CN109340584B - Flaw detector for urban underground water supply pipeline - Google Patents
Flaw detector for urban underground water supply pipeline Download PDFInfo
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- CN109340584B CN109340584B CN201811199269.1A CN201811199269A CN109340584B CN 109340584 B CN109340584 B CN 109340584B CN 201811199269 A CN201811199269 A CN 201811199269A CN 109340584 B CN109340584 B CN 109340584B
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- water supply
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- 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
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- 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
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- General Engineering & Computer Science (AREA)
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- Acoustics & Sound (AREA)
- Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
Abstract
The invention discloses a flaw detector for an urban underground water supply pipeline, which comprises a main control cabin, a propeller and a detecting head. The whole machine is driven by electricity, is provided with various detection devices such as a sonar, a laser sensor, a camera and the like, travels inside an urban underground water supply pipeline, can cruise along the pipeline, and periodically detects whether the pipeline has a leakage fault; four electric push rods are arranged around the robot body, so that the robot body plays a role of anchoring when the robot stops cruising, extends out of the push rods, and is clamped on the pipe wall at the periphery, so that the robot is fixed; after the fuselage is fixed, the main screw can hydroelectric power generation under the effect of rivers, has realized long-time continuation of journey function, and green.
Description
Technical Field
The invention relates to the technical field of pipeline flaw detection, in particular to a flaw detector for urban underground water supply pipelines.
Background
Urban water supply is an important infrastructure for urban construction, plays a significant role in ensuring stable development of urban economy and improvement of the living standard of people, and at present, when water resources are poor and environmental pollution restricts the scale of urban water supply, water leakage of a water supply pipeline is waste of high-quality water resources, so that the supply and demand contradiction is aggravated in cities with insufficient water supply, the urban water supply system not only increases the water purification cost, but also additionally increases the investment cost of water supply facilities, and simultaneously causes secondary disasters such as water flooding, road damage and the like. The reduction of the pipeline leakage rate is one of the important marks reflecting the management level of water supply enterprises. Current leak detection methods can be divided into two categories: active leak detection and passive leak detection. The active leakage detection method is a method for actively detecting the water leakage of the underground pipeline by adopting various leakage detection methods and related instruments before the water leakage of the underground pipeline overflows out of the ground. The passive leak detection method is a method for finding water leakage after the water leakage of the underground pipeline emerges from the ground. Although leak detection methods are more in the water supply industry, the following four methods are generally adopted: the method comprises the steps of sound hearing leak detection, related leak detection, automatic water leakage sound detection and partition leak detection. Can solve 70% of the hidden leakage of the pipeline. The first three leak detection methods rely on sound generated by the leak to detect the leak point, which is ineffective for silent leaks. The partition leak detection method is used for judging whether water leakage exists or not according to the flow and the pressure of a metering pipeline. In summary, a high-efficiency and high-accuracy leak detection device is urgently needed.
Disclosure of Invention
Aiming at the problems, the invention provides a flaw detector for an urban underground water supply pipeline, which is driven by electric power, is provided with various detection equipment such as a sonar, a laser sensor, a camera and the like, travels inside the urban underground water supply pipeline, can cruise along the pipeline and periodically detects whether the pipeline has leakage faults or not; four electric push rods are arranged around the robot body, so that the robot body plays a role of anchoring when the robot stops cruising, extends out of the push rods, and is clamped on the pipe wall at the periphery, so that the robot is fixed; after the fuselage is fixed, the main screw can hydroelectric power generation under the effect of rivers, has realized long-time continuation of journey function, and green.
The technical scheme adopted by the invention is as follows: a flaw detector for an urban underground water supply pipeline comprises a main control cabin, a propeller and a detecting head, wherein the propeller and the detecting head are respectively and fixedly installed at two ends of the main control cabin; the main control cabin is responsible for posture regulation, the propeller is responsible for propelling in hydroelectric power generation, and the detecting head is responsible for detecting flaws.
The main control cabin comprises a rear cabin, a first servo motor, an annular storage battery, an auxiliary propeller, a square storage battery, a bearing seat, a front cabin, an electric push rod, a first support, a first gear, a second gear, a third gear, a stepped shaft with a handle, a rack, a lead screw and a nut, wherein the rear cabin is fixedly arranged on the front cabin; the first servo motor, the annular storage battery and the four auxiliary propellers are fixedly arranged on the rear cabin; the four square storage batteries are fixedly arranged around the front cabin; the four bearing seats are uniformly distributed and fixedly arranged on the periphery of the front cabin, and each bearing seat is hinged with a stepped shaft with a handle; a third gear is fixedly arranged at each of the two shaft ends of each stepped shaft with a handle, and an electric push rod is fixedly arranged at the end of the outward extending handle; the first gear and the second gear are respectively and fixedly arranged on the rear cabin and are meshed with each other; the first support is fixedly arranged on the rear cabin; two ends of the screw rod are respectively hinged on the first support and the front cabin; the nut is matched with the screw rod and can axially and reciprocally move along the screw rod, and the outwards extending lugs on the periphery of the nut are fixedly provided with a rack which is meshed with the third gear.
The propeller comprises a second propeller, a second fixing nail, a second support, a fourth gear, a fifth gear, a rear cabin flange and a second servo motor, wherein the fourth gear and the fifth gear are respectively and fixedly arranged on the rear cabin flange and are meshed with each other; the second support and the second servo motor are respectively and fixedly arranged on two sides of the rear cabin flange, wherein an output shaft of the second servo motor is connected with the fifth gear; the second propeller is fixedly arranged on the outward extending shaft of the fourth gear through a second fixing nail.
The detection head comprises a front cabin end cover, a sensor support, a sonar, a laser sensor, a camera and a second brushless motor, wherein the second brushless motor is fixedly arranged in the front cabin end cover, and an output shaft of the second brushless motor is fixedly provided with the sensor support; the four sonars and the four laser sensors are uniformly distributed and fixedly arranged on the sensor support respectively; the camera is fixedly arranged on the end face of one side of the sensor support.
Furthermore, the auxiliary propeller comprises a first propeller, a first fixing nail, a first brushless motor and a motor bracket, wherein the first brushless motor is fixedly arranged on the motor bracket; the first propeller is fixedly arranged on an output shaft of the first brushless motor through the first fixing nail.
Furthermore, the electric push rod comprises a cylinder body, a push rod and an elastic rubber ball, and the push rod and the cylinder body are matched to form a cylindrical pair; the elastic rubber ball is fixedly arranged at the end part of the push rod.
The invention has the beneficial effects that: (1) the method includes the following steps that 1, a main pipeline of the urban water supply system is automatically damaged, fault detection and maintenance are facilitated, and accuracy is high; (2) the power is generated autonomously, so that the environment is protected and energy is saved; (3) simple structure and small volume.
Drawings
Fig. 1 and 2 are schematic overall structural diagrams of the present invention.
Fig. 3 and 4 are schematic structural diagrams of the main control cabin of the invention.
Fig. 5 is a schematic structural view of an auxiliary propeller according to the present invention.
Fig. 6 is a schematic structural view of the electric putter of the present invention.
Fig. 7 and 8 are schematic structural views of the propeller of the present invention.
Fig. 9 and 10 are schematic diagrams of the structure of the probe head of the invention.
Fig. 11 is a schematic structural view of the cylinder part of the present invention.
Fig. 12 is a schematic structural view of a nut component of the present invention.
Reference numerals: 1-a main control cabin; 2-a propeller; 3-a probe head; 101-rear cabin; 102-a first servomotor; 103-ring-shaped storage battery; 104-an auxiliary thruster; 105-a prismatic storage battery; 106-a bearing seat; 107-front deck; 108-an electric push rod; 109-a first support; 110-a first gear; 111-a second gear; 112-third gear; 113-step shaft with handle; 114-a rack; 115-lead screw; 116-a nut; 10401-a first propeller; 10402-a first staple; 10403 — first brushless motor; 10404-motor support; 10801-cylinder body; 10802-push rod; 10803-elastomeric rubber ball; 201-a second propeller; 202-a second staple; 203-a second support; 204-fourth gear; 205-fifth gear; 206-rear compartment flange; 207-a second servomotor; 301-front deck end cover; 302-a sensor mount; 303-sonar; 304-a laser sensor; 305-a camera; 306-a second brushless motor.
Detailed Description
The present invention will be further described with reference to specific examples, which are illustrative of the invention and are not to be construed as limiting the invention.
As shown in fig. 1, fig. 2, fig. 3, fig. 4, fig. 5, fig. 6, fig. 7, fig. 8, fig. 9, fig. 10, fig. 11 and fig. 12, the urban underground water supply pipeline flaw detector comprises a main control cabin 1, a propeller 2 and a probe 3, wherein the propeller 2 and the probe 3 are respectively and fixedly installed at two ends of the main control cabin 1; the main control cabin 1 is responsible for posture regulation, the propeller 2 is responsible for propelling in hydroelectric power generation, and the probe 3 is responsible for detecting flaws.
The main control cabin 1 comprises a rear cabin 101, a first servo motor 102, an annular storage battery 103, an auxiliary propeller 104, a square storage battery 105, a bearing seat 106, a front cabin 107, an electric push rod 108, a first support 109, a first gear 110, a second gear 111, a third gear 112, a stepped shaft with a handle 113, a rack 114, a lead screw 115 and a nut 116. The rear cabin 101 is fixedly mounted on the front cabin 107; a first servo motor 102, an annular storage battery 103 and four auxiliary propellers 104 are fixedly arranged on the rear cabin 101; four square storage batteries 105 are fixedly arranged around the front cabin 107; four bearing blocks 106 are uniformly distributed and fixedly arranged around the front cabin 107, and each bearing block 106 is hinged with a stepped shaft 113 with a handle; two shaft ends of each stepped shaft with handle 113 are respectively and fixedly provided with a third gear 112, and an electric push rod 108 is fixedly arranged at the end of the outward extending handle; the first gear 110 and the second gear 111 are respectively and fixedly arranged on the rear cabin 101 and are meshed with each other; the first support 109 is fixedly mounted on the rear cabin 101; two ends of a screw 115 are respectively hinged on the first support 109 and the front cabin 107; the nut 116 is matched with the lead screw 115 and can axially reciprocate along the lead screw 115, a rack 114 is fixedly arranged on the outward extending lugs on the periphery of the nut 116, and the rack 114 is meshed with the third gear 112.
The propeller 2 comprises a second propeller 201, a second fixing nail 202, a second support 203, a fourth gear 204, a fifth gear 205, a rear cabin flange 206 and a second servo motor 207. The fourth gear 204 and the fifth gear 205 are respectively fixedly arranged on the rear cabin flange 206 and are meshed with each other; the second support 203 and the second servo motor 207 are respectively and fixedly arranged at two sides of the rear cabin flange 206, wherein an output shaft of the second servo motor 207 is connected with the fifth gear 205; the second propeller 201 is fixedly mounted on an outward extending shaft of a fourth gear 204 through a second fixing nail 202.
The detecting head 3 comprises a front cabin end cover 301, a sensor support 302, a sonar 303, a laser sensor 304, a camera 305 and a second brushless motor 306, wherein the second brushless motor 306 is fixedly arranged in the front cabin end cover 301, and an output shaft of the second brushless motor is fixedly provided with the sensor support 302; four sonars 303 and four laser sensors 304 are uniformly distributed and fixedly arranged on the sensor support 302 respectively; the camera 305 is fixedly mounted on one side end surface of the sensor holder 302.
The auxiliary propeller 104 includes a first propeller 10401, a first fixing nail 10402, a first brushless motor 10403, and a motor bracket 10404. The first brushless motor 10403 is fixedly mounted on the motor bracket 10404; the first propeller 10401 is fixedly mounted on an output shaft of the first brushless motor 10403 through a first fixing nail 10402.
The electric push rod 108 comprises a cylinder body 10801, a push rod 10802 and an elastic rubber ball 10803, and the push rod 10802 and the cylinder body 10801 are matched to form a cylindrical pair; an elastic rubber ball 10803 is fixedly mounted at the end of the push rod 10802.
The working principle of the invention is as follows: the power sources of the invention are a propeller 2 and an auxiliary propeller 104, which are both propeller mechanisms and are respectively driven by a second servo motor 207 and a first brushless motor 10403, and the power source is an annular storage battery 103; wherein, the propeller 2 is controlled to move forwards; the number of the auxiliary propellers 104 is four, and the pose control is realized by controlling the respective rotating speed of the four first propellers 10401.
The first servo motor 102 drives the screw 115 to rotate through a pair of gear pairs, so as to drive the nut 116 to reciprocate, four racks 114 are arranged around the nut 116, the four racks 114 further drive four pairs of third gears 112, and each pair of third gears 112 finally drives the stepped shaft with a handle 113 to reciprocate, so that the electric push rod 108 fixedly arranged on the stepped shaft with a handle 113 is finally opened and closed; when the robot is anchored, the push rod 108 is perpendicular to the circumferential surface of the front cabin 107, then the push rod 10802 is pushed out, and the robot is clamped on the pipe wall to realize fixation; after the robot is fixed, under the action of water flow, the second propeller 201 rotates reversely, hydroelectric power generation is realized, and electricity is stored in the annular storage battery 103 and the square storage battery 105.
The probe 3 is driven by the second brushless motor 306 to rotate around the axis of the motor output shaft, so that 360-degree dead-angle-free detection of various sensors on the probe is realized.
Claims (3)
1. The utility model provides an urban underground water supply pipeline flaw detector, includes main control cabin (1), propeller (2), detecting head (3), its characterized in that: the propeller (2) and the detecting head (3) are respectively and fixedly arranged at two ends of the main control cabin (1); the main control cabin (1) is responsible for posture regulation, the propeller (2) is responsible for propelling in hydroelectric power generation, and the probe (3) is responsible for flaw detection;
the main control cabin (111) comprises a rear cabin (101), a first servo motor (102), an annular storage battery (103), an auxiliary propeller (104), a square storage battery (105), a bearing seat (106), a front cabin (107), an electric push rod (108), a first support (109), a first gear (110), a second gear (111), a third gear (112), a stepped shaft with a handle (113), a rack (114), a lead screw (115) and a nut (116), wherein the rear cabin (101) is fixedly installed on the front cabin (107); a first servo motor (102), an annular storage battery (103) and four auxiliary propellers (104) are fixedly arranged on the rear cabin (101); four square storage batteries (105) are fixedly arranged around the front cabin (107); four bearing blocks (106) are uniformly distributed and fixedly arranged on the periphery of the front cabin (107), and each bearing block (106) is hinged with a stepped shaft (113) with a handle; a third gear (112) is fixedly arranged at each of the two shaft ends of each stepped shaft (113) with a handle, and an electric push rod (108) is fixedly arranged at the end of the outward extending handle; the first gear (110) and the second gear (111) are respectively fixedly arranged on the rear cabin (101) and are meshed with each other; the first support (109) is fixedly arranged on the rear cabin (101); two ends of the lead screw (115) are respectively hinged on the first support (109) and the front cabin (107); the nut (116) is matched with the lead screw (115) and can axially reciprocate along the lead screw (115), a rack (114) is fixedly arranged on outward extending lugs on the periphery of the nut (116), and the rack (114) is meshed with the third gear (112);
the propeller (2) comprises a second propeller (201), a second fixing nail (202), a second support (203), a fourth gear (204), a fifth gear (205), a rear cabin flange (206) and a second servo motor (207), wherein the fourth gear (204) and the fifth gear (205) are respectively and fixedly arranged on the rear cabin flange (206) and are meshed with each other; the second support (203) and the second servo motor (207) are respectively and fixedly arranged on two sides of the rear cabin flange (206), wherein an output shaft of the second servo motor (207) is connected with the fifth gear (205); the second propeller (201) is fixedly arranged on an outward extending shaft of the fourth gear (204) through a second fixing nail (202);
the detection head (3) comprises a front cabin end cover (301), a sensor support (302), a sonar (303), a laser sensor (304), a camera (305) and a second brushless motor (306), wherein the second brushless motor (306) is fixedly installed in the front cabin end cover (301), and an output shaft of the second brushless motor is fixedly provided with the sensor support (302); four sonars (303) and four laser sensors (304) are uniformly distributed and fixedly arranged on the sensor support (302) respectively; the camera (305) is fixedly arranged on one side end face of the sensor support (302).
2. The flaw detector for the urban underground water supply pipeline according to claim 1, wherein: the auxiliary propeller (104) comprises a first propeller (10401), a first fixing nail (10402), a first brushless motor (10403) and a motor bracket (10404), wherein the first brushless motor (10403) is fixedly arranged on the motor bracket (10404); the first propeller (10401) is fixedly arranged on an output shaft of the first brushless motor (10403) through a first fixing nail (10402).
3. The flaw detector for the urban underground water supply pipeline according to claim 1, wherein: the electric push rod (108) comprises a cylinder body (10801), a push rod (10802) and an elastic rubber ball (10803), and the push rod (10802) and the cylinder body (10801) are matched to form a cylindrical pair; the elastic rubber ball (10803) is fixedly arranged at the end part of the push rod (10802).
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 |
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| 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 |
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| CN109340584A CN109340584A (en) | 2019-02-15 |
| CN109340584B true CN109340584B (en) | 2020-09-01 |
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| CN201811199269.1A Active CN109340584B (en) | 2018-10-15 | 2018-10-15 | Flaw detector for urban underground water supply pipeline |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110726997B (en) * | 2019-10-09 | 2023-11-03 | 秦皇岛达则科技有限公司 | Intelligent laser positioning and tracking system |
| CN111547833B (en) * | 2020-05-12 | 2021-03-19 | 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 |
| 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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