, first positioning rod; 312, second positioning rod; 313, installation channel; 314, spring support; 32, positioning cross bar; 33, positioning wheel set; 34, radial positioning seat; 35, rotary driving body; 36, driving groove; 37, connecting seat. Specific implementation

[0024] In order to make the technical personnel in the art better understand the technical scheme of the utility model, the utility model will be further introduced in detail below in conjunction with the drawings.

[0025] As Figures 1-4 Indicated, the utility model provides a kind of municipal pipe network non-excavation inner pipe accurate positioning device, including walking mechanism 1, walking mechanism 1 includes walking body 11 and the walking assembly 12 being set on walking body 11, walking body 11 is provided with shooting mechanism 13 and positioning piece 14, walking assembly 12 at least three, three walking assemblies 12 are sequentially spaced apart along the circumference of walking body 11, each walking assembly 12 includes walking beam 121 and walking wheel 122 on walking beam 121, walking beam 121 is provided with the driving mechanism 123 for driving walking wheel 122, walking body 11 is provided with annular mounting seat 15, walking beam 121 is hinged on annular mounting seat 15 away from walking wheel 122 one end, walking body 11 is provided with moving body 16, moving body 16 is connected with walking beam 121 by connecting beam 17, walking body 11 is provided with the driving unit of moving body 16 for driving, moving body 16 receives the driving of driving unit and can reciprocate along the axis direction of walking body 11.

[0026] Specifically, the walking body 11 is a cylindrical body, and the walking assembly 12 is arranged on the cylindrical body. The walking assembly 12 is at least three, and the three or more walking assemblies 12 are sequentially and spacedly arranged along the circumference of the walking body 11. The walking assembly 12 can enable the walking body 11 to walk inside the pipeline. The walking assembly 12 can also have two groups, and each group has at least three walking assemblies 12 arranged at different positions in the axial direction of the walking body 11, so that the walking mechanism 1 can normally walk inside the pipeline. Each walking assembly 12 comprises a walking beam 121 and a walking wheel 122 mounted on the walking beam 121. The walking beam 121 has a certain length and strength. The walking body 11 is fixedly provided with an annular mounting seat 15. The annular mounting seat 15 is provided with a plurality of hinged mounting portions. One end of the walking beam 121 is rotatably connected to the hinged mounting portion. The walking wheel 122 is arranged at the other end of the walking beam 121. The walking wheel 122 is made of rubber material with good wear resistance and good grip. The surface of the walking wheel 122 is designed with special patterns to increase the friction with the inner wall of the pipeline, so as to ensure that the walking mechanism 1 can stably roll forward inside the pipeline. A driving mechanism 123 is arranged on each walking beam 121. The driving mechanism 123 is in transmission connection with the walking wheel 122. Under the action of the driving mechanism 123, the walking wheel 122 can rotate. The driving mechanism 123 adopts the existing structure capable of driving the rotation of the wheel body in the prior art, and details are not described herein.

[0027] In the embodiment, a moving body 16 and a driving unit are further arranged on the walking body 11. The driving unit and the moving body 16 are in transmission connection. Under the driving of the driving unit, the moving body 16 can reciprocate along the axial direction of the walking body 11. The driving unit can be a ball screw mechanism or a hydraulic driving mechanism 123. A connecting beam 17 is arranged on the moving body 16. The number of the connecting beams 17 is consistent with the number of the walking beams 121, i.e., one connecting beam 17 is correspondingly arranged on each walking beam 121. One end of the connecting beam 17 is hinged to the moving body 16, and the other end is rotatably connected to the middle position of the walking beam 121. Thus, under the driving of the driving unit, when the moving body 16 moves towards the annular mounting seat 15, the connecting beam 17 drives the walking beam 121 to rotate and open, so that the distance between the walking wheel 122 and the walking body 11 increases, thereby adapting to the pipeline with a larger size. Conversely, when the moving body 16 moves away from the annular mounting seat 15, the connecting beam 17 drives the walking beam 121 to rotate and close, so that the distance between the walking wheel 122 and the walking body 11 decreases, thereby adapting to the pipeline with a smaller size.

[0028] In this embodiment, a circular mounting seat 2 is arranged at the end of the columnar body, and a shooting mechanism 13 and a positioning member 14 are arranged on the circular mounting seat 2, the shooting mechanism 13 comprises a high-definition camera and a related lighting device. The high-resolution camera can clearly capture the subtle conditions inside the pipeline, and the cracks, corrosion marks on the pipeline wall and the sediment accumulation in the pipeline can be accurately recorded. The lighting device ensures that the camera can obtain clear images in the dimly lit pipeline environment. The operator can intuitively judge whether the pipeline has problems such as damage and blockage through the images, and provide important basis for subsequent maintenance work. The positioning member 14 adopts a high-precision gyroscope, a GPS module and the like. The positioning member 14 can accurately determine the position information of the device in the pipeline, including the three-dimensional coordinates of the walking mechanism 1, the distance from the starting point of the pipeline and the like.

[0029] The municipal pipeline network non-excavation inner pipe accurate positioning device provided by the utility model, walking mechanism 1 includes walking body 11 and walking assembly 12 arranged on walking body 11, shooting mechanism 13 and positioning member 14 are arranged on walking body 11, each walking assembly 12 includes walking beam 121 and walking wheel 122 on walking beam 121, driving mechanism 123 for driving walking wheel 122 is arranged on walking beam 121, walking wheel 122 can walk along the inner wall of the pipeline through the driving of driving mechanism 123, and the position of walking wheel 122 can be adjusted through driving unit and moving body 16, so that walking wheel 122 can adapt to pipelines of different sizes. In the walking process of walking body 11 along the pipeline, shooting mechanism 13 can clearly capture the subtle conditions inside the pipeline, and the cracks, corrosion marks on the pipeline wall and the sediment accumulation in the pipeline can be accurately recorded. The operator can intuitively judge whether the pipeline has problems such as damage and blockage through the images, and the positioning member 14 can accurately determine the position information of the device in the pipeline, and provide accurate data support for subsequent pipeline repair and reconstruction work.

[0030] In this embodiment, preferably, walking assembly 12 and connecting beam 17 are three, three walking assemblies 12 are sequentially and spacedly arranged along the circumference of annular mounting seat 15, moving body 16 includes moving seat 161, three connecting beams 17 are arranged on moving seat 161, one end of connecting beam 17 is hinged to moving seat 161, the other end of connecting beam 17 is rotationally connected to the middle position of walking beam 121, when moving seat 161 reciprocates along walking body 11, walking beam 121 is driven through connecting beam 17, so that walking beam 121 is driven to be dispersedly unfolded or close to each other.

[0031] In the embodiment, preferably, the walking body 11 is provided with a lead screw 18, the moving seat 161 is provided with a mounting sleeve 181 in transmission connection with the lead screw 18, the mounting sleeve 181 forms a ball screw structure with the lead screw 18, that is, the lead screw 18 rotates to correspondingly drive the moving seat 161 and the mounting sleeve 181 to move linearly along the axis direction of the lead screw 18, the walking body 11 is provided with three guide rods 19, the three guide rods 19 are arranged in parallel with the lead screw 18, and the three guide rods 19 are sequentially and spacedly arranged along the circumferential direction of the lead screw 18, the moving body 16 is provided with a mounting through hole through which the guide rod 19 passes, the size of the mounting through hole is slightly larger than the size of the guide rod 19, so that the movement of the moving seat 161 is guided and limited by the guide rod 19 and the mounting through hole, so that the moving seat 161 reciprocates along the axis direction of the lead screw 18.

[0032] In the embodiment, preferably, the end of the walking body 11 is provided with a circular mounting seat 2, the shooting mechanism 13 and the positioning member 14 are arranged on the circular mounting seat 2, the positioning auxiliary assembly 3 is three, the three positioning auxiliary assemblies 3 are sequentially and spacedly arranged along the circumferential direction of the circular mounting seat 2, when the shooting mechanism 13 and the positioning member 14 on the walking body 11 detect the pipeline, when cracks, corrosion marks and the like are detected on the pipeline wall, the walking body 11 needs to stop at the position for detailed detection and positioning recording of the specific position, for example, when cracks, corrosion marks and the like occur at the inclined position of the pipeline, the walking wheel 122 does not work, so the walking body 11 cannot stop in the pipeline, the positioning auxiliary assembly 3 can realize temporary positioning of the walking body 11, so that the walking body 11 temporarily stops at the inclined position of the pipeline.

[0033] In the embodiment, preferably, the positioning auxiliary assembly 3 includes a radial positioning member 3114 and a positioning cross rod 32 arranged at the end of the radial positioning member 3114, the positioning cross rod 32 is provided with a positioning wheel set 33, the radial positioning member 3114 includes a first positioning rod 311 and a second positioning rod 312, the positioning cross rod 32 is arranged at the end of the second positioning rod 312, the first positioning rod 311 is provided with a mounting channel 313 for mounting the second positioning rod 312, the mounting channel 313 is provided with a spring support member 314, the end of the second positioning rod 312 is movably connected to the inside of the mounting channel 313, and the end of the second positioning rod 312 is fixedly mounted at the end of the spring support member 314, so that the end of the second positioning rod 312 can reciprocate along the mounting channel 313.

[0034] Preferably, in the embodiment, the circular mounting base 2 is sequentially and spacedly provided with three radial positioning seats 34 in the circumferential direction, the radial positioning seat 34 is provided with a movement channel for the movement of the first positioning rod 311, the movement channel is arranged along the radial direction of the circular mounting base 2, the center of the circular mounting base 2 is provided with a rotary driving body 35, the rotary driving body 35 is provided with a spiral driving groove 36, the end of the first positioning rod 311 is provided with a connecting seat 37, the connecting seat 37 is in transmission connection with the rotary driving body 35, the connecting seat 37 is provided with a tooth block, the tooth block is located in the spiral driving groove 36, the rotary driving body 35 is connected with a driving motor, the rotary driving body 35 is driven to rotate by the driving motor, so as to drive the first positioning rod 311 to move along the radial direction of the circular mounting base 2, when the driving motor drives the rotary driving body 35 to rotate in the first direction, the connecting seat 37 moves away from the center of the circular mounting base 2, so that the distance between the positioning wheel set 33 and the radial positioning seat 34 increases, on the contrary, when the driving motor drives the rotary driving body 35 to rotate in the second direction, the connecting seat 37 moves towards the center of the circular mounting base 2, so that the distance between the positioning wheel set 33 and the radial positioning seat 34 decreases.

[0035] The control unit is also arranged on the walking body 11, and the operator remotely controls the control unit, so as to control the working of the driving unit, the driving mechanism 123 and the like on the walking body 11.

[0036] Thus, in use, the operator first controls the driving unit through the control unit, and drives the moving body 16 to move under the driving of the driving unit, so as to make the walking wheels 122 adhere to the inner wall of the pipeline, and then starts the driving mechanism 123 in the walking assembly 12, and the driving mechanism 123 drives the walking wheels 122 to roll on the inner wall of the pipeline, and the walking body 11 is driven to move forward in the pipeline under the friction between the walking wheels 122 and the inner wall of the pipeline. And in the walking process, the position of each walking wheel 122 can be adjusted through the driving of the driving unit, so as to make the walking wheels 122 adhere to the inner wall of the pipeline to adapt to different sizes of the pipeline.

[0037] In the walking process of the walking body 11, the shooting mechanism 13 and the positioning member 14 work simultaneously, the camera of the shooting mechanism 13 continuously shoots the picture inside the pipeline, and the lighting device provides sufficient light for shooting. The shot image data is transmitted to the control center on the ground in a wired or wireless manner, and the operator can observe the condition inside the pipeline in real time. The positioning member 14 records the position information of the device in the pipeline in real time.

[0038] When cracks, corrosion marks and the like on the pipe wall are detected, the rotating drive body 35 is driven by the driving motor to rotate, so that the connecting seat 37 moves away from the center of the circular mounting seat 2, the distance between the positioning wheel set 33 and the radial positioning seat 34 increases, until the positioning wheel set 33 is in abutment with the inner wall of the pipe to realize the positioning of the walking body 11, and the driving mechanism 123 stops working. The inner wall of the pipe is photographed in detail by the shooting mechanism 13, the positioning member 14 is positioned and the accurate position of the device is calculated, and the position data is also transmitted to the control center. After the detection and positioning are completed, the driving motor drives the rotating drive body 35 to move towards the center of the circular mounting seat 2, so that the distance between the positioning wheel set 33 and the radial positioning seat 34 decreases, the positioning wheel set 33 is separated from the inner wall of the pipe, and the driving mechanism 123 continues to work to make the walking body 11 continue to walk until the detection of the pipe is completed. The operator can comprehensively understand the condition of the inside of the pipe and the position of the cracks, corrosion marks and the like through the image and position information, and accurate data support is provided for subsequent pipe detection and maintenance work.

[0039] The above only describes certain exemplary embodiments of the present application by way of illustration, and it is needless to say that the described embodiments can be modified in various ways without departing from the spirit and scope of the present application for those skilled in the art. Therefore, the above drawings and description are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present application.

Claims

1. A device for accurate positioning of a non-excavated inner pipe of a municipal pipe network, comprising a walking mechanism, characterized in that, The walking mechanism comprises a walking body and walking assemblies arranged on the walking body, the walking body is provided with a shooting mechanism and a positioning member, the walking assemblies are at least three, the walking assemblies are sequentially and spaced apart along the circumference of the walking body, each of the walking assemblies comprises a walking beam and walking wheels on the walking beam, the walking beam is provided with a driving mechanism for driving the walking wheels, the walking body is provided with an annular mounting seat, one end of the walking beam away from the walking wheels is rotationally connected to the annular mounting seat, the walking body is provided with a moving body, the moving body is connected to the walking beam through a connecting beam, the walking body is provided with a driving unit, and the moving body can reciprocate along the length direction of the walking body under the driving of the driving unit.

2. The municipal network non-excavation in-pipe precise positioning device according to claim 1, characterized in that, The walking assemblies are three, and the three walking assemblies are sequentially and spaced apart along the circumference of the annular mounting seat.

3. The municipal network non-excavation in-pipe precise positioning device according to claim 2, characterized in that, The moving body comprises a moving seat, the moving seat is provided with three connecting beams, one end of the connecting beam is rotationally connected to the moving seat, and the other end of the connecting beam is rotationally connected to the middle position of the walking beam.

4. The municipal network non-excavation inner pipe precise positioning device according to claim 3, characterized in that, The driving unit comprises a lead screw arranged on the walking body, and the moving seat is provided with a mounting sleeve in transmission connection with the lead screw.

5. The municipal network non-excavation inner pipe precise positioning device according to claim 4, characterized in that, The walking body is provided with three guide rods, the three guide rods are arranged in parallel with the lead screw, and the moving body is provided with mounting through holes through which the guide rods pass.

6. The municipal pipe network trenchless in-pipe precise positioning device according to claim 1, characterized in that, The end of the walking body is provided with a circular mounting seat, and the shooting mechanism and the positioning member are arranged on the circular mounting seat.

7. The municipal network non-excavation in-pipe precise positioning device according to claim 6, characterized in that, The walking body is provided with three guide rods, the three guide rods are arranged in parallel with the lead screw, and the moving body is provided with mounting through holes through which the guide rods pass.

8. The municipal pipe network trenchless in-pipe precise positioning device according to claim 7, characterized in that, The positioning auxiliary assembly comprises a radial positioning member and a positioning cross rod arranged at the end of the radial positioning member, and the positioning cross rod is provided with a positioning wheel set; The radial positioning member comprises a first positioning rod and a second positioning rod, the positioning cross rod is arranged at the end of the second positioning rod, the first positioning rod is provided with a mounting channel for mounting the second positioning rod, and the mounting channel is provided with a spring support.

9. The municipal network non-excavation inner pipe precise positioning device according to claim 8, characterized in that, The circular mounting seat is sequentially and spaced apart along the circumference and is provided with three radial positioning seats, the radial positioning seats are provided with movement channels for movement of the first positioning rods.

10. The municipal pipe network trenchless in-pipe pinpointing device according to claim 9, characterized in that, The center position of the circular mounting seat is provided with a rotary driving body, the rotary driving body is provided with a spiral driving groove, the end of the first positioning rod is provided with a connecting seat, and the connecting seat is in transmission connection with the rotary driving body.

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