CN112413282A

CN112413282A - Pipeline quadratic programming degree of depth mapping equipment

Info

Publication number: CN112413282A
Application number: CN202011382188.2A
Authority: CN
Inventors: 顾熙
Original assignee: Shanghai Chizun Stationery Co ltd
Current assignee: Shanghai Chizun Stationery Co ltd
Priority date: 2020-12-01
Filing date: 2020-12-01
Publication date: 2021-02-26

Abstract

The invention discloses a pipeline secondary planning depth mapping device, which comprises a device body, wherein the upper end in the device body is provided with a walking mapping mechanism for pushing the device to perform mapping without obstacle, the lower end in the device body is provided with an automatic adapting mechanism which is automatically adaptive to pipelines with different inner diameters, the device can automatically and stably walk in the pipelines, the device body can automatically adapt to the diameter of the pipelines to abut against the inner walls of the pipelines when in work, the walking wheels are automatically connected with power after the device abuts against the inner walls of the pipelines, and a mapping ruler with one end fixed outside the pipelines is started to be loosened, so that the whole mapping process is started, two obstacle clearing rods perform clearing in real time in front of the walking wheels in the mapping process to ensure that the mapping can be performed smoothly, and when the mapping is finished, the walking wheels are not in contact with the inner walls of the pipelines any more and start to idle, the automatic mapping of the length of the pipeline is realized.

Description

Pipeline quadratic programming degree of depth mapping equipment

Technical Field

The invention relates to the field of surveying and mapping, in particular to a pipeline secondary planning depth surveying and mapping device.

Background

Often need survey and drawing relief and facility in engineering construction and planning and design to obtain accurate mapping data, in order to follow-up carry out the design planning again to this survey and drawing area, the pipeline relies on the manpower to measure and has great degree of difficulty owing to bury deeply in ground.

At present, when the pipeline is rebuilt, the waste pipeline generally needs to be excavated and length measurement is carried out manually, so that the length of the pipeline cannot be obtained in time to prepare the number of new pipelines, and the difficulty is high when the pipeline does not need to be excavated for surveying and mapping.

Disclosure of Invention

The invention aims to solve the technical problem of providing a pipeline secondary planning depth mapping device, and solves the problems that the pipeline length cannot be automatically mapped, the mapping difficulty is high, and the like.

The invention is realized by the following technical scheme.

The invention relates to a pipeline secondary planning depth mapping device which comprises a device body, wherein a walking mapping mechanism for pushing the device to conduct accessible forward mapping is arranged at the upper end in the device body, and an automatic adapting mechanism for automatically adapting to pipelines with different inner diameters is arranged at the lower end in the device body;

the automatic adaptive mechanism comprises a driving cavity and a driven cavity, the driving cavity is located at the left end of the middle in the equipment body, the driven cavity is located at the right end of the middle in the equipment body, two telescopic cavities are respectively located at the lower sides of the driving cavity and the driven cavity, openings of the telescopic cavities are downward, telescopic blocks capable of stretching in the telescopic cavities are arranged in the telescopic cavities, auxiliary wheel cavities with downward openings are arranged at the lower ends of the telescopic blocks, a movable cavity communicated with the auxiliary wheel cavities is arranged in each of the left inner wall and the right inner wall of each auxiliary wheel cavity, a movable block capable of sliding in the movable cavity is arranged in each movable cavity, a connecting spring is connected between the upper end face of each movable block and the upper inner wall of each movable cavity, the two movable blocks rotate on the same wheel shaft, an auxiliary wheel is arranged on each wheel shaft, a displacement cavity with a downward opening is arranged at one end, close to the middle of the equipment body, of the upper inner walls, the upper end of the displacement rod is provided with an inclined plane block cavity which is positioned in the displacement cavity and has an outward opening, an inclined plane block which can stretch out and draw back in the inclined plane block cavity is arranged in the inclined plane block cavity, an elastic spring is connected between one end surface of the inclined plane block positioned in the inclined plane block cavity and one inner wall of the inclined plane block cavity, a reset cavity with an opening facing the displacement cavity is arranged in one inner wall of the displacement cavity close to the middle of the lower end of the device body, a telescopic plate which can stretch out and draw back in the reset cavity is arranged in the reset cavity, two reset springs are connected between one end surface of the telescopic plate positioned in the reset cavity and one inner wall of the reset cavity, a moving cavity with an opening facing the displacement cavity is arranged in the telescopic plate, a moving plate which can move in the moving cavity is arranged in the moving cavity, a tooth surface plate which can be collided with the inclined plane block is fixed on one end, a compression spring is connected between the inclined upper end surface of the movable plate and the inner wall of the movable cavity, one end of a tension rope is connected on the inclined upper end surface of the movable plate, a rack rod with the upper end extending into the driving cavity and the driven cavity respectively is fixed on the inclined upper end surfaces of the two telescopic blocks, a driving shaft is rotatably arranged on the rear inner wall of the driving cavity, a spline groove with a backward opening is arranged in the driving shaft, a tension cavity with a forward opening is arranged in the rear inner wall of the driving cavity, a displacement block capable of moving back and forth is arranged in the tension cavity, a tension spring is connected between the rear end surface of the displacement block and the rear inner wall of the tension cavity, a motor is arranged in the displacement block, the front end of the motor is provided with a transmission rod in a power mode, the front end of the transmission rod is provided with a spline rod capable of being in spline connection with the spline grooves, and the front end face of the displacement block is connected with the other ends of the two tension ropes.

Furthermore, the driven shaft rotates on the inner wall around the driven cavity, the driven shaft rear end is equipped with driven pulley, the driving shaft rear end is equipped with driving pulley, driving pulley with the transmission is connected with the belt between the driven pulley, driving shaft front end and driven shaft front end all are equipped with one can respectively with left the meshing of the oblique up end of rack bar and with the right side the meshing of the oblique terminal surface down of rack bar rotary gear.

Further, the lower extreme is equipped with the lift chamber that the opening is decurrent in the equipment body, the lift intracavity is equipped with the elevator that can up-and-down motion, the elevator up end with be connected with extension spring between the inner wall on the lift chamber, the terminal surface is fixed with the dead lever under the elevator, the dead lever lower extreme articulates there is the hinge bar, be fixed with the gravity ball under the hinge bar on the terminal surface, articulate on the dead lever the hinge bar with the gravity ball can bend and avoid the barrier when there is the barrier at pipeline intracavity lower extreme, be connected with two stay cords under the elevator on the terminal surface, two be connected with one respectively on the terminal surface under the expansion plate one to one side the stay cord.

Furthermore, the walking surveying and mapping mechanism comprises a walking block fixed on the upper end surface of the equipment body, a walking cavity with an upward opening is arranged in the walking block, walking rods are rotated on the left and right inner walls of the walking cavity, walking wheels are arranged on the walking rods, a function cavity with an opening facing the walking cavity is arranged on each of the left and right inner walls of the walking cavity, a connecting rod respectively fixed with the end surfaces of the walking rods is rotated on an inner wall of the function cavity far away from the walking cavity, a driven bevel gear is arranged at the right end of the left connecting rod, a surveying and mapping cavity is arranged at the upper end in the equipment body, a vertical shaft penetrating through the upper and lower inner walls of the surveying and mapping cavity and with the lower end extending into the driving cavity is rotated on the lower inner wall of the left function cavity, a driving bevel gear meshed with the driven bevel gear is arranged at the upper end of the, and a connecting bevel gear meshed with the movable bevel gear is arranged in the middle of the transmission rod.

Furthermore, a first bevel gear positioned in the surveying cavity is arranged in the middle of the vertical shaft, a surveying rod is rotated on the right inner wall of the surveying cavity, a second bevel gear meshed with the first bevel gear is arranged at the left end of the surveying rod, a surveying wheel is arranged at the right end of the surveying rod, a rope ruler is wound on the surveying wheel, a rope ruler fixing block positioned in the external space is arranged at one end of the rope ruler, a sliding cavity with a backward opening is arranged at the rear end in the rope ruler fixing block, a sliding block capable of sliding in the sliding cavity is arranged in the sliding cavity, one end of the rope ruler positioned in the external space is fixedly connected with the rear end surface of the sliding block, a first extending cavity with an outward opening is arranged at the upper end and the lower end of the front end of the rope ruler fixing block, a first sliding chute is arranged in the left front and rear inner walls of the first extending cavity, and a first extending rod capable of moving up and down, the front end face and the rear end face of the first extension rod are respectively fixedly provided with a sliding block which is located in the first sliding groove and is in friction connection with the inner wall of the first sliding groove, a second extension cavity with an outward opening is arranged in the first extension rod, second sliding grooves are arranged in the inner walls of the second extension rod front and rear, a second extension rod capable of moving up and down is arranged in the second extension cavity, and the front end face of the second extension rod is respectively fixedly provided with a sliding block which is located in the second sliding groove and is in friction connection with the inner wall of the second sliding groove.

Further, two all be equipped with a cam on the connecting rod, the function intracavity is equipped with the push pedal of ability seesaw, be equipped with the outside atmospheric pressure chamber of opening in the inner wall behind the function chamber, be equipped with the atmospheric pressure board of ability seesaw in the atmospheric pressure chamber, atmospheric pressure board and rear side be fixed with the connecting block between the push pedal, atmospheric pressure chamber rear end is equipped with the ability the sealed slip of atmospheric pressure intracavity and rear end stretch into the clear barrier pole of external space, the atmospheric pressure chamber is kept away from be equipped with the slide chamber of opening backward in the inner wall in walking chamber, the slide intracavity is equipped with the slide of ability seesaw, slide front end face with be connected with reciprocating spring between the slide intracavity front inner wall, slide rear end face with fixedly connected with knee-bar between the clear barrier pole puts into the pipeline chamber in the pipeline with equipment.

The invention has the beneficial effects that: this equipment can walk in the pipeline by the automatic stabilization, the size that can adapt to the pipeline diameter automatically at the during operation conflicts the equipment body with the pipeline inner wall, walk the wheel after equipment conflicts with the pipeline inner wall and just be connected power and begin to loosen the survey and drawing chi of fixing one end outside the pipeline automatically, thereby begin whole mapping process, two obstacles removing pole clear up the barrier before walking the wheel in real time at mapping process, go on smoothly with guaranteeing the survey and drawing, after the survey and drawing finishes, the walking wheel no longer contacts and begins idle running with the pipeline inner wall, then no longer drive equipment and continue to walk, the realization is to pipeline length's automatic survey and drawing.

Drawings

In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the invention, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without creative efforts.

FIG. 1 is a schematic structural diagram of an embodiment of the present invention;

FIG. 2 is a schematic structural diagram at A-A in FIG. 1 according to an embodiment of the present invention;

FIG. 3 is a schematic structural diagram at B-B in FIG. 1 according to an embodiment of the present invention;

FIG. 4 is a schematic structural diagram at C in FIG. 1 according to an embodiment of the present invention;

FIG. 5 is a schematic structural diagram at D-D in FIG. 1 according to an embodiment of the present invention.

Detailed Description

The invention will now be described in detail with reference to fig. 1-5, wherein for ease of description the orientations described hereinafter are now defined as follows: the up, down, left, right, and front-back directions described below correspond to the up, down, left, right, and front-back directions in the projection relationship of fig. 1 itself.

With reference to fig. 1-5, a pipeline quadratic programming depth mapping apparatus includes an apparatus body 15, a walking mapping mechanism 95 for pushing the apparatus to advance without obstacle is disposed at the upper end of the apparatus body 15, an automatic adapting mechanism 96 for automatically adapting to pipelines with different inner diameters is disposed at the lower end of the apparatus body 15, the automatic adapting mechanism 96 includes a driving cavity 64 at the middle left end of the apparatus body 15 and a driven cavity 62 at the right end, two telescopic cavities 32 respectively disposed at the lower sides of the driving cavity 64 and the driven cavity 62 and having downward openings are disposed at the lower end of the apparatus body 15, a telescopic block 30 capable of being telescopic in the telescopic cavity 32 is disposed in the telescopic cavity 32, an auxiliary wheel cavity 17 having downward opening is disposed at the lower end of the telescopic block 30, an active cavity 19 communicating with the auxiliary wheel cavity 17 is disposed in each of the left and right inner walls of the auxiliary wheel cavity 17, an active block 20 capable of sliding in the active cavity 19 is disposed in the active cavity 19, a connecting spring 18 is connected between the upper end face of the movable block 20 and the upper inner wall of the movable cavity 19, the two movable blocks 20 rotate to form a same wheel shaft 21, an auxiliary wheel 22 is arranged on the wheel shaft 21, a displacement cavity 68 with a downward opening is arranged at one end of the upper inner walls of the two telescopic cavities 32 close to the middle of the equipment body 15, a displacement rod 71 with an upper end extending into the displacement cavity 68 is fixed on the upper end face of the movable block 20, an inclined block cavity 69 with an outward opening is arranged at the upper end of the displacement rod 71, an inclined block 67 capable of extending and retracting in the inclined block cavity 69 is arranged in the inclined block cavity 69, an elastic spring 70 is connected between one end face of the inclined block 67 in the inclined block cavity 69 and one inner wall of the inclined block cavity 69, a reset cavity 76 with an opening facing the displacement cavity 68 is arranged in one inner wall of the displacement cavity 68 close to the middle of the lower end of the equipment body 15, the reset cavity 76 is internally provided with a telescopic plate 74 which can stretch out and draw back in the reset cavity 76, the telescopic plate 74 is positioned between one end face of the reset cavity 76 and one inner wall of the reset cavity 76 and is connected with two reset springs 75, the telescopic plate 74 is internally provided with a moving cavity 73 with an opening facing the displacement cavity 68, the moving cavity 73 is internally provided with a moving plate 77 which can move in the moving cavity 73, one end face of the moving plate 77 facing the displacement cavity 68 is fixedly provided with a tooth surface plate 72 which can be abutted against the inclined surface block 67, a compression spring 66 is connected between the inclined upper end face of the moving plate 77 and one inner wall of the moving cavity 73, the inclined upper end face of the moving plate 77 is connected with one end of a tension rope 90, the inclined upper end faces of the two telescopic blocks 30 are fixedly provided with an upper end which respectively extends into the driving cavity 64 and the rack bar 16 in the driven cavity 62, the driving cavity 64 is rotated with a driving shaft 65 on the rear, the driving shaft 65 is internally provided with a spline groove 52 with a backward opening, the rear inner wall of the driving cavity 64 is internally provided with a tension cavity 58 with a forward opening, the tension cavity 58 is internally provided with a displacement block 59 capable of moving back and forth, a tension spring 57 is connected between the rear end surface of the displacement block 59 and the rear inner wall of the tension cavity 58, the displacement block 59 is internally provided with a motor 56, the front end of the motor 56 is powered by a transmission rod 55, the front end of the transmission rod 55 is provided with a spline rod 54 capable of being in spline connection with the spline groove 52, and the front end surface of the displacement block 59 is connected with the other ends of two tension ropes 90.

Advantageously, the driven cavity 62 rotates with a driven shaft 63 on the front and rear inner walls, the driven shaft 63 is provided with a driven pulley 61 at the rear end, the driving shaft 65 is provided with a driving pulley 53 at the rear end, a belt 60 is drivingly connected between the driving pulley 53 and the driven pulley 61, and the driving shaft 65 and the driven shaft 63 are provided with a rotating gear 51 capable of being engaged with the oblique upper end surface of the rack bar 16 on the left side and the oblique lower end surface of the rack bar 16 on the right side respectively.

Beneficially, the lower end is equipped with lift chamber 28 that the opening is decurrent in the equipment body 15, be equipped with the elevator 27 that can up-and-down motion in the lift chamber 28, be connected with extension spring 29 between elevator 27 up-and-down cavity 28 upper inner wall, the terminal surface is fixed with dead lever 26 under the elevator 27, dead lever 26 lower extreme articulates there is hinge bar 24, be fixed with gravity ball 25 on the terminal surface under hinge bar 24, hinge bar 24 on dead lever 26 with gravity ball 25 can be when there is the barrier in pipeline chamber 35 lower extreme gravity ball 25 can bend and avoid the barrier, be connected with two stay cords 23 on elevator 27 lower terminal surface, be connected with one stay cord 23 respectively on two the oblique lower terminal surface of expansion plate 74.

Beneficially, the walking surveying and mapping mechanism 95 comprises a walking block 11 fixed on the upper end surface of the device body 15, a walking cavity 38 with an upward opening is arranged in the walking block 11, a walking rod 39 is rotatably arranged on the left and right inner walls of the walking cavity 38, a walking wheel 40 is arranged on the walking rod 39, a function cavity 93 with an opening facing the walking cavity 38 is arranged on each of the left and right inner walls of the walking cavity 38, a connecting rod 79 respectively fixed with the end surfaces of the walking rod 39 is rotatably arranged on one inner wall of the function cavity 93 far away from the walking cavity 38, a driven bevel gear 78 is arranged at the right end of the connecting rod 79 on the left side, a surveying and mapping cavity 14 is arranged at the upper end in the device body 15, a vertical shaft 13 penetrating through the upper and lower inner walls of the surveying and mapping cavity 14 and extending into the driving cavity 64 at the lower end is rotatably arranged on the lower inner wall of the function cavity 93 on the left side, a driving, the lower end of the vertical shaft 13 is provided with a movable bevel gear 92 positioned in the driving chamber 64, and the middle of the transmission rod 55 is provided with a connecting bevel gear 94 engaged with the movable bevel gear 92.

Beneficially, a first bevel gear 33 located in the surveying cavity 14 is arranged in the middle of the vertical shaft 13, a surveying rod 36 is rotated on the right inner wall of the surveying cavity 14, a second bevel gear 34 meshed with the first bevel gear 33 is arranged at the left end of the surveying rod 36, a surveying wheel 37 is arranged at the right end of the surveying rod 36, a rope rule 91 is wound on the surveying wheel 37, a rope rule fixing block 48 located in the external space is arranged at one end of the rope rule 91, a sliding cavity 49 with a backward opening is arranged at the rear end in the rope rule fixing block 48, a sliding block 50 capable of sliding in the sliding cavity 49 is arranged in the sliding cavity 49, one end of the rope rule 91 located in the external space is fixedly connected with the rear end surface of the sliding block 50, a first extending cavity 47 with an outward opening is arranged at each of the upper end and the lower end of the front end of the rope rule fixing block 48, a first sliding groove 46 is arranged in the front and rear, the first extending cavity 47 is internally provided with a first extending rod 44 capable of moving up and down, the front end face and the rear end face of the first extending rod 44 are respectively fixed with a sliding block 45 which is positioned in the first sliding groove 46 and is in friction connection with the inner wall of the first sliding groove 46, the first extending rod 44 is internally provided with a second extending cavity 43 with an outward opening, the front inner wall and the rear inner wall of the second extending cavity 43 are respectively provided with a second sliding groove 41, the second extending cavity 43 is internally provided with a second extending rod 42 capable of moving up and down, and the front end face of the second extending rod 42 is respectively fixed with a sliding block 45 which is positioned in the second sliding groove 41 and is in friction connection with the inner wall of the second sliding groove 41.

Advantageously, a cam 80 is provided on each of the two connecting rods 79, a push plate 81 capable of moving back and forth is provided in the functional chamber 93, an air pressure cavity 84 with an outward opening is arranged in the rear inner wall of the function cavity 93, an air pressure plate 83 capable of moving back and forth is arranged in the air pressure cavity 84, a connecting block 82 is fixed between the air pressure plate 83 and the push plate 81 at the rear side, the rear end of the air pressure cavity 84 is provided with a barrier removing rod 89 which can slide in the air pressure cavity 84 in a sealing way and the rear end of which extends into the external space, the inner wall of the pneumatic chamber 84 away from the walking chamber 38 is provided with a slide plate chamber 87 with a backward opening, a sliding plate 86 capable of moving back and forth is arranged in the sliding plate cavity 87, a reciprocating spring 85 is connected between the front end surface of the sliding plate 86 and the front inner wall of the sliding plate cavity 87, a bent rod 88 is fixedly connected between the rear end surface of the sliding plate 86 and the obstacle clearing rod 89, and the equipment is placed in the pipeline cavity 35 in the pipeline 10.

In an initial state, the lifting block 27 is located at the lower end of the lifting cavity 28 under the action of the gravity ball 25, the two pull ropes 23 are in a loose state, the expansion plate 74 drives the tooth panel 72 and the inclined plane block 67 to be in an abutting state under the action of the two return springs 75, the moving plate 77 tensions the tension rope 90 under the action of the compression spring 66, the displacement block 59 drives the spline rod 54 to enter the spline groove 52 under the action of the tension of the two tension ropes 90, and the driving shaft 65 and the driving rod 55 are in a connected state.

The device is placed on the lower inner wall of the pipeline cavity 35, the second extension rod 42 is pulled out from the second extension cavity 43 and the first extension rod 44 is pulled out from the first extension cavity 47, the rope ruler fixing block 48 is extended to be larger than the inner diameter of the pipeline, so that one end of the rope ruler 91 is fixed at one end of the pipeline, the motor 56 is started, the motor 56 works to drive the transmission rod 55 and the connecting bevel gear 94 on the transmission rod 55 to rotate, the transmission rod 55 rotates to drive the driving shaft 65 connected with the spline groove 52 through the spline rod 54 to rotate, so as to drive the driving belt wheel 53 and the rotating gear 51 on the driving shaft 65 to rotate, the driving belt wheel 53 rotates to drive the driven belt wheel 61 in transmission connection with the driving shaft through the belt 60 to rotate, so as to drive the driven shaft 63 and the rotating gear 51 on the driven shaft 63 to rotate, the driving shaft 65 and the rotating gear 51 on the driven shaft 63 rotate to drive the, thereby driving the two telescopic blocks 30 to move downwards, the two telescopic blocks 30 extend to drive the travelling wheels 40 in the travelling block 11 to move upwards until the travelling wheels are abutted against the upper inner wall of the pipeline cavity 35, and then the telescopic blocks 30 continue to extend to drive the auxiliary wheels 22 to move in the auxiliary wheel cavity 17, thereby moving the two movable blocks 20 in the movable cavity 19, the movable block 20 moves to drive the displacement rod 71 to move upwards in the displacement cavity 68, the inclined block 67 moves upwards to drive the toothed panel 72 and the moving plate 77 to move upwards, thereby loosening the tension ropes 90, when the two tension ropes 90 are all loosened, the displacement block 59 loses the tension action of the two tension ropes 90 and moves backwards under the tension action of the tension spring 57, thereby driving the transmission rod 55 to move backwards and drawing the spline rod 54 out of the spline groove 52, at the moment, the driving shaft 65 stops rotating, and at the moment, the automatic adjustment of the equipment to the size suitable for the inner diameter of the pipeline is completed;

the driving rod 55 moves backwards to drive the connecting bevel gear 94 to move backwards and engage with the moving bevel gear 92, the connecting bevel gear 94 rotates to drive the moving bevel gear 92 engaged therewith to rotate, thereby driving the vertical shaft 13 and the driving bevel gear 12 and the first bevel gear 33 on the vertical shaft 13 to rotate, the first bevel gear 33 rotates to drive the second bevel gear 34 engaged therewith to rotate, thereby driving the surveying and mapping rod 36 and the surveying and mapping wheel 37 on the surveying and mapping rod 36 to rotate, the surveying and mapping wheel 37 rotates to slowly loosen the rope 91 so as to perform surveying and mapping through the pipeline of the rope 91, the driving bevel gear 12 rotates to drive the driven bevel gear 78 engaged therewith to rotate, thereby driving the connecting rod 79 and the walking rod 39 on the connecting rod 79 to rotate, the walking rod 39 rotates along the upper inner wall of the pipeline cavity 35 to drive the equipment to travel in the inner wall of the pipeline for automatic surveying and mapping, the cam 80 on the connecting rod 79 rotates to drive the air pressure plate 83 connected with the connecting block 82 to move After the device moves backwards, the air pressure plate 83 moves backwards to press the air in the air pressure cavity 84 to increase the air pressure in the air pressure cavity 84, so that the obstacle clearing rod 89 is instantly pushed to move backwards along the air pressure cavity 84, the tail end of the obstacle clearing rod 89 drills into the space at the front end of the walking wheel 40 to timely remove obstacles at the front end of the walking wheel 40, when the cam 80 stops pushing the push plate 81, the air pressure plate 83 moves forwards and resets under the action of the air pressure in the air pressure cavity 84, the obstacle clearing rod 89 and the bent rod 88 move forwards and reset under the action of the pulling force of the reciprocating spring 85, the two cams 80 rotate intermittently and alternately to push the two obstacle clearing rods 89 to move forwards to clear obstacles at the front end of the walking wheel 40, so that the walking wheel 40 can smoothly walk on the inner wall of the pipeline, when the device walks out of the pipeline, the walking wheel 40 idles in the space and does not drive the device to continue to walk, and the actual depth of the, after the survey and drawing is finished, the second extension rod 42 is pushed into the second extension cavity 43 again, the first extension rod 44 is pushed into the first extension cavity 47, the starting motor 56 rotates reversely, the surveying and drawing wheel 37 can be driven to rotate reversely through mechanical transmission to roll up the rope ruler 91, the lifting block 27 is pushed upwards manually, two pull ropes 23 can be tensioned, the two extension plates 74 move downwards under the tension action of the pull ropes 23 to drive the tooth panel 72 to move downwards to leave the oblique block 67 to be collided, the displacement rod 71 and the extension block 30 which are blocked by the tooth panel 72 are lost to reset under the tension action of the extension spring 31, and therefore the survey and drawing process of the depth of the pipeline is completed.

The above embodiments are merely illustrative of the technical ideas and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the protection scope of the present invention. All equivalent changes and modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.

Claims

1. The utility model provides a pipeline quadratic programming degree of depth mapping equipment, includes the equipment body, its characterized in that: the upper end in the equipment body is provided with a walking surveying and mapping mechanism for pushing the equipment to carry out obstacle-free forward surveying and mapping, and the lower end in the equipment body is provided with an automatic adapting mechanism which automatically adapts to pipelines with different inner diameters;

2. The pipeline quadratic programming depth mapping apparatus of claim 1, characterized in that: the driven shaft rotates on the inner wall around the driven cavity, the driven shaft rear end is equipped with driven pulley, the driving shaft rear end is equipped with driving pulley, driving pulley with the transmission is connected with the belt between the driven pulley, driving shaft front end and driven shaft front end all be equipped with one respectively with left the meshing of the oblique up end of rack bar and with the right side the rotating gear of meshing of the oblique terminal surface down of rack bar.

3. The pipeline quadratic programming depth mapping apparatus of claim 1, characterized in that: the internal lower extreme of equipment is equipped with the decurrent lift chamber of opening, the lift intracavity is equipped with the elevator that can the up-and-down motion, the elevator up end with be connected with extension spring between the inner wall on the lift chamber, the terminal surface is fixed with the dead lever under the elevator, the dead lever lower extreme articulates there is the hinge bar, be fixed with the gravity ball under the hinge bar on the terminal surface, articulate on the dead lever the hinge bar with the gravity ball can be bent and avoid the barrier when there is the barrier at pipeline intracavity lower extreme, be connected with two stay cords, two under the elevator on the terminal surface be connected with one respectively on the terminal surface under the expansion plate one to one side the stay cord.

4. The pipeline quadratic programming depth mapping apparatus of claim 1, characterized in that: the walking surveying and mapping mechanism comprises a walking block fixed on the upper end surface of the equipment body, a walking cavity with an upward opening is arranged in the walking block, a walking rod is rotated on the left inner wall and the right inner wall of the walking cavity, walking wheels are arranged on the walking rod, a function cavity with an opening facing the walking cavity is arranged on the left inner wall and the right inner wall of the walking cavity, a connecting rod respectively fixed with the end surfaces of the walking rod is rotated on an inner wall of the function cavity far away from the walking cavity, a driven bevel gear is arranged at the right end of the left connecting rod, a surveying and mapping cavity is arranged at the upper end in the equipment body, a vertical shaft penetrating through the upper inner wall and the lower inner wall of the surveying and mapping cavity and with the lower end extending into the driving cavity is rotated on the lower inner wall of the function cavity, a driving bevel gear meshed with the driven bevel, and a connecting bevel gear meshed with the movable bevel gear is arranged in the middle of the transmission rod.

5. The pipeline quadratic programming depth mapping apparatus of claim 4, wherein: a first bevel gear positioned in the surveying and mapping cavity is arranged in the middle of the vertical shaft, a surveying and mapping rod is rotated on the right inner wall of the surveying and mapping cavity, a second bevel gear meshed with the first bevel gear is arranged at the left end of the surveying and mapping rod, a surveying and mapping wheel is arranged at the right end of the surveying and mapping rod, a rope ruler is wound on the surveying and mapping wheel, a rope ruler fixing block positioned in the external space is arranged at one end of the rope ruler, a sliding cavity with a backward opening is arranged at the inner rear end of the rope ruler fixing block, a sliding block capable of sliding in the sliding cavity is arranged in the sliding cavity, one end of the rope ruler positioned in the external space is fixedly connected with the rear end surface of the sliding block, a first extending cavity with an outward opening is arranged at each of the upper end and the lower end of the front end of the rope ruler fixing block, a first sliding chute is arranged in the left front inner wall, the front end face and the rear end face of the first extension rod are respectively fixedly provided with a sliding block which is located in the first sliding groove and is in friction connection with the inner wall of the first sliding groove, a second extension cavity with an outward opening is arranged in the first extension rod, second sliding grooves are arranged in the inner walls of the second extension rod front and rear, a second extension rod capable of moving up and down is arranged in the second extension cavity, and the front end face of the second extension rod is respectively fixedly provided with a sliding block which is located in the second sliding groove and is in friction connection with the inner wall of the second sliding groove.

6. The pipeline quadratic programming depth mapping apparatus of claim 4, wherein: all be equipped with a cam on the connecting rod, the function intracavity is equipped with the push pedal of ability seesaw, be equipped with the outside atmospheric pressure chamber of opening in the function intracavity rear wall, the atmospheric pressure intracavity is equipped with the atmospheric pressure board of ability seesaw, atmospheric pressure board and rear side be fixed with the connecting block between the push pedal, atmospheric pressure chamber rear end is equipped with can the sealed slip of atmospheric pressure intracavity and rear end stretch into the clear barrier pole of external space, the atmospheric pressure chamber is kept away from be equipped with the slide chamber of opening backward in the inner wall in walking chamber, the slide intracavity is equipped with the slide of ability seesaw, terminal surface before the slide with be connected with reciprocating spring before the slide chamber between the inner wall, slide rear end face with fixedly connected with knee between the clear barrier pole, put into the pipeline chamber in the pipeline with equipment.