CN109340584A - A kind of Urban Underground water supply line defectoscope - Google Patents
A kind of Urban Underground water supply line defectoscope Download PDFInfo
- Publication number
- CN109340584A CN109340584A CN201811199269.1A CN201811199269A CN109340584A CN 109340584 A CN109340584 A CN 109340584A CN 201811199269 A CN201811199269 A CN 201811199269A CN 109340584 A CN109340584 A CN 109340584A
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- gear
- propeller
- fixedly mounted
- fixedly installed
- deck
- Prior art date
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 24
- 238000001514 detection method Methods 0.000 claims abstract description 13
- 239000003292 glue Substances 0.000 claims description 14
- 108010066057 cabin-1 Proteins 0.000 claims description 4
- 230000033228 biological regulation Effects 0.000 claims description 3
- 230000001737 promoting effect Effects 0.000 claims description 3
- 230000005611 electricity Effects 0.000 abstract description 5
- 230000009471 action Effects 0.000 abstract description 3
- 230000005012 migration Effects 0.000 abstract description 2
- 238000013508 migration Methods 0.000 abstract description 2
- 230000001681 protective effect Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 8
- 238000000034 method Methods 0.000 description 6
- 238000010248 power generation Methods 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 238000004134 energy conservation Methods 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000014759 maintenance of location Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000000746 purification Methods 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 239000000523 sample Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17D—PIPE-LINE SYSTEMS; PIPE-LINES
- F17D5/00—Protection or supervision of installations
- F17D5/02—Preventing, monitoring, or locating loss
- F17D5/06—Preventing, monitoring, or locating loss using electric or acoustic means
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17D—PIPE-LINE SYSTEMS; PIPE-LINES
- F17D5/00—Protection or supervision of installations
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
Abstract
The present invention discloses a kind of Urban Underground water supply line defectoscope, including main control cabin, propeller, detecting head.Complete machine is driven by electricity, and can be cruised along pipeline inside Urban Underground water supply pipe with a variety of detection equipments, migration such as sonar, laser sensor and cameras, is periodically detected whether pipeline occurs leakage failure；There are four electric pushrods for fuselage surrounding, serve when robot stops and cruising and cast anchor, stretch out push rod, and surrounding is stuck on tube wall, that is, has fixed robot；After fuselage is fixed, main screw can realize continuation of the journey function for a long time, and environmentally protective in hydroelectric generation under flow action.
Description
Technical field
The present invention relates to pipeline inspection technical field, in particular to a kind of Urban Underground water supply line defectoscope.
Background technique
Urban water supply is the important infrastructure of urban construction, the stable development and people's lives water to urban economy is guaranteed
Flat raising plays the role of very important, water resource is poor and environmental pollution restricts today of urban water supply scale, supplies water
Pipe leakage is the waste to high-quality water resource, more aggravates disparities between supply and demand in the city of insufficient water, it not only increases water purification
Cost, but also the investment cost of water facilities is extraly increased, meanwhile, also cause some water loggings, road damage etc. secondary
Disaster.Reducing pipeline leakage rate is even more to reflect the one of the important signs that of water undertaking's management level.Present leak hunting method can be with
It is divided into two classes: active leak detecting and Passive leak detection method.Active leak detecting is exactly to emerge in face of ground in underground piping leak, using each
Kind leak hunting method and pertinent instruments, actively check the method for underground piping leak.Passive leak detection method is emitted to underground piping leak
The method of leak is just found behind ground out.Although water supply industry leak hunting method is more, use following four kinds under normal circumstances: sound is listened
Leak detecting, the correlation between in leak detection method, the automatic detection method of leak sound and subregion leak detecting.It can solve 70% pipeline secretly to leak.First three leak detection
Method is that the sound of leak generation is leaned on to detect leak source, and to noiseless leakage, it is invalid for this.And subregion leak detecting is according to meter
Pipeline flow and pressure are measured to differentiate that whether there is or not leak presence.To sum up, it is badly in need of a kind of leak detection equipment of high efficiency high-accuracy.
Summary of the invention
In view of the above-mentioned problems, the present invention provides a kind of Urban Underground water supply line defectoscope, be driven by electricity, with sonar,
A variety of detection equipments such as laser sensor and camera, migration can cruise inside Urban Underground water supply pipe along pipeline, the period
Whether property signal piping occurs leakage failure；Fuselage surrounding there are four electric pushrod, when robot stops cruising from cast anchor work
With stretching push rod, surrounding is stuck on tube wall, that is, has fixed robot；After fuselage is fixed, main screw can be under flow action
Hydroelectric generation realizes continuation of the journey function for a long time, and environmentally protective.
Technical solution used in the present invention is: a kind of Urban Underground water supply line defectoscope, including main control cabin, propulsion
Device, detecting head, the propeller and detecting head are respectively and fixedly installed to main control cabin both ends；Main control cabin is responsible for pose regulation, pushes away
It is responsible for promoting in hydroelectric generation into device, detecting head is responsible for flaw detection.
The main control cabin includes rear deck, first servo motor, annular battery, auxiliary propeller, prismatic cell, axis
Hold seat, front deck, electric pushrod, the first support, first gear, second gear, third gear, band handle multi-diameter shaft, rack gear, lead screw,
Nut, the rear deck are fixedly mounted on front deck；First servo motor, annular battery and the fixed peace of four auxiliary propellers
On rear deck；Four prismatic cells are fixedly mounted on front deck surrounding；There are four the bearing blocks, is uniformly fixedly installed in
Front deck surrounding is hinged with a band handle multi-diameter shaft on each bearing block；Each band handle multi-diameter shaft two axial ends are respectively fixedly installed with one
Third gear, overhanging pommel are fixedly installed with an electric pushrod；After the first gear, second gear are respectively and fixedly installed to
On cabin, and it is intermeshed；First support is fixedly mounted on rear deck；The lead screw both ends are respectively hinged at the first support with before
On cabin；Nut and lead screw cooperate, and can move along lead screw axial reciprocating, and be fixedly installed with a tooth on the overhanging ear of nut surrounding
Item, rack gear are engaged with third gear.
The propeller includes the second propeller, the second fixing glue, the second support, the 4th gear, the 5th gear, rear deck
Flange, the second servo motor, the 4th gear and the 5th gear are respectively and fixedly installed on rear deck flange, and are mutually nibbled
It closes；Second support and the second servo motor is respectively and fixedly installed to rear deck flange two sides, wherein the second servo motor is defeated
Shaft couples with the 5th gear；Second propeller is fixedly mounted on the 4th gear outrigger shaft by the second fixing glue.
The detecting head includes front deck end cap, sensor support base, sonar, laser sensor, camera, the second brushless electricity
Machine, second brushless motor are fixedly mounted in front deck end cap, and a sensor support base is fixedly installed on output shaft；Four
A sonar and four laser sensors are uniformly fixedly mounted on sensor support base respectively；Camera is fixedly mounted on sensor branch
On one side end face of seat.
Further, the auxiliary propeller includes the first propeller, the first fixing glue, the first brushless motor, motor
Bracket, first brushless motor are fixedly mounted on electric machine support；First propeller is solid by the first fixing glue
Dingan County is on the first brushless motor output shaft.
Further, the electric pushrod includes cylinder body, push rod, elastic rubber ball, and the push rod and cylinder body cooperate
Constitute a cylindrical pair；Elastic rubber ball is fixedly mounted on push rod end.
The invention has the advantages that: (1) 1. automatic flaw detection water-supply systems main lines, and fault detection is facilitated to repair, quasi-
True rate is high；(2) independent power generation, green energy conservation；(3) structure is simple, small in size.
Detailed description of the invention
Fig. 1, Fig. 2 are overall structure diagram of the invention.
Fig. 3, Fig. 4 are main control cabin structural schematic diagram of the invention.
Fig. 5 is auxiliary propeller structural schematic diagram of the invention.
Fig. 6 is electric pushrod structural schematic diagram of the invention.
Fig. 7, Fig. 8 are propeller structure schematic diagram of the invention.
Fig. 9, Figure 10 are measuring probe structure schematic diagram of the invention.
Figure 11 is cylinder body design of part schematic diagram of the invention.
Figure 12 is nut part structural schematic diagram of the invention.
Drawing reference numeral: 1- main control cabin；2- propeller；3- detecting head；101- rear deck；102- first servo motor；103- ring
Shape battery；104- auxiliary propeller；105- prismatic cell；106- bearing block；107- front deck；108- electric pushrod；109-
First support；110- first gear；111- second gear；112- third gear；113- band handle multi-diameter shaft；114- rack gear；115-
Lead screw；116- nut；The first propeller of 10401-；The first fixing glue of 10402-；The first brushless motor of 10403-；10404- motor
Bracket；10801- cylinder body；10802- push rod；10803- elastic rubber ball；The second propeller of 201-；The second fixing glue of 202-；
The second support of 203-；The 4th gear of 204-；The 5th gear of 205-；206- rear deck flange；The second servo motor of 207-；Before 301-
Cabin end cap；302- sensor support base；303- sonar；304- laser sensor；305- camera；The second brushless motor of 306-.
Specific embodiment
The invention will be further described combined with specific embodiments below, in the illustrative examples and explanation of the invention
For explaining the present invention, but it is not as a limitation of the invention.
As shown in Figure 1, Figure 2, a kind of city shown in Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9, Figure 10, Figure 11, Figure 12
Lower water supply line defectoscope, including main control cabin 1, propeller 2, detecting head 3, propeller 2 and detecting head 3 are respectively and fixedly installed to lead
Control 1 both ends of cabin；Main control cabin 1 is responsible for pose regulation, and propeller 2 is responsible for promoting in hydroelectric generation, and detecting head 3 is responsible for flaw detection.
Main control cabin 1 includes rear deck 101, first servo motor 102, annular battery 103, auxiliary propeller 104, rectangular storage
Battery 105, bearing block 106, front deck 107, electric pushrod 108, the first support 109, first gear 110, second gear 111,
Three gears 112, band handle multi-diameter shaft 113, rack gear 114, lead screw 115, nut 116.Rear deck 101 is fixedly mounted on front deck 107；The
One servo motor 102, annular battery 103 and four auxiliary propellers 104 are fixedly mounted on rear deck 101；Four rectangular storages
Battery 105 is fixedly mounted on 107 surrounding of front deck；There are four bearing blocks 106, is uniformly fixedly installed in 107 surrounding of front deck, each axis
It holds and is hinged with a band handle multi-diameter shaft 113 on seat 106；Each 113 two axial ends of band handle multi-diameter shaft are respectively fixedly installed with a third tooth
Wheel 112, overhanging pommel is fixedly installed with an electric pushrod 108；After first gear 110, second gear 111 are respectively and fixedly installed to
On cabin 101, and it is intermeshed；First support 109 is fixedly mounted on rear deck 101；115 both ends of lead screw are respectively hinged at first
On seat 109 and front deck 107；Nut 116 and lead screw 115 cooperate, and can move along 115 axial reciprocating of lead screw, and outside 116 surrounding of nut
It stretches and is fixedly installed with a rack gear 114 on ear, rack gear 114 is engaged with third gear 112.
Propeller 2 includes the second propeller 201, the second fixing glue 202, the second support 203, the 4th gear 204, the 5th tooth
Take turns 205, rear deck flange 206, the second servo motor 207.4th gear 204 and the 5th gear 205 are respectively and fixedly installed to rear deck
On flange 206, and it is intermeshed；Second support 203 and the second servo motor 207 are respectively and fixedly installed to 206 liang of rear deck flange
Side, wherein 207 output shaft of the second servo motor couples with the 5th gear 205；Second propeller 201 passes through the second fixing glue 202
It is fixedly mounted on 204 outrigger shaft of the 4th gear.
Detecting head 3 include front deck end cap 301, sensor support base 302, sonar 303, laser sensor 304, camera 305,
Second brushless motor 306, the second brushless motor 306 are fixedly mounted in front deck end cap 301, and one is fixedly installed on output shaft
Sensor support base 302；Four sonars 303 and four laser sensors 304 are uniformly fixedly mounted on sensor support base 302 respectively
On；Camera 305 is fixedly mounted on 302 1 side end face of sensor support base.
Auxiliary propeller 104 includes the first propeller 10401, the first fixing glue 10402, the first brushless motor 10403, electricity
Machine support 10404.First brushless motor 10403 is fixedly mounted on electric machine support 10404；First propeller 10401 passes through the
One fixing glue 10402 is fixedly mounted on 10403 output shaft of the first brushless motor.
Electric pushrod 108 includes cylinder body 10801, push rod 10802, elastic rubber ball 10803, push rod 10802 and cylinder body
10801 cooperations constitute a cylindrical pair；Elastic rubber ball 10803 is fixedly mounted on 10802 end of push rod.
Working principle of the present invention: power source of the present invention is propeller 2 and auxiliary propeller 104, is propeller mechanism,
It is driven respectively by the second servo motor 207 and the first brushless motor 10403, power supply is annular battery 103；Wherein, it promotes
2 master control of device moves ahead；There are four auxiliary propellers 104, by controlling four respective revolving speeds of the first propeller 10401, realizes position
Attitude control system.
First servo motor 102 passes through a pair of of gear pair and lead screw 115 is driven to rotate, and then nut 116 is driven to move back and forth,
And there are four rack gear 114, four four pairs of third gears 112 of further driving of rack gears 114, each pair of third gears for 116 surrounding of nut
112 final driving band 113 reciprocally swingings of handle multi-diameter shaft, are fixedly mounted on to finally realize with electronic on handle multi-diameter shaft 113
The folding of push rod 108；When robot casts anchor, push rod 108 is vertical with 107 periphery of front deck, push rod 10802 is then released, by machine
Device people is stuck on tube wall, realizes and fixes；After robot is fixed, under flow action, waterpower is realized in the reversion of the second propeller 201
Power generation, and electricity is stored in annular battery 103 and prismatic cell 105.
Detecting head 3 is driven by the second brushless motor 306 and is rotated around motor output shaft axis, guarantees various sensors thereon
Realize that 360 ° are detected without dead angle.
Claims (3)
1. a kind of Urban Underground water supply line defectoscope, including main control cabin (1), propeller (2), detecting head (3), feature exists
In: the propeller (2) and detecting head (3) is respectively and fixedly installed to main control cabin (1) both ends；Main control cabin 1 is responsible for pose regulation,
Propeller (2) is responsible for promoting in hydroelectric generation, and detecting head (3) is responsible for flaw detection；
The main control cabin (111) includes rear deck (101), first servo motor (102), annular battery (103), auxiliary propulsion
Device (104), prismatic cell (105), bearing block (106), front deck (107), electric pushrod (108), the first support (109),
One gear (110), second gear (111), third gear (112), band handle multi-diameter shaft (113), rack gear (114), lead screw (115),
Nut (116), the rear deck (101) are fixedly mounted on front deck (107)；First servo motor (102), annular battery
(103) it is fixedly mounted on rear deck (101) with four auxiliary propellers (104)；Four prismatic cells (105) are fixedly mounted on
Front deck (107) surrounding；There are four the bearing blocks (106), is uniformly fixedly installed in front deck (107) surrounding, each bearing block
(106) band handle multi-diameter shaft (113) is hinged on；Each band handle multi-diameter shaft (113) two axial ends are respectively fixedly installed with a third
Gear (112), overhanging pommel are fixedly installed with an electric pushrod (108)；The first gear (110), second gear (111)
It is respectively and fixedly installed on rear deck (101), and is intermeshed；First support (109) is fixedly mounted on rear deck (101)；It is described
Lead screw (115) both ends be respectively hinged on the first support (109) and front deck (107)；Nut (116) and lead screw (115) cooperate,
Can be mobile along lead screw (115) axial reciprocating, and a rack gear (114), rack gear are fixedly installed on the overhanging ear of nut (116) surrounding
(114) it is engaged with third gear (112)；
The propeller (2) includes the second propeller (201), the second fixing glue (202), the second support (203), the 4th gear
(204), the 5th gear (205), rear deck flange (206), the second servo motor (207), the 4th gear (204) and the 5th
Gear (205) is respectively and fixedly installed on rear deck flange (206), and is intermeshed；Second support (203) and second is watched
It takes motor (207) and is respectively and fixedly installed to rear deck flange (206) two sides, wherein the second servo motor (207) output shaft and the 5th
Gear (205) connection；Second propeller (201) is fixedly mounted on the 4th gear (204) outrigger shaft by the second fixing glue (202)
On；
The detecting head (3) includes front deck end cap (301), sensor support base (302), sonar (303), laser sensor
(304), camera (305), the second brushless motor (306), second brushless motor (306) are fixedly mounted on front deck end cap
(301) in, a sensor support base (302) are fixedly installed on output shaft；Four sonars (303) and four laser sensors
(304) it is uniformly fixedly mounted on sensor support base (302) respectively；Camera (305) is fixedly mounted on sensor support base (302)
On one side end face.
2. a kind of Urban Underground water supply line defectoscope as described in claim 1, it is characterised in that: the auxiliary propeller
It (104) include the first propeller (10401), the first fixing glue (10402), the first brushless motor (10403), electric machine support
(10404), it is characterised in that: first brushless motor (10403) is fixedly mounted on electric machine support (10404)；It is described
The first propeller (10401) be fixedly mounted on the first brushless motor (10403) output shaft by the first fixing glue (10402)
On.
3. a kind of Urban Underground water supply line defectoscope as described in claim 1, it is characterised in that: the electric pushrod
It (108) include cylinder body (10801), push rod (10802), elastic rubber ball (10803), the push rod (10802) and cylinder body
(10801) cooperation constitutes a cylindrical pair；Elastic rubber ball (10803) is fixedly mounted on push rod (10802) end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811199269.1A CN109340584B (en) | 2018-10-15 | 2018-10-15 | Flaw detector for urban underground water supply pipeline |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811199269.1A CN109340584B (en) | 2018-10-15 | 2018-10-15 | Flaw detector for urban underground water supply pipeline |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109340584A true CN109340584A (en) | 2019-02-15 |
| CN109340584B CN109340584B (en) | 2020-09-01 |
Family
ID=65310344
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811199269.1A Active CN109340584B (en) | 2018-10-15 | 2018-10-15 | Flaw detector for urban underground water supply pipeline |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109340584B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110726997A (en) * | 2019-10-09 | 2020-01-24 | 秦皇岛达则科技有限公司 | Intelligent laser positioning and tracking system |
| CN111547833A (en) * | 2020-05-12 | 2020-08-18 | 上海市政工程设计研究总院（集团）有限公司 | Self-generating disinfection robot for pressure pipeline |
| CN113212708A (en) * | 2021-04-28 | 2021-08-06 | 南京安透可智能系统有限公司 | Detection navigation ware based on pipeline |
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| CN113212708B (en) * | 2021-04-28 | 2022-04-01 | 南京安透可智能系统有限公司 | Detection navigation ware based on pipeline |
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| Publication number | Publication date |
|---|---|
| CN109340584B (en) | 2020-09-01 |
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