CN113634561A - Underground pipeline detection and cleaning device and using method thereof - Google Patents
Underground pipeline detection and cleaning device and using method thereof Download PDFInfo
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- CN113634561A CN113634561A CN202110941224.2A CN202110941224A CN113634561A CN 113634561 A CN113634561 A CN 113634561A CN 202110941224 A CN202110941224 A CN 202110941224A CN 113634561 A CN113634561 A CN 113634561A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 87
- 238000001514 detection method Methods 0.000 title claims abstract description 80
- 238000000034 method Methods 0.000 title claims description 10
- 230000007246 mechanism Effects 0.000 claims abstract description 187
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 108
- 238000011084 recovery Methods 0.000 claims abstract description 34
- 238000004804 winding Methods 0.000 claims description 9
- 230000009193 crawling Effects 0.000 abstract description 17
- 238000012423 maintenance Methods 0.000 abstract description 8
- 238000012544 monitoring process Methods 0.000 abstract description 3
- 239000010802 sludge Substances 0.000 description 7
- 238000007689 inspection Methods 0.000 description 6
- 238000003825 pressing Methods 0.000 description 4
- 239000007921 spray Substances 0.000 description 4
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- 239000007924 injection Substances 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 238000009412 basement excavation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
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- 239000004020 conductor Substances 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
- B08B9/027—Cleaning the internal surfaces; Removal of blockages
- B08B9/04—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
- B08B9/049—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled
- B08B9/0495—Nozzles propelled by fluid jets
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
- B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
- B65H75/34—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables
- B65H75/38—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material
- B65H75/40—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material mobile or transportable
- B65H75/42—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material mobile or transportable attached to, or forming part of, mobile tools, machines or vehicles
- B65H75/425—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material mobile or transportable attached to, or forming part of, mobile tools, machines or vehicles attached to, or forming part of a vehicle, e.g. truck, trailer, vessel
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
- G01N21/954—Inspecting the inner surface of hollow bodies, e.g. bores
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- Biochemistry (AREA)
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Abstract
The invention discloses a detection and cleaning device for an underground pipeline, which comprises a crawling mechanism, an image detection mechanism, a shell, a high-pressure water cleaning mechanism, a cable recovery mechanism and a control mechanism, wherein the crawling mechanism, the image detection mechanism, the high-pressure water cleaning mechanism, the cable recovery mechanism and the control mechanism are all arranged in an inner cavity of the shell, the crawling mechanism is connected with the high-pressure water cleaning mechanism, and the crawling mechanism, the image detection mechanism, the high-pressure water cleaning mechanism and the cable recovery mechanism are all connected with the control mechanism. The device can be used in pipelines with different diameters, the crawling mechanism can be controlled to be firmly supported in the center of the pipeline, the device does not fall down, the device can move forward in any direction, and the device is flexible and convenient, so that the daily monitoring and maintenance of the underground pipeline can be flexibly and quickly completed, and the device is simple in structure and reliable in work.
Description
Technical Field
The invention relates to the technical field of underground pipeline detection and cleaning, in particular to a detection and cleaning device for an underground pipeline and a using method thereof.
Background
The urban drainage pipe network is an important content of urban infrastructure construction, and with the continuous promotion of urbanization progress and the continuous expansion of cities, the urban drainage pipe construction in China is rapidly developed. As the underground drainage pipeline in a city is longer and longer, the subsequent detection and maintenance are more difficult. Due to the reasons of construction progress and the like, the construction quality of a plurality of underground drainage pipelines is uneven, some pipelines are long in service life and lack of operation and maintenance, and some pipelines have the defects of more breakage, disjointing, sludge blockage and the like. This brings inconvenience to the life of people. Therefore, the regular detection and repair of the underground drainage pipeline are important links for realizing the healthy operation of the underground drainage pipeline network.
At present, the detection and maintenance work of a plurality of underground drainage pipelines are lagged, excavation and maintenance are carried out when the faults of underground pipeline breakage, road inundation and the like are often seen, and more labor resources are needed. If the modern technology can be fully utilized to carry out the regular detection and the timely treatment of minor faults, the service life of the underground drainage pipeline can be greatly prolonged. The current underground pipeline detection device has been described for example in utility model patent application No. 202021491687.0, and it utilizes light, image acquisition device, three-dimensional laser sensor and telescopic drive arrangement to detect the condition of underground pipeline, gains better effect, but this mechanism can only detect, can not carry out work such as simple clearance silt, also does not explain devices such as the transmission of signal transmission, cable conductor. The patent with application number 202010869736.8 describes an underground pipeline detection device, which utilizes three telescopic push rods to recover and use cables, effectively solves the problem that the cables are wound by foreign matters, but the mechanism does not meet the requirements of image video detection, simple cleaning of silt and blockage and the like. The patent application No. 202011009381.1 discloses a device for detecting underground pipes, which can adapt to underground pipes with different diameters by adjusting a telescopic rod, but the mechanism is too complex and square, and the underground pipes are generally not flat, so that the mechanism cannot be ensured to fall down, and how to withdraw the pipes or stand up again after falling down needs to be considered.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides a detection and cleaning device for an underground pipeline and a using method thereof.
The purpose of the invention is realized by the following technical scheme: the utility model provides a detection cleaning device of underground pipeline, crawls mechanism, image detection mechanism, shell, high pressure water cleaning mechanism, cable and retrieves mechanism and control mechanism, it includes extending structure, driven bearing structure and drive bearing structure to crawl the mechanism, extending structure installs in the inner chamber of shell, extending structure's one end is passed the shell and is articulated with driven bearing structure, extending structure's the other end passes the shell and articulates with drive bearing structure, driven bearing structure and drive bearing structure are connected with the both ends of shell respectively, high pressure water cleaning mechanism, image detection mechanism, cable are retrieved mechanism and control mechanism and are all installed in the inner chamber of shell, extending structure is connected with high pressure water cleaning mechanism, extending structure and drive bearing structure all are connected with control mechanism, high pressure water cleaning mechanism, image detection mechanism, cable are retrieved to high pressure water cleaning mechanism, drive bearing structure, The cable recovery mechanisms are all connected with the control mechanism.
More preferably, the telescopic structure comprises a first telescopic rod, a second telescopic rod, a first motor, a first base and a first turbine, the first motor is mounted on the inner wall of the shell through the first base, the first turbine is mounted on the first motor, one end of the first telescopic rod and one end of the second telescopic rod are respectively mounted on two sides of the first turbine, the other end of the first telescopic rod penetrates through the shell to be hinged to the driven supporting structure, the other end of the second telescopic rod penetrates through the shell to be hinged to the driving supporting structure, the high-pressure water cleaning mechanism is connected with the first telescopic rod, and the first motor is connected with the control mechanism.
Preferably, the driving support structure comprises a driving wheel, a plurality of second driven wheels and a second support frame, the second driven wheels and the driving wheel are hinged to the second telescopic rod through a second support rod respectively, the second support frame is mounted on the shell, the second support rod is hinged to the second support frame through a second hinge shaft, and the driving wheel is connected with the control mechanism.
Preferably, the driven supporting structure comprises a plurality of first driven wheels and a plurality of first supporting frames, the first driven wheels are hinged to the first telescopic rod through first supporting rods respectively, the first supporting rods are hinged to the first supporting frames through first hinge shafts, and the first supporting frames are mounted on the shell.
More preferably, the cable recovery mechanism comprises a tensioning support, a cable fixing support, a cable transferring support, a cable and a cable winding support, wherein the cable transferring support and the tensioning support are both connected with the control mechanism, one end of the cable is connected with the control mechanism through the cable transferring support, and the other end of the cable sequentially penetrates through the cable fixing support, the tensioning support and the housing to be connected with the cable winding support.
Preferably, the tensioning support comprises a swinging support, an electric telescopic rod, a pressure sensor and a roller, one end of the electric telescopic rod is mounted on the inner wall of the shell through the swinging support, the roller is mounted at the other end of the electric telescopic rod, the cable is mounted on the roller, the pressure sensor is mounted on the electric telescopic rod, and the pressure sensor and the electric telescopic rod are both connected with the control mechanism.
More preferably, high pressure water clearance mechanism includes shower nozzle, inlet tube, outlet pipe, high pressure water pump and main shaft, the shower nozzle is installed in the one end of main shaft, the other end of main shaft passes through extending structure and outlet pipe, the outlet pipe passes through the high pressure water pump and is connected with the one end of inlet tube, the other end of inlet tube passes the shell, the high pressure water pump is connected with control mechanism.
More preferably, the image detection mechanism comprises a second base, a second motor, a second turbine, a camera and a third telescopic rod, the second motor is installed on the inner wall of the shell through the second base, one end of the third telescopic rod is connected with the second motor through the second turbine, the other end of the third telescopic rod penetrates through the shell, the camera is installed at the other end of the third telescopic rod, and the second motor and the camera are both connected with the control mechanism.
More preferred selection, control mechanism includes controller, a plurality of relay and protection circuit, protection circuit and a plurality of relay all are connected with the controller, and are a plurality of the relay respectively with extending structure, drive bearing structure, image detection mechanism, high pressure water clearance mechanism and cable are retrieved the mechanism and are connected, the controller is retrieved the mechanism with extending structure, drive bearing structure, image detection mechanism, high pressure water clearance mechanism and cable and is connected respectively.
The use method of the detection and cleaning device for the underground pipeline comprises the following steps:
s1, starting a detection cleaning device of the underground pipeline, and controlling a mechanism to initialize the system;
s2, placing the pipeline detection and cleaning device into an underground pipeline, and driving a driven supporting structure and a driving supporting structure to be opened by a telescopic structure until a driving wheel of the driving supporting structure and the inner wall of the pipeline do not slip;
s3, the driving wheel rotates forwards, the detection and cleaning device of the pipeline moves forwards in the pipeline, the image detection mechanism detects the pipeline, when the cable recovery mechanism detects that the cable tension is too large, the driving wheel stops running, and a worker arranges the cable; when the cable recovery mechanism detects that the cable tension is qualified, the driving wheel continues to advance;
s4, when the image detection mechanism finds the blockage of the pipeline, the high-pressure water cleaning mechanism cleans the blockage, and when the image detection mechanism finds that the underground pipeline is damaged, the control mechanism transmits the related information of the pipeline damage to the staff;
s5, repeating the steps S3-S4, after the detection and the cleaning of the pipeline are completed, the driving wheel rotates reversely, the detection and cleaning device of the pipeline retreats in the pipeline, when the cable recovery mechanism detects that the tension of the cable is too small, the driving wheel stops operating, and the staff tidys the cable; when the cable recovery mechanism detects that the pulling force is qualified, the driving wheel continuously rotates reversely;
s6, when the detection cleaning device of the pipeline reaches the pipe orifice of the pipeline, the telescopic structure respectively drives the driven supporting structure and the driving supporting structure to be folded, and the recovery of the detection cleaning device of the pipeline is completed.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. according to the invention, the crawling mechanism, the image detection mechanism, the shell, the high-pressure water cleaning mechanism, the cable recovery mechanism and the control mechanism are adopted, the structure is simple, the crawling mechanism can be used in pipelines with different diameters, the crawling mechanism can be controlled to be firmly supported in the center of the pipeline, the device is not fallen, the advancing can be carried out in any direction, and the crawling mechanism is flexible and convenient, so that the daily monitoring and maintenance for underground pipelines can be flexibly and rapidly completed, and the crawling mechanism is simple in structure and reliable in work. The shell has waterproof function, can let all electronic component all obtain the protection, therefore has water or anhydrous condition in the pipeline, and the device all can operate, finds the pipeline jam in the rainy day as follows, also can and the time run the device and detect and clear up, also can be used as daily safety inspection work.
2. According to the invention, through the tensioning support, the wire fixing support, the wire switching support, the cable and the wire winding support, the problems that the cable is wound by foreign matters or the cable cannot be recycled when the mechanism runs in an underground pipeline can be solved, so that the high-efficiency safe running of the mechanism is realized.
3. According to the invention, through the spray head, the water inlet pipe, the water outlet pipe, the high-pressure water pump and the main shaft, when the situation that the pipeline is blocked by sundries such as sludge is detected, accumulated water in the pipeline is changed into rotary high-pressure water through the high-pressure water pump, and the sundries such as the sludge are cleaned like a water channel, so that the aim of dredging the pipeline can be achieved without excavating the ground.
Drawings
FIG. 1 is a schematic view of an inspection and cleaning apparatus for underground piping according to the present invention;
FIG. 2 is a schematic view of the upper half of a testing and cleaning apparatus for underground piping according to the present invention;
FIG. 3 is a schematic view of the upper half of a testing and cleaning apparatus for underground piping according to the present invention;
FIG. 4 is a schematic view of the lower half of a detection and cleaning device for underground piping according to the present invention;
FIG. 5 is a schematic view of the lower half of a detection and cleaning apparatus for underground piping according to the present invention;
FIG. 6 is a schematic view of a tensioning mount of the inspection and cleaning apparatus of the underground conduit of the present invention;
FIG. 7 is a schematic view of the telescopic structure of the inspection and cleaning device for underground pipelines of the present invention;
FIG. 8 is a connection diagram of the electronic components of an inspection and cleaning apparatus for underground piping according to the present invention;
FIG. 9 is a schematic diagram of the operation of the inspection and cleaning apparatus for underground piping according to the present invention;
reference numbers for parts in the drawings: 1. a driven support structure; 11. a first driven wheel; 12. a first support bar; 13. a first hinge shaft 14, a first support frame; 2. driving the support structure; 21. a drive wheel; 22. a second driven wheel; 23. a second support bar; 24. a second hinge shaft; 25. a second support frame; 3. a telescopic structure; 31. a first telescopic rod; 32. a second telescopic rod; 33. a first motor; 34. a first base; 35. a first turbine; 4. a housing; 5. an image detection mechanism; 51. a second base; 52. a second motor; 53. a second turbine; 54. a third telescopic rod; 6. a high-pressure water cleaning mechanism; 61. a spray head; 62. a water inlet pipe; 63. a water outlet pipe; 64. a high pressure water pump; 65. a main shaft; 7. a cable; 8. a cable recovery mechanism; 81. tensioning the bracket; 811. a swing support; 812. an electric telescopic rod; 813. a roller; 82. a wire fixing bracket; 83. the wire is transferred to the bracket.
Detailed Description
The following describes the object of the present invention in further detail with reference to the drawings and specific examples, which are not repeated herein, but the embodiments of the present invention are not limited to the following examples.
As shown in fig. 1-5, a detection cleaning device for underground pipelines, a crawling mechanism, a housing 4, an image detection mechanism 5, a high-pressure water cleaning mechanism 6, a cable recovery mechanism 8 and a control mechanism, wherein the crawling mechanism comprises a driven support structure 1, a driving support structure 2 and a telescopic structure 3, the telescopic structure 3 is installed in the middle of an inner cavity of the housing 4, two ends of the telescopic structure 3 extend out from two ends of the housing, the driven support structure 1 and the driving support structure 2 are respectively installed at two ends of the housing 4, the driven support structure 1 is hinged with one end of the telescopic structure 3, the driving support structure 2 is hinged with the other end of the telescopic structure 3, the high-pressure water cleaning mechanism 6 is installed on the housing 4, a water inlet pipe 62 of the high-pressure water cleaning mechanism 6 penetrates through the housing 4 and is connected with an external water pipe from the rear end of the housing 4 (the end of the housing 4 close to the driving support structure 2), the high-pressure water cleaning mechanism 6 is communicated with the telescopic structure 3, so that high-pressure water is led out of the shell 4, the image detection mechanism 5 is installed at the front end of an inner cavity of the shell 4 (one end of the shell 4 close to the driven supporting structure 1) and can extend out or retract in the shell 4, the extending part of the image detection mechanism 5 is positioned on the side of the high-pressure water cleaning mechanism 6, the control mechanism is installed in the inner cavity of the shell 4, the driven supporting structure 2, the telescopic structure 3, the image detection mechanism 5, the high-pressure water cleaning mechanism 6 and the cable recovery mechanism 8 are all connected with the control mechanism through electric wires, one end of the cable recovery mechanism 8 is installed in the inner cavity of the shell 4, the other end of the cable recovery mechanism 8 penetrates through the shell 4 to be connected with the outside, and a worker supplies power or rescues to the detection and cleaning device of the underground pipeline through the other end of the outside.
The crawling mechanism can adjust the device to be supported inside the underground pipeline and enable the device to move back and forth in the pipeline; the shell 4 is used for protecting the mechanism, has a waterproof function and is used for installing and fixing various parts; the image detection mechanism 5 has a telescopic function, and when the pipeline detection mechanism is required to be used, a camera is extended to the outside of the shell 4 to carry out image pickup and detection on the pipeline; the high-pressure water cleaning mechanism 6 converts the normal-pressure water body into a high-pressure water body for cleaning up the blockage such as silt; the cable recovery mechanism 8 can adjust the speed of the crawling mechanism or stop the movement according to the pulling force of the cable 7; the control mechanism is the brain of the device, all the mechanisms can be matched with each other to complete work, and a worker can also give a command to the control mechanism to achieve the action of the control device.
As shown in fig. 7, the telescopic structure 3 includes a first telescopic rod 31, a second telescopic rod 32, a first motor 33, a first base 34 and a first turbine 35, the first motor 33 is installed at the middle part of the inner cavity of the housing 4 through the first base 34, the first turbine 35 is connected with the rotating shaft of the first motor 33 through a coupler, the first telescopic rod 31 and the second telescopic rod 32 are both provided with rack-shaped, the racks of the first turbine 35, the first telescopic rod 31 and the second telescopic rod 32 are mutually matched, so as to realize the extension and the shortening of the telescopic structure 3. One end of the first telescopic rod 31 and one end of the second telescopic rod 32 are parallel to each other and are installed at two sides of the first worm gear 35, and the first worm gear 35 is connected with the first telescopic rod 31 and the second telescopic rod 32 through a rack respectively. The other end of the first telescopic rod 31 penetrates through a first through hole of the shell 4 to be hinged to the first supporting rod 12 of the driven supporting structure 1, the other end of the second telescopic rod 32 penetrates through a second through hole of the shell 4 to be hinged to the second supporting rod 23 of the driving supporting structure 2, the first telescopic rod 31 is of a hollow structure, a water outlet pipe 63 of the high-pressure water cleaning mechanism 6 is communicated with an inner cavity of the first telescopic rod 31, and the first telescopic rod 31 is connected with a main shaft 65 of the high-pressure water cleaning mechanism 6. Travel switches are arranged on the first telescopic rod 31 and the second telescopic rod 32, a controller of the control mechanism controls the first motor 33 through a relay, and the travel switches feed back information to the controller, so that the telescopic lengths of the first telescopic rod 31 and the second telescopic rod 32 are controlled.
The telescopic structure 3 controls the driven supporting structure 1 and the driving supporting structure 2 to open or fold through the change of the length of the telescopic structure, so that the friction force between the driven wheel of the driven supporting structure 1, the driving wheel 21 of the driving supporting structure 2, the driven wheel and the inner wall of the underground pipeline can be adjusted. The first telescopic rod 31 adjusts the friction force between the driven supporting structure 1 and the inner wall of the underground pipeline by moving left and right; the second telescopic rod 32 adjusts the friction force between the driving support structure 2 and the inner wall of the underground pipeline by moving left and right; when the first telescopic rod 31 and the second telescopic rod 32 retract to the minimum value towards the interior of the shell 4, the folding form of the driven supporting structure 1 and the driving supporting structure 2 is realized, the volume of the device is reduced, and the carrying is convenient; when the first telescopic rod 31 and the second telescopic rod 32 are extended to the maximum inside of the housing 4, it is achieved that the driven support structure 1 and the driving support structure 2 expand the maximum supporting outer diameter, that is to say the largest inner diameter underground pipe that can be used by the device. The first motor 33 provides power for the left and right movement of the first telescopic rod 31 and the second telescopic rod 32; the first base 34 is used for fixing the first motor 33 on the inner wall of the housing 4; the first worm gear 35 is used for transmitting the power of the first motor 33 to the first telescopic rod 31 and the second telescopic rod 32.
The working principle of the crawling mechanism is as follows: first motor 33 begins corotation, and first motor 33 passes through first turbine 35 and drives first telescopic link 31 and the extension of second telescopic link 32, and first telescopic link 31 drives driven bearing structure 1 and opens, and second telescopic link 32 drives drive bearing structure 2 simultaneously and opens, can make first driven wheel 11, second from driving wheel 22 and drive wheel 21 tightly press on underground piping inner wall at last. When the driven wheel or the driving wheel 21 encounters an uneven place or the pipe diameter changes in the advancing process, the pressing force needs to be reduced properly, the first motor 33 rotates reversely, the first motor 33 drives the first telescopic rod 31 and the second telescopic rod 32 to contract through the first turbine 35, and finally the first driven wheel 11, the second driven wheel 22 and the driving wheel 21 are attached to the inner wall of the pipeline all the time.
As shown in fig. 7, the high pressure water cleaning mechanism 6 includes a nozzle 61, a water inlet pipe 62, a water outlet pipe 63, a high pressure water pump 64 and a spindle 65, the high pressure water pump 64 is installed on the inner wall of the front end of the housing 4, one end of the water inlet pipe 62 passes through the rear end of the housing 4 and is connected with an external water pipe, the other end of the water inlet pipe 62 is connected with a water inlet of the high pressure water pump 64, a water outlet of the high pressure water pump 64 is connected with one end of the water outlet pipe 63, the water outlet pipe 63 is communicated with the inner cavity of the first telescopic rod 31, the first telescopic rod 31 is communicated with one end of the spindle 65, the other end of the spindle 65 is communicated with the nozzle 61, the nozzle 61 is the high pressure water nozzle 61, and can rotate, because the water outlet is at a certain angle with the main shaft 65, when high-pressure water is ejected, the high-pressure water nozzle 61 can rotate due to unbalanced moment, and finally the high-pressure water is rotationally ejected, so that impurities such as sludge in an underground pipeline can be cleaned like a water knife. The controller of the control mechanism controls the high-pressure water pump 64 through a relay, a pressure sensor is arranged on the high-pressure water pump 64, and the pressure sensor feeds information back to the controller.
The high-pressure water spray head 61 rotates itself and improves the strength of high-pressure water injection; the water inlet pipe 62 transmits the external water body to the high-pressure water pump 64, and the water outlet pipe 63 transmits the water body pressurized by the high-pressure water pump 64 to the main shaft 65; the high-pressure water pump 64 provides power for water body injection; the main shaft 65 is to convey the high-pressure water body to a position of a certain distance.
As shown in fig. 4 to 5, the cable recovering mechanism 8 includes a tensioning bracket 81, a cable fixing bracket 82, a cable adapter bracket 83, a cable 7 and a cable winding bracket, the cable adapter bracket 83 is connected to the control mechanism, one end of the cable 7 is fixed on the cable adapter bracket 83, the cable fixing bracket 82 and the tensioning bracket 81 are respectively installed on the inner wall of the housing 4, the cable 7 sequentially passes through the cable fixing bracket 82 and the tensioning bracket 81, then passes through the third through hole of the housing 4 and extends outward, and the other end of the cable 7 is wound on the cable winding bracket. If the tension bracket 81 is subjected to a high pressure during the advancement of the device, indicating that the cable 7 is passing slowly or that the cable 7 is jammed, the device crawling mechanism needs to slow down or stop and the device can continue to advance after the tension of the tension bracket 81 is reduced.
The tensioning bracket 81 is used for monitoring the pulling force of the cable 7 and feeding back the pulling force to the single chip of the control mechanism, so that the moving speed of the device is coordinated with the pulling force of the cable 7; the wire fixing bracket 82 is used for fixing the cable 7, so that the cable 7 is prevented from influencing the use of other mechanisms in the operation process of the device, and the cable 7 can be prevented from falling off due to overlarge pulling force; the wire switching bracket 83 is used for switching each mechanism with the cable 7 and has the function of arranging the wires; the cable 7 acts as a carrier for the transmission of power to the device and as a rescue rope in case of emergency; the line rolling support adopts two tripods to pass through the hub connection, and the reel is installed epaxially, and 7 twines of cable are on the reel to reach the effect of retrieving arrangement cable 7, the staff is through the manual rolling of this support or release cable 7.
Sufficient power is required for the smooth operation of the underground pipeline detection and cleaning device. In the prior art, a rechargeable battery is used as a power source, and the device has the advantages that the binding of a cable 7 is avoided, so that the device is more flexible and convenient; the shortcoming is under the operational environment of underground piping, and this environment belongs to the place that the staff can't see not touch, in case the device breaks down or under the battery power is not enough or by the circumstances such as foreign matter blocks, not only can't accomplish the maintenance task of underground piping still need dig the pipeline and carry out rescue and overhaul device, extravagant manpower and materials. The detection cleaning device of underground piping in this embodiment adopts cable 7 to provide power for the device, and cable 7 has the effect in two aspects, firstly provides the power for whole device, secondly in case the device is blocked by the foreign matter or the device breaks down unable removal, and cable 7 can act as the rescue rope this moment, drags out whole device from underground piping.
As shown in fig. 6, the tensioning bracket 81 includes a swinging support 811, an electric telescopic rod 812, a pressure sensor and a roller 813, the pressure sensor is installed on the electric telescopic rod 812, the electric telescopic rod 812 is installed on the inner wall of the housing 4 through the swinging support 811, the roller 813 is installed on a fourth through hole of the electric telescopic rod 812, the cable 7 passes through the fourth through hole and presses on the roller 813, and the electric telescopic rod 812 and the pressure sensor are both connected with the controller. When the pressure of the pressure sensor is increased, the pressure sensor transmits information to the controller, and the controller issues an instruction to shorten the electric telescopic rod 812; when the pressure of the pressure sensor becomes small, the pressure sensor transmits the pressure to the controller, and the controller gives an instruction to extend the electric telescopic rod 812.
The swing support 811 can enable the electric telescopic rod 812 to swing to convert the angle, so as to adapt to the pressure of the cable 7; the electric telescopic rod 812 detects the pressure data of the cable 7 through the pressure sensor, and then the electric telescopic rod 812 adjusts the length of the electric telescopic rod to adapt to the tension of the cable; the roller 813 is used for carrying the cable 7, and reduces the friction between the electric telescopic rod 812 and the cable 7 through self rotation.
As shown in fig. 2-3, the image detection mechanism 5 includes a second base 51, a second motor 52, a second worm wheel 53, a camera, and a third telescopic rod 54, the second motor 52 is mounted on the inner wall of the housing 4 through the second base 51, and the second worm wheel 53 is mounted on the rotating shaft of the second motor 52 through a coupling. One end of the third telescopic rod 54 is of a plate-shaped structure, a rack is arranged on one surface of the plate-shaped structure, the second turbine 53 is matched with the rack, the other end of the third telescopic rod 54 is of a cylindrical structure, a shell of the cylindrical structure is of a transparent glass structure, a camera is installed in an inner cavity of the cylindrical structure, and the camera is used for scanning and shooting outwards through glass. The controller of the control mechanism controls the second motor 52 and the camera through a relay, and the third telescopic rod 54 is provided with a travel switch which feeds back information to the controller.
The second base 51 is used for installing the second motor 52 in the inner cavity of the shell 4; the second motor 52 provides power for the extension or retraction of the third telescopic rod 54; the second turbine 53 plays a role in transmission, and the third telescopic rod 54 is driven to move by the rotation of the shaft of the second motor 52; the camera is used for collecting videos or photos inside the underground pipeline and feeding back the videos or photos to the control mechanism; the third telescopic rod 54 extends the camera to the outside of the housing 4 or retracts the camera from the outside by moving left and right by itself.
As shown in fig. 1, the driven supporting structure 1 includes three first driven wheels 11, three first supporting rods 12, three first hinge shafts 13 and a first supporting frame 14, the three first driven wheels 11 are respectively installed at one ends of the three first supporting rods 12, the other ends of the three first supporting rods 12 are all hinged to a first telescopic rod 31, the middle portions of the three first supporting rods 12 are hinged to the first supporting frame 14 through the first hinge shafts 13, and the first supporting frame 14 is installed at the front end of the housing 4.
The first driven wheel 11 is used for reducing the resistance between the device and the inner wall of the underground pipeline; the first support rod 12 plays a role of leverage, and the first driven wheel 11 is unfolded or folded through the extension and contraction of the first telescopic rod 31; the first hinge shaft 13 is used for connecting the first support rod 12 and the first support frame 14, so that the opening and folding capacity of the driven support structure 1 is enhanced; the first support bracket 14 functions as a bracket.
As shown in fig. 1, the driving support structure 2 includes a driving wheel 21, two second driven wheels 22, three second support rods 23, three second hinge shafts 24 and a second support frame 25, the two second driven wheels 22 are respectively installed at one end of the two second support rods 23, one driving wheel 21 is installed at one end of the last second support rod 23, and the other ends of the three second support rods 23 are hinged to the end of the second telescopic rod 32 and can rotate relatively. The middle parts of the three second support rods 23 are hinged with a second support frame 25 through a second hinge shaft 24, the second support frame 25 is installed at the rear end outside the shell 4, and a controller of the control mechanism is connected with a motor of the drive wheel 21 through a relay. Whether the drive wheel 21 is rotated forward or backward depends on two aspects, one of which is to receive a command signal for forward or backward pressing by the worker; on the other hand, the control means dynamically adjusts the tension pressure generated by the cable recovery means 8, adjusts the position of the image detection means 5, and positions the high-pressure water jet position according to specific requirements. Meanwhile, in order to keep the stress balance of the device, the positions of the second driven wheel 22 and the driving wheel 21 at the two ends are sequentially arranged according to a certain angle instead of being uniformly distributed, as shown in fig. 1. The design can ensure that the device can smoothly run no matter what stress state the device is in.
The driving wheel 21 is a power source for moving the device and can drive the device to enter an underground pipeline or exit the pipeline; the second driven wheel 22 is used for reducing the resistance of the device to the inner wall of the underground pipeline; the second support rod 23 plays a role of a lever, and the second driven wheel 22 and the driving wheel 21 are unfolded or folded through the extension and contraction of the second telescopic rod 32; the second hinge shaft 24 is used for connecting the second support bar 23 and the second support frame 25, so as to enhance the opening and folding capacity of the driving support structure 2; the second support bracket 25 functions as a stand.
As shown in fig. 8, the control mechanism includes a controller, 5 relays, and a protection circuit, the protection circuit is connected to the cable 7 through the wire transfer bracket 83 of the cable recovery mechanism 8, the protection circuit and the relays are connected to the controller, and the protection circuit is connected to the wire transfer bracket 83. The controller controls the driving wheel 21 of the driving support structure 2, the first motor 33 of the telescopic structure 3, the second motor 52 and the camera of the image detection mechanism 5, the high-pressure water pump 64 of the high-pressure water cleaning mechanism 6, the electric telescopic rod 812 of the cable recovery mechanism 8 and the high-pressure water pump 64 of the high-pressure water cleaning mechanism 6 through relays. The controller is connected with the rotation speed sensor of the driving wheel 21, the travel switch of the telescopic structure 3, the pressure sensor of the tensioning bracket 81, the travel switch of the third telescopic rod 54 and the pressure sensor of the high-pressure water pump 64 respectively. The whole control mechanism needs to be subjected to waterproof treatment.
The controller is a singlechip, and program codes for realizing the required actions of the device are stored in the singlechip; the control mechanism can control linkage between each mechanism, gives the instruction when the staff, and control mechanism sends corresponding instruction according to each mechanism's operating condition again, controls each motor and starts, realizes the nimble operation of device, and the detection task of accomplishing underground pipeline is carried out with video detection, high pressure water clearance to the deuterogamy. The relay is used as an automatic switch for controlling the action among all the electronic components. The protection circuit has the functions of overcurrent protection, overvoltage protection, overheat protection, no-load protection, short-circuit protection and the like. The rotating speed sensor is used for detecting the rotating speed of the motor; the pressure sensor of the tensioning bracket 81 is used for measuring the pressure to which the electric telescopic rod 812 is subjected; the pressure sensor of the high-pressure water pump 64 is used for testing the water body pressure; the travel switches are used for automatically stopping, reversing, changing speed or automatically reciprocating the first telescopic rod 31, the second telescopic rod 32 and the third telescopic rod 54 at a certain position or a certain travel.
As shown in fig. 9, a method for using the detecting and cleaning device for underground pipelines comprises the following steps:
s1, pressing a start button by a worker, starting the detection and cleaning device of the underground pipeline, and controlling a mechanism to carry out system initialization.
S2, the detection and cleaning device of the underground pipeline is placed in the underground pipeline, the driven supporting structure 1 and the driving supporting structure 2 are driven by the plurality of structures 3 to be opened, the driving wheel 21 of the driving supporting structure 2 starts to operate, the rotating speed sensor on the driving wheel 21 judges whether the wheel hub slips, and if the wheel hub slips, the pressing force is insufficient. At this time, the first motor 33 of the telescopic structure 3 drives the first telescopic rod 31 and the second telescopic rod 32 to extend, so as to drive the driven supporting structure 1 and the driving supporting structure 2 to open, and the driving wheel 21 is pressed on the inner wall of the underground pipeline, so that the friction force is increased until the driving wheel 21 does not slip or idle.
S3, the driving wheel 21 rotates forwards, the detection and cleaning device of the underground pipeline moves forwards in the underground pipeline, the image detection mechanism 5 detects the underground pipeline, when the tension bracket 81 of the cable recovery mechanism 8 detects that the tension of the cable 7 is too large, the driving wheel 21 stops operating, and a worker arranges the cable 7 by winding the bracket through the cable; when the cable recovery mechanism 8 detects that the tension of the cable 7 is qualified, the driving wheel 21 continues to advance;
and S4, detecting the places of underground pipeline breakage and sludge blockage by the camera of the image detection mechanism 5 in the crawling process of the device. If the underground pipeline is broken, a positioning signal is sent out at the moment to prompt a worker that a certain position of the underground pipeline needs manual maintenance. If the sludge is blocked, the high-pressure water cleaning mechanism 6 is started at the moment, and the rotating high-pressure water sprayed by the spray head 61 is like a water knife to cut and wash away the sludge, so that the technical problem of underground pipeline blockage is solved.
S5, repeating the steps S3-S4, after the detection and the cleaning of the underground pipeline are completed, the driving wheel 21 rotates reversely, the detection and cleaning device of the underground pipeline retreats in the underground pipeline, when the cable recovery mechanism 8 detects that the pulling force of the cable 7 is too small, the driving wheel 21 stops operating, and a worker arranges the cable 7 through the cable winding support; when the cable recovery mechanism 8 detects that the tension of the cable 7 is qualified, the driving wheel 21 continuously rotates reversely, and the detection and cleaning device of the underground pipeline continuously retreats in the underground pipeline;
s6, when the detection and cleaning device of the underground pipeline reaches the pipe orifice of the underground pipeline, the telescopic structure 3 respectively drives the driven supporting structure 1 and the driving supporting structure 2 to fold, and the recovery of the detection and cleaning device of the underground pipeline is completed.
The above-mentioned embodiments are preferred embodiments of the present invention, and the present invention is not limited thereto, and any other modifications or equivalent substitutions that do not depart from the technical spirit of the present invention are included in the scope of the present invention.
Claims (10)
1. The utility model provides a detection cleaning device of underground pipeline, its characterized in that, crawl mechanism, image detection mechanism, shell, high pressure water cleaning mechanism, cable and retrieve mechanism and control mechanism, crawl the mechanism and include extending structure, driven bearing structure and drive bearing structure, extending structure installs in the inner chamber of shell, extending structure's one end is passed the shell and is articulated with driven bearing structure, extending structure's the other end is passed the shell and is articulated with drive bearing structure, driven bearing structure and drive bearing structure are connected with the both ends of shell respectively, high pressure water cleaning mechanism, image detection mechanism, cable are retrieved the mechanism and the control mechanism and are all installed in the inner chamber of shell, extending structure and high pressure water cleaning mechanism are connected, extending structure and drive bearing structure all are connected with control mechanism, high pressure water cleaning mechanism, cable are retrieved to high pressure water cleaning mechanism, The image detection mechanism and the cable recovery mechanism are connected with the control mechanism.
2. The device as claimed in claim 1, wherein the telescopic structure comprises a first telescopic rod, a second telescopic rod, a first motor, a first base and a first turbine, the first motor is mounted on the inner wall of the housing through the first base, the first turbine is mounted on the first motor, one end of the first telescopic rod and one end of the second telescopic rod are respectively mounted on two sides of the first turbine, the other end of the first telescopic rod penetrates through the housing and is hinged to the driven supporting structure, the other end of the second telescopic rod penetrates through the housing and is hinged to the driving supporting structure, the high-pressure water cleaning mechanism is connected with the first telescopic rod, and the first motor is connected with the control mechanism.
3. The device as claimed in claim 1, wherein the driving support structure comprises a driving wheel, a plurality of second driven wheels and a second support frame, the plurality of second driven wheels and the driving wheel are respectively hinged to a second telescopic rod through a second support rod, the second support frame is mounted on the housing, the second support rod is hinged to the second support frame through a second hinge shaft, and the driving wheel is connected to the control mechanism.
4. The apparatus as claimed in claim 1, wherein the driven supporting structure comprises a plurality of first driven wheels and a first supporting frame, the plurality of first driven wheels are respectively hinged to a first telescopic rod through a first supporting rod, the first supporting rod is hinged to the first supporting frame through a first hinge shaft, and the first supporting frame is mounted on the housing.
5. The device as claimed in claim 1, wherein the cable recovery mechanism comprises a tensioning bracket, a cable fixing bracket, a cable transferring bracket, a cable and a cable winding bracket, the cable transferring bracket and the tensioning bracket are both connected with the control mechanism, one end of the cable is connected with the control mechanism through the cable transferring bracket, and the other end of the cable sequentially passes through the cable fixing bracket, the tensioning bracket and the casing to be connected with the cable winding bracket.
6. The underground pipeline detecting and cleaning device according to claim 5, wherein the tensioning bracket comprises a swinging support, an electric telescopic rod, a pressure sensor and a roller, one end of the electric telescopic rod is mounted on the inner wall of the casing through the swinging support, the roller is mounted at the other end of the electric telescopic rod, the cable is mounted on the roller, the pressure sensor is mounted on the electric telescopic rod, and the pressure sensor and the electric telescopic rod are both connected with the control mechanism.
7. The device for detecting and cleaning the underground pipeline according to claim 1, wherein the high-pressure water cleaning mechanism comprises a nozzle, a water inlet pipe, a water outlet pipe, a high-pressure water pump and a main shaft, the nozzle is mounted at one end of the main shaft, the other end of the main shaft is connected with the water outlet pipe through a telescopic structure, the water outlet pipe is connected with one end of the water inlet pipe through the high-pressure water pump, the other end of the water inlet pipe penetrates through the shell, and the high-pressure water pump is connected with the control mechanism.
8. The underground pipeline detecting and cleaning device as claimed in claim 1, wherein the image detecting mechanism comprises a second base, a second motor, a second turbine, a camera and a third telescopic rod, the second motor is mounted on the inner wall of the casing through the second base, one end of the third telescopic rod is connected with the second motor through the second turbine, the other end of the third telescopic rod penetrates through the casing, the camera is mounted at the other end of the third telescopic rod, and the second motor and the camera are both connected with the control mechanism.
9. The apparatus as claimed in claim 1, wherein the control mechanism comprises a controller, a plurality of relays and a protection circuit, the protection circuit and the relays are connected to the controller, the relays are respectively connected to the telescopic structure, the driving support structure, the image detection mechanism, the high pressure water cleaning mechanism and the cable recovery mechanism, and the controller is respectively connected to the telescopic structure, the driving support structure, the image detection mechanism, the high pressure water cleaning mechanism and the cable recovery mechanism.
10. The use method of the detecting and cleaning device for the underground pipeline according to any one of the claims 1 to 9, is characterized by comprising the following steps:
s1, starting a detection cleaning device of the underground pipeline, and controlling a mechanism to initialize the system;
s2, placing the detection cleaning device of the pipeline into the pipeline, and driving the driven supporting structure and the driving supporting structure to be opened by the telescopic structure until the driving wheel of the driving supporting structure and the inner wall of the pipeline do not slip;
s3, the driving wheel rotates forwards, the detection and cleaning device of the pipeline moves forwards in the pipeline, the image detection mechanism detects the pipeline, when the cable recovery mechanism detects that the cable tension is too large, the driving wheel stops running, and a worker arranges the cable; when the cable recovery mechanism detects that the cable tension is qualified, the driving wheel continues to advance;
s4, when the image detection mechanism finds the blockage of the pipeline, the high-pressure water cleaning mechanism cleans the blockage, and when the image detection mechanism finds that the underground pipeline is damaged, the control mechanism transmits the related information of the pipeline damage to the staff;
s5, repeating the steps S3-S4, after the detection and the cleaning of the pipeline are completed, the driving wheel rotates reversely, the detection and cleaning device of the pipeline retreats in the pipeline, when the cable recovery mechanism detects that the tension of the cable is too small, the driving wheel stops operating, and the staff tidys the cable; when the cable recovery mechanism detects that the pulling force is qualified, the driving wheel continuously rotates reversely;
s6, when the detection cleaning device of the pipeline reaches the pipe orifice of the pipeline, the telescopic structure respectively drives the driven supporting structure and the driving supporting structure to be folded, and the recovery of the detection cleaning device of the pipeline is completed.
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