CN106885097A - A kind of underground pipe network probe vehicles - Google Patents
A kind of underground pipe network probe vehicles Download PDFInfo
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- CN106885097A CN106885097A CN201710202311.XA CN201710202311A CN106885097A CN 106885097 A CN106885097 A CN 106885097A CN 201710202311 A CN201710202311 A CN 201710202311A CN 106885097 A CN106885097 A CN 106885097A
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- China
- Prior art keywords
- casing
- spring
- connecting rod
- outer end
- fix bar
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Arrangements For Transmission Of Measured Signals (AREA)
- Geophysics And Detection Of Objects (AREA)
Abstract
The invention discloses a kind of underground pipe network probe vehicles, measurement and telemetry field are related generally to.The first casing and the second casing including rotating connection, the week side of boss of the two is respectively equipped with 3~5 fix bars, fix bar is provided with the wheel carrier of elastic three supporting construction, the outer end of fix bar is provided with the U-shaped frame for being capable of damping, star wheel carrier is installed in U-shaped frame, wherein the first casing is provided with various detecting elements, and the reel for being capable of unwrapping wire is provided with the second casing.The beneficial effects of the present invention are：It can be competent at the walking in complex situations underground pipelines, and significantly reduce institute's bogey jolting, rotating in traveling, while obtaining comprehensive, accurate, high-quality pipeline data, and the development of other detection operations can be aided in, meet requirement of the three-dimensional management of underground line to data.
Description
Technical field
The present invention relates to measure and telemetry field, specifically a kind of underground pipe network probe vehicles.
Background technology
With measurement and the continuous progress of telemetry, its application also gradually penetrates into the every aspect of urban construction.Its
In, underground utilities are the piths of urban infrastructure construction, are also the important guarantor that other functions of city are able to normally play
Barrier, is the lifeline of urban construction and development.Traditional measurement and administrative skill are general premised on ground survey, basic data
Collect and record is all by being accomplished manually.There is the spy of highly concealed type, complexity yet with the pipeline facility for being embedded in underground
Point, it is complicated under pipe network not only cannot intuitively contact and measure, and on ground approach route is miscellaneous, stroke is long, no
But great difficulty is brought to measurement work, workload, working time, personnel take seriously, and make the data being collected into not
Accurately, it is imperfect, influence the construction and management of urban infrastructure.
In order to break through the limitation of existing pipeline survey technology, the level that deeply development and abundant urban pipeline are managed, with reference to
The fast development of the art such as communication, measurement, remote sensing, computer management system in recent years, urban pipeline management enters three-dimensional
Managerial skills, this just proposes requirement higher to the basic measurement work of line conditions.Raising is needed badly to institute's detection data
Accuracy, promptness, integrality, diversity.There are various underground survey devices based on prior art research and development under this demand, however it is existing
Some pipeline survey devices are limited to the adaptibility to response of road conditions when walking, and in view of pipeline moves towards situation in crisscross tortuous, pipeline
Complicated the features such as, the walking for making existing pipeline walking measurement apparatus to well adapt in pipeline.Meanwhile, existing pipeline
Measurement apparatus can be detected and the data that record are not comprehensive, it is impossible to met demand of the final-period management system to data, limited pipe
Net management development.
The content of the invention
It is an object of the invention to provide a kind of underground pipe network probe vehicles, it can be competent at the row in complex situations underground pipelines
Walk, and significantly reduce institute's bogey jolting, rotating in traveling, while obtaining comprehensive, accurate, high-quality pipeline number
According to, and the development of other detection operations can be aided in, meet requirement of the three-dimensional management of underground line to data.
The present invention to achieve the above object, is achieved through the following technical solutions：
A kind of underground pipe network probe vehicles, including the first casing, the second casing and connecting portion, one end of first casing with
One end of second casing is rotatably connected by connecting portion,
Circular array shows 3~5 fix bars to the week side of boss of first casing and the second casing respectively, outside the fix bar
End leans out the outer end of the first casing/the second casing, and the inner of the fix bar is hinged with first connecting rod, the first connecting rod away from
One end of fix bar is hinged with second connecting rod, and the second connecting rod is slidably connected away from one end of first connecting rod with fix bar, institute
State and be provided between first connecting rod and second connecting rod the first spring, the hinged place of the first connecting rod and second connecting rod is hinged with arch
Shape wheel carrier, the two ends of the arch wheel carrier are provided with roller of creeping, and at least two are arranged at the rolling of creeping on the first casing
Wheel is provided with wheel hub motor, and the arch wheel carrier where the different wheel hub motors is different, and the outer end of the fix bar is provided with and it
The interior bar being slidably connected along its length, the interior bar is provided with U-shaped frame, the U-shaped frame and fix bar away from the outer end of fix bar
Between second spring is installed, the U-shaped frame is provided with installation axle, and star wheel carrier is rotatably connected in the installation axle, described
3~6 cushion idlers are installed on star wheel carrier,
First casing is the cylindrical shell of outer end opening, and inner housing is provided with first casing, the inner housing
Bottom is provided with balancing weight, and rolling bearing is provided between the inner housing and the first casing, and the front end of the inner housing is provided with solid
Determine frame, the front end of the fixed mount is provided with infrared probe, and the side of the fixed mount is provided with range sensor, the inner housing
Top is provided with depth transducer, and GPRS locating modules and signal receiving module are additionally provided with the inner casing, and the signal receives mould
Block is used to receive the remote signal of control wheel hub motor, and the wheel hub motor is provided with odometer sensor,
Fixing axle is provided with second casing, the fixing axle is provided with the reel for being rotated with it and being connected, the reel
On be wound with drawstring, the outer end of the drawstring passes from the tail end of the second casing.
The spring base adaptable with it is socketed with first casing, the spring base is cylindrical tube, the bullet
Wind spring is fixed with spring abutment, the outer end of the wind spring is fixed on the inwall of the first casing, the rolling bearing is arranged on spring
The inner ring of seat.
The rotating cylinder adaptable with it is provided with second casing, rotary shaft is installed between second casing and rotating cylinder
Hold, the bottom of the rotating cylinder is provided with balancing weight, and the length of the fixing axle is adapted with the internal diameter of rotating cylinder, the inwall of the rotating cylinder
On be symmetrically provided with block, the diameter of the distance more than fixing axle of the block rear end and rotating cylinder rear end, the block
Rear portion is provided with the draw-in groove being adapted with fixing axle, and the side wall of the draw-in groove is provided with plush copper.
The range sensor is infrared distance sensor；The odometer sensor is Hall-type odometer sensor；It is described
Depth transducer is ultrasonic sensor；
The outer end of the fix bar is provided with cavity, and the interior bar is slidably connected with cavity, and the outer end of the fix bar is provided with
Spring lower seat, the inner of the U-shaped frame is provided with the spring seat of honour, and the two ends of the second spring are separately fixed at the spring seat of honour and bullet
Under spring on seat.
The connecting portion includes the first contiguous block, the second contiguous block, and first contiguous block and the first casing pass through plane
Bearing rotates connection, and second contiguous block and the second casing are connected by plane bearing rotation, first contiguous block and the
Universal joint is provided between two contiguous blocks.
Contrast prior art, the beneficial effects of the present invention are：
1st, the present apparatus can be competent at the walking in complex situations underground pipelines, adapting to different tube diameters, plain bending route, erecting
The ability aspect of the complicated distance such as straight slalom course has significant advantage.First, the first connecting rod and second connecting rod are formed
The triangular support configurations inwardly tightened up, outwards hold out against tube wall, so that the dynamic friction of roller of creeping is more efficient by arch wheel carrier
Propulsion walking.Above-mentioned adjustable outer support structure makes the present apparatus can adapt to the pipeline of wider caliber, and is run into when in walking
During tube wall barrier, roller of creeping is taken in by the first connecting rod and second connecting rod that launch, what effectively adaptation was reduced can be by sky
Between, and increase kinetic force of friction help quickly through obstacle.Secondly, the cushion idler is stuck in the first casing and the second casing
Outer end, on the one hand, when bending is run into vertical direction, i.e., from whereabouts pipeline to the turning point of plane pipeline at, due to descending
Pipeline provides drop potential energy, makes the very fast dash of running gear downstream rate larger, and general running gear can be sent out in bending part
Raw hard hit, it is easy to device in itself and entrained element causes to damage.The present apparatus passes through the cushion idler for leaning out, and utilizes
Buffering when second spring is realized clashing into, and planetary wheel carrier is combined to the adaptation in gradient face and the route turnover of buffering pair of rollers
The guiding function of contact surface, realize upper and lower detour mitigation, it is steady, quickly through effectively protection car body and loaded original paper are exempted from
It is impacted, jolts, scrapes injury.On the other hand, the cushion idler for leaning out also effectively protects the related component on fixed mount.
When the present apparatus is walked in pipeline, due to running into the influence such as obstacle, bending, the first casing and the second housing can be with
To advance and the torsion of adaptability occurs.The gravity of the balancing weight that inner housing passes through bottom is voluntarily adjusted, and can be protected in vertical direction
Hold state constant.So that the stabilization of component holding position mounted thereto and state.(1) infrared probe can be protected
Hold erectility, it is to avoid visual angle rotate, with reference to the present apparatus in walking to the abatement effect jolted, can collect high-quality
Image data in pipeline.(2) range sensor is arranged on the side of fixed mount, is obtained by sending detectable signal to side
Pipe inside radius information.(3) as the traveling GPRS locating modules of the present apparatus obtain the geographical position that duct route is laid out.
(4) odometer sensor is capable of the length of real-time tracking approach pipeline.(5) stabilization due to inner housing in vertical state,
The depth transducer can remain in top, so that the acquisition line depth for detecting upwards.Measured data are eliminated
Because depth transducer in-line relative altitude changes the error for causing, data accurately link up.By signal receiving module, this
Device receives the control instruction on advancing, and by the record of above-mentioned data, is advanced with reference to the dynamic of probe vehicles, is obtained in that ground
Each item data of lower pipeline, to provide accurate, comprehensive initial data subsequently through the management of the system platforms such as GIS software.Survey
Amount efficiency is high, quality is good, improves the ageing of pressure management area.For underground utilities three-dimensional visualization reduction, storage, inquiry,
The management means such as analysis, positioning provide foundation.
Additionally, the traveling with probe vehicles in pipeline, second housing discharges drawstring on the way, so as in fixed point pipeline
Guide cords are inside set up, facilitates the entrance and traction of other facilities, device, auxiliary completes many detection operations.
2nd, the wind spring set between first casing and inner housing, can alleviate and postpone the first casing and rotate, twist
To rolling bearing produce movement tendency, make rolling bearing outer ring follow rotation, twist it is soft, so as to substantially reduce the first casing
The induced effect to inner housing is rotated, rocking for inner housing is substantially reduced, makes the quality of data of collection higher.
3rd, the rotating cylinder can during exercise keep the stable state on vertical direction, it is to avoid rotate.So that discharge
The problems such as drawstring will not occur twisted wire, twist circle, it is ensured that set guide wire is straight in pipeline, is subsequent operation provider
Just.
When specifically used, by drawstring winding after, by drum sheath in fixing axle, then by fixing axle from be not provided with gear
The space of block enters rotating cylinder, and after reaching block rear, rotating fixing axle makes its two ends be respectively aligned to the draw-in groove on block, and will be solid
Dead axle snaps in draw-in groove bottom, you can.Convenient adjustment and replacing drawstring, adapt to situation in different pipelines, and are easy to fast assembling-disassembling, letter
Change operation and maintenance operation.
4th, first contiguous block and the first casing are rotated by plane bearing and are connected, second contiguous block and the second machine
Shell is rotated by plane bearing and connected, and the first casing motion state with the second casing in the axial direction is independent of each other, before reduction
Resistance in entering, improves traveling efficiency.The universal joint facilitates the torsion between the first casing and the second casing, makes its light
By various bends.
Brief description of the drawings
Accompanying drawing 1 is structural representation of the invention.
Accompanying drawing 2 is the schematic diagram of the first casing of the invention and the second casing.
Accompanying drawing 3 is profile of the second casing of the invention in block aspect.
Accompanying drawing 4 is the A-A faces profile of accompanying drawing of the present invention 3.
Label shown in accompanying drawing：
1st, the first casing；2nd, the second casing；3rd, fix bar；4th, first connecting rod；5th, second connecting rod；6th, the first spring；7th, encircle
Shape wheel carrier；8th, creep roller；9th, interior bar；10th, U-shaped frame；11st, second spring；12nd, star wheel carrier；13rd, inner housing；14th, counterweight
Block；15th, fixed mount；16th, infrared probe；17th, range sensor；18th, depth transducer；19th, fixing axle；20th, reel；21st, draw
Rope；22nd, spring base；23rd, wind spring；24th, rotating cylinder；25th, block；26th, draw-in groove；27th, plush copper；28th, spring lower seat；29th, the spring seat of honour；
30th, the first contiguous block；31st, the second contiguous block；32nd, universal joint；33rd, cushion idler.
Specific embodiment
With reference to specific embodiment, the present invention is expanded on further.It should be understood that these embodiments are merely to illustrate the present invention
Rather than limitation the scope of the present invention.In addition, it is to be understood that after the content for having read instruction of the present invention, people in the art
Member can make various changes or modifications to the present invention, and these equivalent form of values equally fall within scope defined herein.
Of the present invention is a kind of underground pipe network probe vehicles, and agent structure includes the first casing 1, the second casing 2 and connection
Portion, one end of first casing 1 is rotatably connected with one end of the second casing 2 by connecting portion, convenient to pass through bending route.
Circular array shows 3~5 fix bars 3, the fix bar 3 to the week side of boss of the casing 2 of first casing 1 and second respectively
Outer end lean out the outer end of the casing 2 of the first casing 1/ second, the inner of the fix bar 3 is hinged with first connecting rod 4, described first
Connecting rod 4 is hinged with second connecting rod 5, the one end and fixation of the second connecting rod 5 away from first connecting rod 4 away from one end of fix bar 3
Bar 3 is slidably connected, and the first spring 6 is provided between the first connecting rod 4 and second connecting rod 5, makes the first connecting rod 4 and second
Connecting rod 5 forms the triangular support configurations inwardly tightened up, and arch wheel carrier 7 is outwards held out against into tube wall, and the first connecting rod 4 and second connects
The hinged place of bar 5 is hinged with arch wheel carrier 7, and the two ends of the arch wheel carrier 7 are provided with roller 8 of creeping, by foregoing triangle branch
Roller 8 of being creeped described in support structure is secured on inner-walls of duct, the more efficient propulsion walking of dynamic friction of the roller 8 that makes to creep.On
Stating adjustable outer support structure makes the present apparatus can adapt to the pipeline of wider caliber, and runs into tube wall barrier in walking
When, roller 8 of creeping is taken in by the first connecting rod 4 and second connecting rod 5 that launch, effectively adapt to by space, and can increasing for diminution
Plus kinetic force of friction is helped quickly through obstacle.At least two rollers 8 of creeping being arranged on the first casing 1 are provided with wheel hub
Motor, the arch wheel carrier 7 where the different wheel hub motors is different, and the outer end of the fix bar 3 is provided with it along its length
The interior bar 9 being slidably connected, the interior bar 9 is provided with U-shaped frame 10 away from the outer end of fix bar 3, the U-shaped frame 10 and fix bar 3 it
Between second spring 11 is installed, the U-shaped frame 10 is provided with installation axle, star wheel carrier 12 is rotatably connected in the installation axle,
3~6 cushion idlers 33 are installed, the cushion idler 33 is stuck in the first casing 1 and the second machine on the star wheel carrier 12
The outer end of shell 2, on the one hand, when bending is run into vertical direction, i.e., from whereabouts pipeline to the turning point of plane pipeline at, due under
Capable pipeline provides drop potential energy, makes that the very fast dash of running gear downstream rate is larger, and general running gear is in bending part
Hard hit can occur, it is easy to device in itself and entrained element cause damage.The present apparatus passes through the cushion idler for leaning out
33, buffering when realizing clashing into using second spring 11, and combine adaptation and cushion idler of the planetary wheel carrier to gradient face
The 33 pairs of routes are transferred the guiding function of contact surface, realize upper and lower detour mitigation, it is steady, quickly through, effectively protection car body and
Loaded original paper is from injury of clashing into, jolt, scrape.On the other hand, the cushion idler 33 for leaning out also effectively protects the first two
The related component at end.
When the present apparatus is walked in pipeline, due to running into the influence such as obstacle, bending, the first casing 1 and the second housing can
The torsion that adaptability occurs with advancing.First casing 1 is to be provided with the cylindrical shell of outer end opening, first casing 1
Inner housing 13, the bottom of the inner housing 13 is provided with balancing weight 14, and rotation is provided between the casing 1 of the inner housing 13 and first
Bearing, the gravity of the balancing weight 14 that inner housing 13 passes through bottom is voluntarily adjusted, can be constant in vertical direction hold mode.So as to
Make the stabilization of component holding position mounted thereto and state.The front end of the inner housing 13 is provided with fixed mount 15, described
The front end of fixed mount 15 is provided with infrared probe 16, and on the premise of the stabilization of inner housing 13, the infrared probe 16 can keep straight
Vertical state, it is to avoid visual angle rotates, with reference to the present apparatus in walking to the abatement effect jolted, high-quality pipeline can be collected
Interior image data.The side of the fixed mount 15 is provided with range sensor 17, and the range sensor 17 is arranged on fixed mount 15
Side, by side send detectable signal obtain pipe inside radius information.The top of the inner housing 13 is provided with depth sensing
Device 18, due to stabilization of the inner housing 13 in vertical state, the depth transducer 18 can remain in top, so that upwards
The acquisition line depth of detection.Measured data are eliminated and caused because the in-line relative altitude of depth transducer 18 changes
Error, data accurately link up.The wheel hub motor is provided with odometer sensor, the odometer sensor can real-time tracking on the way
The length of footpath pipeline.GPRS locating modules and signal receiving module are additionally provided with the inner casing, with the present apparatus traveling described in
GPRS locating modules obtain the geographical position of duct route layout.The signal receiving module is used to receive control wheel hub motor
Remote signal, by signal receiving module, the present apparatus receives the control instruction on advancing, by the record of above-mentioned data, knot
The dynamic traveling of probe vehicles is closed, each item data of underground piping is obtained in that, is the pipe subsequently through system platforms such as GIS softwares
Reason provides accurate, comprehensive initial data.Measurement efficiency is high, quality is good, improves the ageing of pressure management area.It is underground utilities
Three-dimensional visualization reduction, storage, inquiry, analysis, positioning etc. management means provide foundation.
Fixing axle 19 is provided with second casing 2, the fixing axle 19 is provided with the reel 20 for being rotated with it and being connected, institute
State and drawstring 21 is wound with reel 20, the outer end of the drawstring 21 passes from the tail end of the second casing 2.As probe vehicles are in pipeline
Interior traveling, second housing discharges drawstring 21 on the way, so as to set up guide cords in fixed point pipeline, facilitates other to set
Apply, the entrance and traction of device, auxiliary complete it is many detection operation.
The spring base 22 adaptable with it is socketed with first casing 1, the spring base 22 is cylindrical tube, institute
State and wind spring 23 is fixed with spring base 22, the outer end of the wind spring 23 is fixed on the inwall of the first casing 1, the rolling bearing
Installed in the inner ring of spring base 22.Can alleviate and postpone the first casing 1 to rotate, twist to rolling bearing generation movement tendency,
Make following rotation, twisting soft for rolling bearing outer ring, drive shadow to inner housing 13 is rotated so as to substantially reduce the first casing 1
Ring, substantially reduce rocking for inner housing 13, make the quality of data of collection higher.
The rotating cylinder 24 adaptable with it is provided with second casing 2, is provided between second casing 2 and rotating cylinder 24
Rolling bearing, the bottom of the rotating cylinder 24 is provided with balancing weight 14, and the rotating cylinder 24 can during exercise keep steady on vertical direction
Determine state, it is to avoid rotate.So that the problems such as drawstring 21 for discharging will not occur twisted wire, twist circle, it is ensured that set in pipeline
Guide wire it is straight, be subsequent operation provides convenient.The length of the fixing axle 19 is adapted with the internal diameter of rotating cylinder 24, described
Block 25 is symmetrically provided with the inwall of rotating cylinder 24, the rear end of the block 25 is more than fixing axle with the distance of the rear end of rotating cylinder 24
19 diameter, the rear portion of the block 25 is provided with the draw-in groove 26 being adapted with fixing axle 19, when specifically used, drawstring 21 is wound
After good, reel 20 is enclosed within fixing axle 19, fixing axle 19 is then entered into rotating cylinder 24 from the space for being not provided with block 25, arrived
Up to after the rear of block 25, the draw-in groove 26 that fixing axle 19 makes its two ends be respectively aligned on block 25 is rotated, and fixing axle 19 is snapped in
The bottom of draw-in groove 26, you can.Convenient adjustment and replacing drawstring 21, adapt to situation in different pipelines, and are easy to fast assembling-disassembling, and simplification makes
With and attended operation.The side wall of the draw-in groove 26 is provided with plush copper 27.Fixing axle 19 can be limited prevents its abjection draw-in groove 26.
The range sensor 17 is infrared distance sensor 17；The odometer sensor is Hall-type odometer sensor；
The depth transducer 18 is ultrasonic sensor；
The outer end of the fix bar 3 is provided with cavity, and the interior bar 9 is slidably connected with cavity, and the outer end of the fix bar 3 sets
The inner for having spring lower seat 28, the U-shaped frame 10 is provided with the spring seat of honour 29, and the two ends of the second spring 11 are separately fixed at bullet
On the spring seat of honour 29 and spring lower seat 28.
The connecting portion includes the first contiguous block 30, the second contiguous block 31, and the casing 1 of first contiguous block 30 and first leads to
Cross plane bearing and rotate connection, second contiguous block 31 is rotated by plane bearing with the second casing 2 and is connected, and makes the first casing
1 motion state with the second casing 2 in the axial direction is independent of each other, and reduces advancing resistance, improves traveling efficiency.Described first
Universal joint 32 is provided between the contiguous block 31 of contiguous block 30 and second.Facilitate the torsion between the first casing 1 and the second casing 2,
It is set easily to pass through various bends.
Embodiment 1：A kind of underground pipe network probe vehicles, agent structure includes the first casing 1, the second casing 2 and connecting portion, institute
The one end and one end of the second casing 2 for stating the first casing 1 are rotatably connected by connecting portion, and the connecting portion includes the first connection
Block 30, the second contiguous block 31, first contiguous block 30 are rotated by plane bearing with the first casing 1 and are connected, and described second connects
Connect block 31 to be connected by plane bearing rotation with the second casing 2, be provided between the contiguous block 31 of first contiguous block 30 and second
Universal joint 32.
Circular array shows 3~5 fix bars 3, the fix bar 3 to the week side of boss of the casing 2 of first casing 1 and second respectively
Outer end lean out the outer end of the casing 2 of the first casing 1/ second, the inner of the fix bar 3 is hinged with first connecting rod 4, described first
Connecting rod 4 is hinged with second connecting rod 5, the one end and fixation of the second connecting rod 5 away from first connecting rod 4 away from one end of fix bar 3
Bar 3 is slidably connected, and the first spring 6 is provided between the first connecting rod 4 and second connecting rod 5, and the first connecting rod 4 and second connects
The hinged place of bar 5 is hinged with arch wheel carrier 7, and the two ends of the arch wheel carrier 7 are provided with roller 8 of creeping, and at least two are arranged at
The roller 8 of creeping on first casing 1 is provided with wheel hub motor, and the arch wheel carrier 7 where the different wheel hub motors is different,
The outer end of the fix bar 3 is provided with the interior bar 9 being slidably connected along its length with it, and the outer end of the fix bar 3 is provided with cavity,
The interior bar 9 is slidably connected with cavity, and the outer end of the fix bar 3 is provided with spring lower seat 28, and the inner of the U-shaped frame 10 is provided with
The spring seat of honour 29, is provided with second spring 11, the two ends difference of the second spring 11 between the U-shaped frame 10 and fix bar 3
It is fixed on the spring seat of honour 29 and spring lower seat 28.The interior bar 9 is provided with U-shaped frame 10, the U-shaped away from the outer end of fix bar 3
Frame 10 is provided with installation axle, and star wheel carrier 12 is rotatably connected in the installation axle, 5 is provided with the star wheel carrier 12 and is delayed
Roller 33 is rushed,
First casing 1 is to be provided with inner housing 13, the inner casing in the cylindrical shell of outer end opening, first casing 1
The bottom of body 13 is provided with balancing weight 14, and rolling bearing, first casing are provided between the casing 1 of the inner housing 13 and first
The spring base 22 adaptable with it is socketed with 1, the spring base 22 is cylindrical tube, and volume is fixed with the spring base 22
Spring 23, the outer end of the wind spring 23 is fixed on the inwall of the first casing 1.The front end of the inner housing 13 is provided with fixed mount 15,
The front end of the fixed mount 15 is provided with infrared probe 16, and the side of the fixed mount 15 is provided with range sensor 17, the inner casing
The top of body 13 is provided with depth transducer 18, and GPRS locating modules and signal receiving module, the letter are additionally provided with the inner casing
Number receiver module is used to receive the remote signal of control wheel hub motor, and the wheel hub motor is provided with odometer sensor,
Fixing axle 19 is provided with second casing 2, the fixing axle 19 is provided with the reel 20 for being rotated with it and being connected, institute
State and drawstring 21 is wound with reel 20, the outer end of the drawstring 21 passes from the tail end of the second casing 2.In second casing 2
The rotating cylinder 24 adaptable with it is provided with, rolling bearing, the bottom of the rotating cylinder 24 are installed between second casing 2 and rotating cylinder 24
Portion is provided with balancing weight 14, and the length of the fixing axle 19 is adapted with the internal diameter of rotating cylinder 24, left and right on the inwall of the rotating cylinder 24
Block 25 is symmetrically provided with, the rear end of the block 25 is more than the diameter of fixing axle 19, the block with the distance of the rear end of rotating cylinder 24
25 rear portion is provided with the draw-in groove 26 being adapted with fixing axle 19, and the side wall of the draw-in groove 26 is provided with plush copper 27.
Embodiment 2：A kind of a kind of subsurface three-dimensional pipe-network detection system, including underground pipe network of three such as embodiments 1 is detected
Car and ground remote sensing platform, the ground remote sensing platform include remote control equipment, signal receiver, data processing equipment, described
Remote control equipment is used to control a kind of traveling of underground pipe network probe vehicles, and the data processing equipment is to be based on GIS software for platform
Computer equipment.By the collection to pipeline data, transmission, storage, analysis, application, the three-dimensional for realizing underground utilities can
Depending on changing the functions such as management, storage, inquiry, analysis, positioning, a set of perfect Urban Underground comprehensive pipeline data resource pipe is formd
Reason digitlization, visual three-dimensional pipeline system.
Claims (6)
1. a kind of underground pipe network probe vehicles, it is characterised in that：It is described including the first casing (1), the second casing (2) and connecting portion
One end of first casing (1) is rotatably connected with one end of the second casing (2) by connecting portion, first casing (1) and
Circular array shows 3~5 fix bars (3) to the week side of boss of two casings (2) respectively, and the outer end of the fix bar (3) leans out the first casing
(1)/second outer end of casing (2), the inner of the fix bar (3) is hinged with first connecting rod (4), and the first connecting rod (4) is remote
Second connecting rod (5), the one end and fixation of the second connecting rod (5) away from first connecting rod (4) are hinged with from one end of fix bar (3)
Bar (3) is slidably connected, and the first spring (6), the first connecting rod are provided between the first connecting rod (4) and second connecting rod (5)
(4) and the hinged place of second connecting rod (5) is hinged with arch wheel carrier (7), the two ends of the arch wheel carrier (7) are provided with roller of creeping
(8), at least two rollers (8) of creeping being arranged on the first casing (1) are provided with wheel hub motor, the different wheel hub electricity
Machine is located on different arch wheel carriers (7), and the outer end of the fix bar (3) is provided with the interior bar being slidably connected along its length with it
(9), the interior bar (9) is provided with U-shaped frame (10) away from the outer end of fix bar (3), between the U-shaped frame (10) and fix bar (3)
Second spring (11) is installed, the U-shaped frame (10) is provided with installation axle, star wheel carrier is rotatably connected in the installation axle
(12) 3~6 cushion idlers (33), are installed on the star wheel carrier (12),
First casing (1) is the cylindrical shell of outer end opening, and inner housing (13) is provided with first casing (1), described interior
The bottom of housing (13) is provided with balancing weight (14), is provided with rolling bearing between the inner housing (13) and the first casing (1), institute
The front end for stating inner housing (13) is provided with fixed mount (15), and the front end of the fixed mount (15) is provided with infrared probe (16), described solid
The side for determining frame (15) is provided with range sensor (17), and depth transducer (18) is provided with the top of the inner housing (13), described
GPRS locating modules and signal receiving module are additionally provided with inner casing, the signal receiving module is used to receive control wheel hub motor
Remote signal, the wheel hub motor is provided with odometer sensor,
Fixing axle (19) is provided with second casing (2), the fixing axle (19) is provided with the reel for being rotated with it and being connected
(20) drawstring (21), is wound with the reel (20), the outer end of the drawstring (21) passes from the tail end of the second casing (2).
2. a kind of underground pipe network probe vehicles according to claim 1, it is characterised in that：It is socketed with first casing (1)
The spring base (22) adaptable with it, the spring base (22) is cylindrical tube, and wind spring is fixed with the spring base (22)
(23), the outer end of the wind spring (23) is fixed on the inwall of the first casing (1), and the rolling bearing is arranged on spring base (22)
Inner ring.
3. a kind of underground pipe network probe vehicles according to claim 1, it is characterised in that：Be provided with second casing (2) with
Its adaptable rotating cylinder (24), is provided with rolling bearing between second casing (2) and rotating cylinder (24), the rotating cylinder (24)
Bottom is provided with balancing weight (14), and the length of the fixing axle (19) is adapted with the internal diameter of rotating cylinder (24), the rotating cylinder (24)
Block (25) is symmetrically provided with inwall, block (25) rear end is more than fixing axle with the distance of rotating cylinder (24) rear end
(19) diameter, the rear portion of the block (25) is provided with the draw-in groove (26) being adapted with fixing axle (19), the draw-in groove (26)
Side wall is provided with plush copper (27).
4. a kind of underground pipe network probe vehicles according to claim 1, it is characterised in that：The range sensor (17) is infrared
Range sensor (17)；The odometer sensor is Hall-type odometer sensor；The depth transducer (18) passes for ultrasonic wave
Sensor；
5. a kind of underground pipe network probe vehicles according to claim 1, it is characterised in that：The outer end of the fix bar (3) is provided with
Cavity, the interior bar (9) is slidably connected with cavity, and the outer end of the fix bar (3) is provided with spring lower seat (28), the U-shaped frame
(10) the inner is provided with the spring seat of honour (29), and the two ends of the second spring (11) are separately fixed at the spring seat of honour (29) and spring
On lower seat (28).
6. a kind of underground pipe network probe vehicles according to claim 1, it is characterised in that：The connecting portion includes the first contiguous block
(30), the second contiguous block (31), first contiguous block (30) is rotated by plane bearing with the first casing (1) and is connected, described
Second contiguous block (31) is rotated by plane bearing with the second casing (2) and is connected, and first contiguous block (30) is connected with second
Universal joint (32) is provided between block (31).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710202311.XA CN106885097B (en) | 2017-03-30 | 2017-03-30 | Underground pipe network detection vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710202311.XA CN106885097B (en) | 2017-03-30 | 2017-03-30 | Underground pipe network detection vehicle |
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| Publication Number | Publication Date |
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| CN106885097A true CN106885097A (en) | 2017-06-23 |
| CN106885097B CN106885097B (en) | 2022-07-19 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710202311.XA Active CN106885097B (en) | 2017-03-30 | 2017-03-30 | Underground pipe network detection vehicle |
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| CN111677975A (en) * | 2020-07-03 | 2020-09-18 | 廊坊中油朗威工程项目管理有限公司 | Detection device and long-distance pipeline cleaner |
| CN112432029A (en) * | 2020-10-14 | 2021-03-02 | 马宁 | Electronic information acquisition device based on image communication |
| CN112871903A (en) * | 2020-12-29 | 2021-06-01 | 王云 | Descaling device for petroleum machinery pipeline and application method thereof |
| CN117288676A (en) * | 2023-09-26 | 2023-12-26 | 常熟中佳新材料有限公司 | Air conditioner refrigeration copper pipe surface defect detection device |
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