CN111365563A - Running gear for detecting internal quality of concrete pipeline and operation method - Google Patents
Running gear for detecting internal quality of concrete pipeline and operation method Download PDFInfo
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- CN111365563A CN111365563A CN202010225202.1A CN202010225202A CN111365563A CN 111365563 A CN111365563 A CN 111365563A CN 202010225202 A CN202010225202 A CN 202010225202A CN 111365563 A CN111365563 A CN 111365563A
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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
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
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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
- F16L55/40—Constructional aspects of the body
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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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Abstract
The invention provides a walking device for detecting the internal quality of a concrete pipeline and an operation method thereof, wherein the walking device comprises a rack structure, a first middle supporting plate of the rack structure is connected with a head walking wheel set and two groups of head supporting wheel sets which are used for supporting and walking with the inner wall of the pipeline, a second middle supporting plate of the rack structure is connected with a tail walking wheel set and two groups of tail supporting wheel sets which are used for supporting and walking with the inner wall of the pipeline, and a head opening device which is used for driving the head walking wheel set and the head supporting wheel set to be opened synchronously is arranged on the rack structure; the head stretching device is connected with the tail stretching device through a synchronous transmission mechanism, and the tail stretching device is connected with the tail supporting wheel set and the tail traveling wheel set in a matched mode. The concrete quality detection device can carry concrete quality detection equipment and camera equipment to detect the internal quality of the concrete pipeline so as to ensure the detection quality.
Description
Technical Field
The invention relates to the field of building concrete quality detection devices, in particular to a walking device for detecting the internal quality of a concrete pipeline and an operation method.
Background
In construction or municipal infrastructure construction process, need use the concrete pipe, the concrete pipe mainly used blowdown or electric power, the laying of network, in the process of establishing, need detect its quality, because the inside space of pipeline is limited, and length is longer, there is certain seam in the joint position of adjacent pipeline, need detect the inside quality of concrete pipe after specifically accomplishing construction or pipe laying, mainly including the detection and the seam quality detection of pipeline inside lining surface quality, it carries corresponding check out test set that makes a video recording to its inside to adopt pipeline robot to carry on usually in the testing process, just need use pipeline running gear.
Although, there are many different structures and types of pipe running gear, for example: CN 110159869 a discloses a pipeline inspection robot and a multi-sensor fusion inspection method thereof, wherein three sets of traveling assemblies are mounted on a main body bracket to realize the traveling of the whole robot, and a quadrilateral linkage mechanism is adopted to adapt to different pipe diameters, but the structure of the robot is relatively complex, and the stability of the structure cannot be well guaranteed.
In CN20301011, a pipeline robot is disclosed, which uses a plurality of joints, mainly solves the problem of smooth walking inside a reducing pipeline, and connects two joints through a turning mechanism, and although the robot uses a screw transmission to realize stretching, it cannot be in good contact with the inner wall of the pipeline and can not realize normal walking.
In CN105276334, a pipeline inspection robot is disclosed, which employs a universal joint and a multi-stage belt transmission rocker mechanism to realize the walking of the robot in the pipeline, but the above belt type rocker mechanism cannot control the sticking of the robot to the inner wall of the pipeline well, the walking stability of the robot cannot be controlled, and the structure is relatively complex.
Disclosure of Invention
In order to solve the technical problems, the invention provides a walking device for detecting the internal quality of a concrete pipeline and an operation method thereof, which can carry a concrete quality detection device and a camera device to detect the internal quality of the concrete pipeline so as to ensure the detection quality.
In order to achieve the technical features, the invention is realized as follows: the walking device for detecting the internal quality of the concrete pipeline comprises a rack structure, wherein a first middle supporting plate of the rack structure is connected with a head walking wheel group and two groups of head supporting wheel groups which are used for supporting and walking with the inner wall of the pipeline, and the head walking wheel group and the head supporting wheel groups are uniformly distributed on the outer edge of the first middle supporting plate;
a second middle supporting plate of the rack structure is connected with a tail travelling wheel set and two tail supporting wheel sets, wherein the tail travelling wheel set and the two tail supporting wheel sets are used for supporting and travelling with the inner wall of the pipeline;
the frame structure is provided with a head opening device for driving the head walking wheel set and the head supporting wheel set to open synchronously;
the head opening device is connected with the tail opening device through a synchronous transmission mechanism, and the tail opening device is matched and connected with the tail supporting wheel set and the tail traveling wheel set and drives the tail supporting wheel set and the tail traveling wheel set to be synchronously opened and attached to the inner wall of the pipeline.
The rack structure comprises a head angle plate and a tail angle plate, three rack rods which are arranged in a triangular prism shape are fixedly installed between the head angle plate and the tail angle plate, and a first middle supporting plate and a second middle supporting plate are symmetrically fixed in the center of the middle of each rack rod through clamp springs.
The head supporting wheel set and the tail supporting wheel set are of the same structure, the head supporting wheel set comprises a head wheel rod, the head wheel rod is hinged to a first lug plate on the outer edge of a first middle supporting plate through a first pin shaft, and the other end of the head wheel rod is provided with a head wheel through a head wheel frame.
The walking wheel set of head and the walking wheel set of afterbody adopt the same structure, afterbody walking wheel set includes afterbody wheel pole, afterbody wheel pole articulates on the second otic placode in second middle part backup pad outer fringe through second round pin axle, the other end of afterbody wheel pole is supported through the afterbody wheel carrier and is installed the walking wheel, the walking wheel links to each other with the walking power device who is used for driving its rotation walking.
The walking power device comprises a walking motor, the walking motor is fixedly mounted on the side wall of the tail wheel rod through a motor fixing frame, a main shaft of the walking motor is connected with one end of a bevel gear shaft sleeve through a positioning pin, a first bevel gear is machined at the tail end of the bevel gear shaft sleeve and is in meshing transmission with a second bevel gear, and the second bevel gear is mounted on a wheel shaft of a walking wheel.
The head opens the device and includes supporting the transmission lead screw between head scute and first middle part backup pad middle part through the bearing frame, install screw-nut through the screw-drive cooperation on the transmission lead screw, screw-nut fixed mounting is on the slide block, the slide block sliding support is on rack construction's rack pole, it has the connecting rod to articulate through a plurality of first ear seats on the outer fringe lateral wall of slide block, the other end of connecting rod links to each other with the second ear seat of fixing on head walking wheelset and head support wheelset is articulated, the end of transmission lead screw links to each other with the main shaft that opens the motor through the shaft coupling, open motor fixed mounting on the lateral wall of first middle part backup pad.
Synchronous drive mechanism includes the driving gear of fixed mounting on the drive lead screw of head opening device, the driving gear constitutes the gear engagement transmission with first driven gear, first driven gear supports the one end of installing at the jackshaft, the jackshaft supports to be installed between first middle part backup pad and second middle part backup pad, second driven gear is installed to the other end of jackshaft, second driven gear and third driven gear meshing transmission, third driven gear fixed mounting is on the afterbody drive lead screw of afterbody opening device.
The afterbody opens the device including supporting the afterbody transmission lead screw between second middle part backup pad and afterbody scute, install afterbody screw nut through the screw drive cooperation on the afterbody transmission lead screw, afterbody screw nut fixed mounting is on the afterbody sliding plate, the afterbody sliding plate slides and supports on rack bar of rack construction, it has the afterbody connecting rod to articulate through a plurality of third ear seats on the outer fringe lateral wall of afterbody sliding plate, the other end of afterbody connecting rod links to each other with the fourth ear seat of fixing on afterbody support wheelset and afterbody walking wheel group is articulated.
When the quality inside the pipeline is detected, the frame structure of the walking device is provided with a detection device for detecting the inside of the concrete pipeline.
The operation method of the walking device for detecting the internal quality of the concrete pipeline comprises the following steps:
step 1: fixedly mounting professional detection equipment for detecting the internal quality of the concrete pipeline on a frame structure;
step 2: placing the whole walking device at the position of the hole of the concrete pipeline to be detected;
and step 3: opening an opening motor of the remote control detection device and the head opening device, driving a transmission screw rod through the opening motor, driving a screw rod nut through the transmission screw rod, driving a connecting rod through the screw rod nut, driving a head walking wheel set and a head supporting wheel set to be synchronously opened through the connecting rod, and enabling a head wheel and a walking wheel to be tightly attached to the inner wall of the concrete pipeline;
and 4, step 4: in the rotation process of the transmission screw rod, driving gears of the synchronous transmission mechanism are synchronously driven, a first driven gear is synchronously driven through the driving gears, an intermediate shaft is driven by the first driven gear, a second driven gear is driven through the intermediate shaft, a third driven gear is driven by the second driven gear, a tail transmission screw rod is driven through the third driven gear, a tail screw rod nut is driven through the tail transmission screw rod, a tail connecting rod is synchronously driven by the tail screw rod nut, a tail traveling wheel group and a tail supporting wheel group are synchronously opened through the tail connecting rod, and traveling wheels are enabled to be tightly attached to the inner wall of the concrete pipeline;
and 5: after the whole rack structure is stably supported on the inner wall of the concrete pipeline, starting a head traveling wheel set and a tail traveling wheel set, driving a main shaft through a traveling motor, driving a bevel gear shaft sleeve through the main shaft, driving a first bevel gear through the bevel gear shaft sleeve, driving a wheel shaft through meshing transmission of the first bevel gear and a second bevel gear, driving traveling wheels to rotate through the wheel shaft, and finally realizing stable traveling of the rack structure through contact of the traveling wheels and the inner wall of the concrete pipeline;
step 6: in the walking process of the rack structure, the quality of the inner wall of the concrete pipeline is detected through detection equipment from time to time, and the detection structure is transmitted to detection terminal equipment through remote transmission until the detection work of the whole pipeline is completed.
The invention has the following beneficial effects:
1. through foretell running gear, can carry on concrete quality detection equipment and camera equipment and realize the detection of concrete pipe internal quality to guarantee detection quality. And the reliability and the stability of the whole walking of the frame structure can be ensured.
2. The whole device can be supported by the frame structure, and the frame rod plays a role in guiding and sliding. And the structure ensures the stability of the whole device.
3. Can be with the stable support of whole device on concrete conduit's inner wall through foretell head support wheelset and afterbody support wheelset, and then guaranteed that head walking wheelset and afterbody walking wheelset can laminate mutually with the intraductal wall, realize the walking of whole device.
4. The head walking wheel set and the tail walking wheel set are mainly used for providing power for the whole device to walk in the pipeline.
5. The walking power device can provide walking power so as to drive the walking wheels to rotate.
6. The synchronous transmission mechanism is mainly used for stably transmitting the power of the head opening device to the tail opening device and simultaneously ensuring the synchronous opening action of the head opening device and the tail opening device.
7. The tail opening device is used for opening the tail supporting wheel set and the tail traveling wheel set, so that the tail supporting wheel set and the tail traveling wheel set can be supported on the inner wall of a pipeline, and walking is conveniently achieved.
Drawings
The invention is further illustrated by the following figures and examples.
FIG. 1 is a first perspective three-dimensional view of the present invention.
FIG. 2 is a second perspective three-dimensional view of the present invention.
FIG. 3 is a third perspective three-dimensional view of the present invention.
Fig. 4 is a front view of the present invention.
FIG. 5 is a view A-A of FIG. 4 according to the present invention.
In the figure: the device comprises a frame structure 1, a head supporting wheel group 2, a head walking wheel group 3, a tail walking wheel group 4, a head opening device 5, a synchronous transmission mechanism 6, a tail opening device 7 and a tail supporting wheel group 8;
a clamp spring 101, a first middle supporting plate 102, a rack rod 103, a head corner plate 104, a second middle supporting plate 105 and a tail corner plate 106;
the head wheel 201, the head wheel frame 202, the head wheel rod 203, the first ear plate 204 and the first pin shaft 205;
a second lug plate 401, a second pin shaft 402, a tail wheel rod 403, a motor fixing frame 404, a walking motor 405, a main shaft 406, a positioning pin 407, a bevel gear shaft sleeve 408, a first bevel gear 409, a wheel shaft 410, a second bevel gear 411 and a walking wheel 412;
a bearing seat 501, a transmission screw rod 502, a sliding plate 503, a first lug seat 504, a connecting rod 505, a second lug seat 506, a screw rod nut 507 and an opening motor 508;
a driving gear 601, a first driven gear 602, an intermediate shaft 603, a third driven gear 604, and a second driven gear 605;
a tail transmission screw 701, a fourth lug seat 702, a tail connecting rod 703, a tail screw nut 704, a tail sliding plate 705 and a third lug seat 706.
Detailed Description
Embodiments of the present invention will be further described with reference to the accompanying drawings.
Example 1:
referring to fig. 1-5, the walking device for detecting the internal quality of a concrete pipeline comprises a frame structure 1, wherein a first middle support plate 102 of the frame structure 1 is connected with a head walking wheel set 3 and two groups of head support wheel sets 2 for supporting and walking with the inner wall of the pipeline, and the head walking wheel set 3 and the head support wheel sets 2 are uniformly distributed on the outer edge of the first middle support plate 102; a second middle supporting plate 105 of the rack structure 1 is connected with a tail travelling wheel set 4 and two tail supporting wheel sets 8 for supporting and travelling with the inner wall of the pipeline, and the tail travelling wheel set 4 and the tail supporting wheel sets 8 are uniformly distributed on the outer edge of the second middle supporting plate 105; the frame structure 1 is provided with a head opening device 5 for driving the head walking wheel set 3 and the head supporting wheel set 2 to open synchronously; the head opening device 5 is connected with the tail opening device 7 through a synchronous transmission mechanism 6, and the tail opening device 7 is connected with the tail supporting wheel set 8 and the tail walking wheel set 4 in a matched mode and drives the tail supporting wheel set to be synchronously opened to be attached to the inner wall of the pipeline. Through foretell running gear, can carry on concrete quality detection equipment and camera equipment and realize the detection of concrete pipe internal quality to guarantee detection quality. And the reliability and the stability of the whole walking of the frame structure 1 can be ensured.
In the concrete working process, through foretell head walking wheelset 3, head support wheelset 2, afterbody support wheelset 8 and afterbody walking wheelset 4 can with the inseparable contact cooperation of concrete pipe inner wall, and then through the triangular supports of equipartition, with the circular pipeline inside that whole rack construction 1 supported, through head opening device 5 and afterbody opening device 7 can with the wheelset strut, and then adapt to the user demand of different pipe diameters to walk in the hole of the synchronous drive whole device of head walking wheelset 3 and afterbody walking wheelset 4. The inner wall of the pipeline is detected by carrying detection equipment.
Further, the frame structure 1 includes a head angle plate 104 and a tail angle plate 106, three frame rods 103 arranged in a triangular prism are fixedly installed between the head angle plate 104 and the tail angle plate 106, and a first middle support plate 102 and a second middle support plate 105 are fixed in the middle of the frame rods 103 in a central symmetry manner through a clamp spring 101. The whole device can be supported by the frame structure 1, and the frame rod 103 plays a role in guiding and sliding. And the structure ensures the stability of the whole device.
Further, the head support wheel set 2 and the tail support wheel set 8 adopt the same structure, the head support wheel set 2 includes a head wheel rod 203, the head wheel rod 203 is hinged on a first ear plate 204 on the outer edge of the first middle support plate 102 through a first pin shaft 205, and the other end of the head wheel rod 203 is provided with a head wheel 201 through a head wheel frame 202. Can be with the stable support of whole device on concrete duct's inner wall through foretell head support wheelset 2 and afterbody support wheelset 8, and then guaranteed that head walking wheelset 3 and afterbody walking wheelset 4 can laminate mutually with the intraductal wall, realize the walking of whole device.
Further, head walking wheelset 3 and afterbody walking wheelset 4 adopt the same structure, afterbody walking wheelset 4 includes afterbody wheel pole 403, afterbody wheel pole 403 articulates on second otic placode 401 on second middle part backup pad 105 outer fringe through second round pin axle 402, walking wheel 412 is installed through afterbody wheel carrier support to the other end of afterbody wheel pole 403, walking wheel 412 links to each other with the walking power device that is used for driving its rotation walking. The head walking wheel set 3 and the tail walking wheel set 4 are mainly used for providing power for the whole device to walk in the pipeline. In the working process, the corresponding walking wheels 412 are driven by the walking power device, and then the walking of the whole device is realized by the engagement between the walking wheels 412 and the inner wall of the pipeline.
Further, the walking power device comprises a walking motor 405, the walking motor 405 is fixedly mounted on the side wall of the tail wheel rod 403 through a motor fixing frame 404, a main shaft 406 of the walking motor 405 is connected with one end of a bevel gear shaft sleeve 408 through a positioning pin 407, a first bevel gear 409 is machined at the tail end of the bevel gear shaft sleeve 408, the first bevel gear 409 is in meshing transmission with a second bevel gear 411, and the second bevel gear 411 is mounted on a wheel shaft 410 of a walking wheel 412. The walking power device can provide walking power to drive the walking wheels 412 to rotate. In the specific working process, the main shaft 406 is driven by the walking motor 405, the bevel gear shaft sleeve 408 is driven by the main shaft 406, the first bevel gear 409 is driven by the bevel gear shaft sleeve 408, the second bevel gear 411 is driven by the first bevel gear 409, the axle 410 is driven by the second bevel gear 411, and the walking wheel 412 is driven by the axle 410.
Further, the head opening device 5 includes a transmission screw 502 supported between the head angle plate 104 and the middle of the first middle support plate 102 through a bearing seat 501, a screw nut 507 is installed on the transmission screw 502 through screw transmission fit, the screw nut 507 is fixedly installed on a sliding plate 503, the sliding plate 503 is slidably supported on the rack rod 103 of the rack structure 1, a connecting rod 505 is hinged on the outer edge side wall of the sliding plate 503 through a plurality of first ear seats 504, the other end of the connecting rod 505 is hinged with a second ear seat 506 fixed on the head traveling wheel set 3 and the head support wheel set 2, the end of the transmission screw 502 is connected with a main shaft of an opening motor 508 through a coupler, and the opening motor 508 is fixedly installed on the side wall of the first middle support plate 102. Through foretell head opening device 5 mainly used adjust the head and support the opening degree of wheelset 2 and head walking wheelset 3, and then make it adapt to the concrete pipe of different pipe diameters, make corresponding walking wheel and head wheel closely laminate with the pipeline inner wall simultaneously. Ensuring the follow-up normal walking process. In the working process, the transmission screw rod 502 is driven by the opening motor 508, the screw nut 507 is driven by the transmission screw rod 502, the connecting rod 505 is driven by the screw nut 507, the head walking wheel set 3 and the head supporting wheel set 2 are driven by the connecting rod 505 to be opened synchronously, and the head wheels 201 and the walking wheels are enabled to be tightly attached to the inner wall of the concrete pipeline.
Further, the synchronous transmission mechanism 6 includes a driving gear 601 fixedly mounted on the transmission screw 502 of the head opening device 5, the driving gear 601 and a first driven gear 602 form gear engagement transmission, the first driven gear 602 is supported and mounted at one end of an intermediate shaft 603, the intermediate shaft 603 is supported and mounted between the first middle support plate 102 and the second middle support plate 105, a second driven gear 605 is mounted at the other end of the intermediate shaft 603, the second driven gear 605 is in engagement transmission with a third driven gear 604, and the third driven gear 604 is fixedly mounted on the tail transmission screw 701 of the tail opening device 7. The synchronous transmission mechanism 6 is mainly used for stably transmitting the power of the head opening device 5 to the tail opening device 7 and simultaneously ensuring the synchronous opening action of the head opening device and the tail opening device. In the working process, the driving gear 601 synchronously drives the first driven gear 602, the first driven gear 602 drives the intermediate shaft 603, the intermediate shaft 603 drives the second driven gear 605, the second driven gear 605 drives the third driven gear 604, the third driven gear 604 drives the tail transmission screw rod 701, the tail transmission screw rod 701 drives the tail screw nut 704, the tail screw nut 704 synchronously drives the tail connecting rod 703, the tail traveling wheel set 4 and the tail supporting wheel set 8 are driven to synchronously open through the tail connecting rod 703, and the traveling wheel 412 is enabled to be tightly attached to the inner wall of the concrete pipeline.
Further, the tail stretching device 7 includes a tail transmission screw 701 supported between the second middle support plate 105 and the tail angle plate 106, a tail screw nut 704 is installed on the tail transmission screw 701 in a transmission fit manner through a screw, the tail screw nut 704 is fixedly installed on a tail sliding plate 705, the tail sliding plate 705 is slidably supported on the rack rod 103 of the rack structure 1, a tail connecting rod 703 is hinged to the outer edge side wall of the tail sliding plate 705 through a plurality of third lug seats 706, and the other end of the tail connecting rod 703 is hinged to a fourth lug seat 702 fixed to the tail support wheel set 8 and the tail traveling wheel set 4. The tail opening device 7 is used for opening the tail supporting wheel set 8 and the tail traveling wheel set 4, so that the tail supporting wheel set can be supported on the inner wall of the pipeline, and traveling is conveniently achieved.
Further, when the quality inside the pipeline is detected, the rack structure 1 of the walking device is provided with a detection device for detecting the inside of the concrete pipeline.
Example 2:
the operation method of the walking device for detecting the internal quality of the concrete pipeline comprises the following steps:
step 1: a professional detection device for detecting the internal quality of the concrete pipeline is fixedly arranged on the frame structure 1;
step 2: placing the whole walking device at the position of the hole of the concrete pipeline to be detected;
and step 3: the remote control detection equipment and an opening motor 508 of the head opening device 5 are started, a transmission screw rod 502 is driven by the opening motor 508, a screw rod nut 507 is driven by the transmission screw rod 502, a connecting rod 505 is driven by the screw rod nut 507, the head walking wheel set 3 and the head supporting wheel set 2 are driven by the connecting rod 505 to be opened synchronously, and the head wheels 201 and the walking wheels are enabled to be tightly attached to the inner wall of the concrete pipeline;
and 4, step 4: in the rotation process of the transmission screw 502, the driving gear 601 of the synchronous transmission mechanism 6 is synchronously driven, the driving gear 601 synchronously drives the first driven gear 602, the first driven gear 602 drives the intermediate shaft 603, the intermediate shaft 603 drives the second driven gear 605, the second driven gear 605 drives the third driven gear 604, the third driven gear 604 drives the tail transmission screw 701, the tail transmission screw 701 drives the tail screw nut 704, the tail screw nut 704 synchronously drives the tail connecting rod 703, the tail traveling wheel group 4 and the tail supporting wheel group 8 are synchronously driven to open through the tail connecting rod 703, and the traveling wheel 412 is enabled to be tightly attached to the inner wall of the concrete pipeline;
and 5: after the whole rack structure 1 is stably supported on the inner wall of the concrete pipeline, starting a head traveling wheel group 3 and a tail traveling wheel group 4, driving a main shaft 406 through a traveling motor 405, driving a bevel gear shaft sleeve 408 through the main shaft 406, driving a first bevel gear 409 through the bevel gear shaft sleeve 408, meshing and transmitting the first bevel gear 409 and a second bevel gear 411 through the first bevel gear 409, further driving a wheel shaft 410, driving traveling wheels 412 to rotate through the wheel shaft 410, and finally contacting the inner wall of the concrete pipeline through the traveling wheels 412 to realize stable traveling of the rack structure 1;
step 6: in the walking process of the frame structure 1, the inner wall of the concrete pipeline is subjected to real-time quality detection through detection equipment, and the detection structure is transmitted to detection terminal equipment through remote transmission until the detection work of the whole pipeline is completed.
Claims (10)
1. Running gear that inside quality of concrete pipe detected, its characterized in that: the pipeline support device comprises a rack structure (1), wherein a first middle support plate (102) of the rack structure (1) is connected with a head walking wheel set (3) and two groups of head support wheel sets (2) which are used for supporting and walking with the inner wall of a pipeline, and the head walking wheel set (3) and the head support wheel sets (2) are uniformly distributed on the outer edge of the first middle support plate (102);
a second middle supporting plate (105) of the rack structure (1) is connected with a tail travelling wheel group (4) and two tail supporting wheel groups (8) which are used for supporting and travelling with the inner wall of the pipeline, and the tail travelling wheel group (4) and the tail supporting wheel groups (8) are uniformly distributed on the outer edge of the second middle supporting plate (105);
the frame structure (1) is provided with a head opening device (5) for driving the head walking wheel set (3) and the head supporting wheel set (2) to open synchronously;
the head opening device (5) is connected with the tail opening device (7) through a synchronous transmission mechanism (6), and the tail opening device (7) is matched and connected with the tail supporting wheel set (8) and the tail walking wheel set (4) and drives the tail supporting wheel set to be synchronously opened to be attached to the inner wall of the pipeline.
2. The walking device for detecting the internal quality of the concrete pipeline according to claim 1, wherein: the rack structure (1) comprises a head angle plate (104) and a tail angle plate (106), three rack rods (103) arranged in a triangular prism shape are fixedly installed between the head angle plate (104) and the tail angle plate (106), and a first middle supporting plate (102) and a second middle supporting plate (105) are fixed in the center symmetry mode in the middle of each rack rod (103) through a clamp spring (101).
3. The walking device for detecting the internal quality of the concrete pipeline according to claim 1, wherein: the head supporting wheel set (2) and the tail supporting wheel set (8) adopt the same structure, the head supporting wheel set (2) comprises a head wheel rod (203), the head wheel rod (203) is hinged to a first lug plate (204) on the outer edge of a first middle supporting plate (102) through a first pin shaft (205), and a head wheel (201) is installed at the other end of the head wheel rod (203) through a head wheel frame (202).
4. The walking device for detecting the internal quality of the concrete pipeline according to claim 1, wherein: head walking wheelset (3) and afterbody walking wheelset (4) adopt the same structure, afterbody walking wheelset (4) include afterbody wheel pole (403), afterbody wheel pole (403) articulate on second otic placode (401) on second middle part backup pad (105) outer fringe through second round pin axle (402), the other end of afterbody wheel pole (403) supports through the afterbody wheel carrier and installs walking wheel (412), walking wheel (412) link to each other with the walking power device that is used for driving its rotation walking.
5. The running gear for detecting the internal quality of the concrete pipeline according to claim 4, wherein: the walking power device comprises a walking motor (405), the walking motor (405) is fixedly mounted on the side wall of the tail wheel rod (403) through a motor fixing frame (404), a spindle (406) of the walking motor (405) is connected with one end of a bevel gear shaft sleeve (408) through a positioning pin (407), a first bevel gear (409) is machined at the tail end of the bevel gear shaft sleeve (408), the first bevel gear (409) is in meshing transmission with a second bevel gear (411), and the second bevel gear (411) is mounted on a wheel shaft (410) of a walking wheel (412).
6. The walking device for detecting the internal quality of the concrete pipeline according to claim 1, wherein: the head opening device (5) comprises a transmission screw rod (502) which is supported between the head angle plate (104) and the middle part of the first middle supporting plate (102) through a bearing seat (501), a screw rod nut (507) is arranged on the transmission screw rod (502) in a transmission fit way through the screw rod, the screw rod nut (507) is fixedly arranged on a sliding plate (503), the sliding plate (503) is supported on a rack rod (103) of the rack structure (1) in a sliding way, the outer edge side wall of the sliding plate (503) is hinged with a connecting rod (505) through a plurality of first ear seats (504), the other end of the connecting rod (505) is hinged with a second ear seat (506) fixed on the head walking wheel set (3) and the head supporting wheel set (2), the end of the transmission screw rod (502) is connected with the main shaft of the opening motor (508) through a coupler, the opening motor (508) is fixedly arranged on the side wall of the first middle supporting plate (102).
7. The walking device for detecting the internal quality of the concrete pipeline according to claim 1, wherein: the synchronous transmission mechanism (6) comprises a driving gear (601) fixedly mounted on a transmission screw rod (502) of the head opening device (5), the driving gear (601) and a first driven gear (602) form gear meshing transmission, the first driven gear (602) is supported and mounted at one end of an intermediate shaft (603), the intermediate shaft (603) is supported and mounted between a first middle supporting plate (102) and a second middle supporting plate (105), a second driven gear (605) is mounted at the other end of the intermediate shaft (603), the second driven gear (605) is in meshing transmission with a third driven gear (604), and the third driven gear (604) is fixedly mounted on a tail transmission screw rod (701) of the tail opening device (7).
8. The running gear for detecting the internal quality of the concrete pipeline according to claim 1 or 7, wherein: the tail opening device (7) comprises a tail transmission screw rod (701) supported between a second middle supporting plate (105) and a tail angle plate (106), a tail screw nut (704) is installed on the tail transmission screw rod (701) in a matched mode through screw rod transmission, the tail screw nut (704) is fixedly installed on a tail sliding plate (705), the tail sliding plate (705) is slidably supported on a rack rod (103) of the rack structure (1), a tail connecting rod (703) is hinged to the outer edge side wall of the tail sliding plate (705) through a plurality of third lug seats (706), and the other end of the tail connecting rod (703) is hinged to fourth lug seats (702) fixed to a tail supporting wheel set (8) and a tail traveling wheel set (4).
9. The walking device for detecting the internal quality of the concrete pipeline according to claim 1, wherein: when the quality inside the pipeline is detected, detection equipment for detecting the inside of the concrete pipeline is installed on the frame structure (1) of the walking device.
10. The method for operating a traveling apparatus for inspecting the internal quality of a concrete pipe according to any one of claims 1 to 9, comprising the steps of:
step 1: the method comprises the following steps that professional detection equipment for detecting the internal quality of the concrete pipeline is fixedly installed on a rack structure (1);
step 2: placing the whole walking device at the position of the hole of the concrete pipeline to be detected;
and step 3: an opening motor (508) of the remote control detection device and the head opening device (5) is started, a transmission screw rod (502) is driven through the opening motor (508), a screw rod nut (507) is driven through the transmission screw rod (502), a connecting rod (505) is driven through the screw rod nut (507), the head walking wheel set (3) and the head supporting wheel set (2) are driven by the connecting rod (505) to be synchronously opened, and the head wheels (201) and the walking wheels are enabled to be tightly attached to the inner wall of the concrete pipeline;
and 4, step 4: in the rotation process of the transmission screw rod (502), a driving gear (601) of the synchronous transmission mechanism (6) is synchronously driven, a first driven gear (602) is synchronously driven through the driving gear (601), a middle shaft (603) is driven through the first driven gear (602), a second driven gear (605) is driven through the middle shaft (603), a third driven gear (604) is driven through the second driven gear (605), a tail transmission screw rod (701) is driven through the third driven gear (604), a tail screw rod nut (704) is driven through the tail transmission screw rod (701), a tail connecting rod (703) is synchronously driven through the tail screw rod nut (704), a tail traveling wheel set (4) and a tail supporting wheel set (8) are driven through the tail connecting rod (703) to synchronously open, and the traveling wheels (412) are enabled to be tightly attached to the inner wall of the concrete pipeline;
and 5: after the whole rack structure (1) is stably supported on the inner wall of a concrete pipeline, a head traveling wheel set (3) and a tail traveling wheel set (4) are started, a main shaft (406) is driven through a traveling motor (405), a bevel gear shaft sleeve (408) is driven through the main shaft (406), a first bevel gear (409) is driven through the bevel gear shaft sleeve (408), the first bevel gear (409) is in meshing transmission with a second bevel gear (411) through the first bevel gear (409), a wheel shaft (410) is further driven, a traveling wheel (412) is driven to rotate through the wheel shaft (410), and finally the traveling wheel (412) is contacted with the inner wall of the concrete pipeline to realize stable traveling of the rack structure (1);
step 6: in the walking process of the frame structure (1), the quality of the inner wall of the concrete pipeline is detected through detection equipment from time to time, and the detection structure is transmitted to detection terminal equipment through remote transmission until the detection work of the whole pipeline is completed.
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Application publication date: 20200703 |