CN113634561B - Detection cleaning device for underground pipeline and application method thereof - Google Patents
Detection cleaning device for underground pipeline and application method thereof Download PDFInfo
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- CN113634561B CN113634561B CN202110941224.2A CN202110941224A CN113634561B CN 113634561 B CN113634561 B CN 113634561B CN 202110941224 A CN202110941224 A CN 202110941224A CN 113634561 B CN113634561 B CN 113634561B
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- 238000001514 detection method Methods 0.000 title claims abstract description 87
- 238000004140 cleaning Methods 0.000 title claims abstract description 82
- 238000000034 method Methods 0.000 title claims description 11
- 230000007246 mechanism Effects 0.000 claims abstract description 177
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 111
- 238000011084 recovery Methods 0.000 claims abstract description 38
- 239000007921 spray Substances 0.000 claims description 15
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- 230000010405 clearance mechanism Effects 0.000 claims description 8
- 230000009193 crawling Effects 0.000 abstract description 15
- 238000012423 maintenance Methods 0.000 abstract description 8
- 238000012544 monitoring process Methods 0.000 abstract description 3
- 239000010802 sludge Substances 0.000 description 7
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Classifications
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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
Abstract
The utility model discloses a detection 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 utility model can be used in pipelines with different diameters, can control the crawling mechanism to be firmly supported in the center of the pipeline, does not have the phenomenon of falling down of the device, can advance in any direction, is flexible and convenient, can flexibly and rapidly complete daily monitoring and maintenance of the underground pipeline, and has simple structure and reliable work.
Description
Technical Field
The utility model 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 use method thereof.
Background
Urban drainage pipe network is an important content of urban infrastructure construction, and with the continuous promotion of urban process and continuous expansion of cities, urban drainage pipe construction in China is rapidly developed. As the length of the underground drainage pipeline of the city becomes longer, the subsequent detection and maintenance are more difficult. Due to the requirements of construction progress and the like, the construction quality of many underground drainage pipelines is uneven, some pipelines are longer in service life and lack in operation and maintenance, and many pipelines have the defects of cracking, dislocation, sludge blockage and the like. This brings inconvenience to the life of people. Therefore, the regular detection and repair of the underground drainage pipeline is an important link 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, and excavation maintenance is carried out when faults such as underground pipeline breakage, road inundation and the like are frequently seen, so that more labor resources are needed. If the modern technology can be fully utilized to carry out periodic detection and timely treatment of small faults, the service life of the underground drainage pipeline can be greatly prolonged. In the conventional underground pipe inspection apparatus, for example, patent application No. 202021491687.0 describes an underground pipe inspection apparatus which uses an illumination lamp, an image acquisition device, a three-dimensional laser sensor, and a telescopic driving device to inspect the condition of an underground pipe, and has a good effect, but the mechanism can only inspect, cannot perform simple works such as sludge cleaning, and does not explain the devices such as signal transmission and cable transmission. The patent 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 realize the requirements of image video detection, simple cleaning of sludge blockage and the like. The patent application 202011009381.1 describes an underground pipeline detection device which can adapt to underground pipelines with different pipe diameters through adjustment of a telescopic rod, but the underground pipeline detection device is too complex and square in shape, and the underground pipeline is generally not smooth, so that the underground pipeline detection device cannot be guaranteed to fall down, and the underground pipeline detection device can withdraw from the pipeline or re-stand after falling down, which is considered.
Disclosure of Invention
The utility model aims to overcome the defects in the prior art, and provides a detection cleaning device for an underground pipeline and a use method thereof.
The aim of the utility model is achieved by the following technical scheme: the utility model provides a detection cleaning device of underground pipe, mechanism, image detection mechanism, shell, high-pressure water clearance mechanism, cable retrieve mechanism and control mechanism crawl, the mechanism of crawling includes extending structure, driven bearing structure and drive bearing structure, extending structure installs in the inner chamber of shell, extending structure's one end passes the shell and articulates 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 clearance mechanism, image detection mechanism, cable retrieve mechanism and control mechanism all install in the inner chamber of shell, extending structure is connected with high-pressure water clearance mechanism, extending structure and drive bearing structure all are connected with control mechanism, high-pressure water clearance mechanism, image detection mechanism, cable retrieve the mechanism all and be connected with 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, wherein the first motor is arranged on the inner wall of the shell through the first base, the first turbine is arranged on the first motor, two sides of the first turbine are respectively connected with one end of the first telescopic rod and one end of the second telescopic rod through racks, the other end of the first telescopic rod penetrates through the shell to be hinged with a driven supporting structure, the other end of the second telescopic rod penetrates through the shell to be hinged with a driving supporting structure, a high-pressure water cleaning mechanism is connected with the first telescopic rod, and the first motor is connected with a control mechanism.
More 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 with the second telescopic rods through second support rods respectively, the second support frame is mounted on the shell, the second support rods are hinged with the second support frame through second hinge shafts, and the driving wheel is connected with the control mechanism.
More preferably, the driven supporting structure comprises a plurality of first driven wheels and a first supporting frame, the plurality of first driven wheels are hinged with the first telescopic rods through first supporting rods respectively, the first supporting rods are hinged with the first supporting frame through first hinge shafts, and the first supporting frame is installed on the shell.
More preferably, the cable recovery mechanism comprises a tensioning support, a wire fixing support, a wire switching support, a cable and a wire winding support, wherein the wire switching support and the tensioning support are connected with the control mechanism, one end of the cable is connected with the control mechanism through the wire switching support, and the other end of the cable sequentially penetrates through the wire fixing support, the tensioning support and the shell to be connected with the wire winding support.
More preferably, the tensioning support comprises a swing support, an electric telescopic rod, a pressure sensor and a roller, wherein one end of the electric telescopic rod is arranged on the inner wall of the shell through the swing support, the roller is arranged on the other end of the electric telescopic rod, the cable is arranged on the roller, the pressure sensor is arranged on the electric telescopic rod, and the pressure sensor and the electric telescopic rod are connected with the control mechanism.
More preferably, the high-pressure water cleaning mechanism comprises a spray head, a water inlet pipe, a water outlet pipe, a high-pressure water pump and a main shaft, wherein the spray head is communicated with one end of the main shaft, the other end of the main shaft is communicated with the water outlet pipe through a first telescopic rod, 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.
More preferably, the image detection mechanism comprises a second base, a second motor, a second turbine, a camera and a third telescopic rod, wherein the second motor is arranged 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 arranged at the other end of the third telescopic rod, and the second motor and the camera are connected with the control mechanism.
More preferably, the control mechanism comprises a controller, a plurality of relays and a protection circuit, wherein the protection circuit and the relays are connected with the controller, the relays are respectively connected with 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 with the telescopic structure, the driving support structure, the image detection mechanism, the high-pressure water cleaning mechanism and the cable recovery mechanism.
The application method of the detection cleaning device for the underground pipeline comprises the following steps:
s1, starting a detection cleaning device of an underground pipeline, and initializing a system by a control mechanism;
s2, placing the detection cleaning device of the pipeline into an underground pipeline, and enabling the telescopic structure to drive the driven supporting structure and the driving supporting structure to open until the driving wheel of the driving supporting structure and the inner wall of the pipeline do not slip;
s3, the driving wheel rotates positively, the detection cleaning device of the pipeline advances in the pipeline, the image detection mechanism detects the pipeline, and when the cable recovery mechanism detects that the cable tension is overlarge, the driving wheel stops running, and workers tidy 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 out a blockage of the pipeline, the high-pressure water cleaning mechanism cleans the blockage, and when the image detection mechanism finds out the underground pipeline is damaged, the control mechanism transmits the pipeline damage related information to the staff;
s5, repeating the steps S3-S4, after the detection and cleaning of the pipeline are completed, reversing the driving wheel, enabling the detection and cleaning device of the pipeline to retreat in the pipeline, stopping the driving wheel when the cable recovery mechanism detects that the cable tension is too small, and enabling the staff to tidy the cable; when the cable recovery mechanism detects that the tensile 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 drives the driven supporting structure and the driving supporting structure to fold respectively, and recovery of the detection cleaning device of the pipeline is completed.
Compared with the prior art, the utility model has the following advantages:
1. the utility model uses the crawling mechanism, the image detection mechanism, the shell, the high-pressure water cleaning mechanism, the cable recovery mechanism and the control mechanism, has simple structure, can be used in pipelines with different diameters, can control the crawling mechanism to be firmly supported in the center of the pipeline, has no falling phenomenon of the device, can advance in any direction, is flexible and convenient, and can flexibly and rapidly complete daily monitoring and maintenance of the underground pipeline, and has simple structure and reliable work. The shell has waterproof function, can let all electronic component obtain the protection, therefore under the condition that has water or anhydrous in the pipeline, the device can both operate, discovers the pipeline jam down rainy day, also can in time operate the device and detect and clear up, also can be used as daily security check work.
2. According to the utility model, through the tensioning bracket, the wire fixing bracket, the wire switching bracket, the cable and the wire winding bracket, the situations that the cable is wound by foreign matters or the cable cannot be recovered when the mechanism in the underground pipeline runs can be solved, so that the efficient and safe running of the mechanism is realized.
3. According to the pipeline dredging device, when the pipeline is blocked by sundries such as silt and the like, accumulated water in the pipeline is changed into rotary high-pressure water through the high-pressure water pump through the spray head, the water inlet pipe, the water outlet pipe, the high-pressure water pump and the main shaft, and sundries such as silt and the like are cleaned like a water channel, so that the purpose of dredging the pipeline can be achieved without excavating the ground.
Drawings
FIG. 1 is a schematic illustration of an underground pipe inspection and cleaning apparatus of the present utility model;
FIG. 2 is a schematic illustration of the upper part of a detection and cleaning device for an underground pipeline according to the present utility model;
FIG. 3 is a schematic illustration of the upper part of a detection and cleaning device for an underground pipeline according to the present utility model;
FIG. 4 is a schematic view of the lower part of a detection and cleaning device for an underground pipeline according to the present utility model;
FIG. 5 is a schematic view of the lower part of a detection and cleaning device for an underground pipeline according to the present utility model;
FIG. 6 is a schematic view of a tensioning bracket of an inspection and cleaning apparatus for an underground pipeline according to the present utility model;
FIG. 7 is a schematic view of a telescopic structure of a detection and cleaning device for an underground pipeline according to the present utility model;
FIG. 8 is a connection diagram of the electronic components of the inspection and cleaning apparatus for underground pipes according to the present utility model;
FIG. 9 is a schematic diagram of the operation of a detection and cleaning device for an underground pipeline according to the present utility model;
the reference numerals for the various 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 driving 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 a bracket; 811. a swing support; 812. an electric telescopic rod; 813. a roller; 82. a wire fixing bracket; 83. and (5) a wire switching bracket.
Detailed Description
The present utility model will be described in further detail with reference to the drawings and specific examples, which are not to be construed as limiting the embodiments of the present utility model.
As shown in fig. 1-5, an underground pipeline detection cleaning device, crawling mechanism, shell 4, image detection mechanism 5, high-pressure water cleaning mechanism 6, cable recovery mechanism 8 and control mechanism, crawling mechanism includes driven bearing structure 1, drive bearing structure 2 and telescopic structure 3, telescopic structure 3 installs the middle part in the inner chamber of shell 4, the both ends of telescopic structure 3 stretch out from the both ends of shell, driven bearing structure 1 and drive bearing structure 2 install at the both ends of shell 4 respectively, driven bearing structure 1 articulates with the one end of telescopic structure 3, drive bearing structure 2 articulates with the other end of telescopic structure 3, high-pressure water cleaning mechanism 6 installs on shell 4, high-pressure water cleaning mechanism 6's inlet tube 62 passes shell 4 and is connected with outside water pipe from shell 4 rear end (the one end that shell 4 is close to drive bearing structure 2), high-pressure water cleaning mechanism 6 communicates with telescopic structure 3, thereby draw high-pressure water outside shell 4, image detection mechanism 5 installs at the front end (the one end that shell 4 is close to driven bearing structure 1) of shell 4 inner chamber and can stretch out or withdraw at shell 4 respectively, driven bearing structure 1 and one end is articulated with the other end of telescopic structure 3, high-pressure water cleaning mechanism 6 installs at the side of shell 4, cable recovery mechanism 8 is connected with the other end through cable recovery mechanism 8 to the control mechanism 8, high-pressure water cleaning mechanism 6 is connected with outside through cable recovery mechanism 8, the control mechanism 8 to the outer side of the cable recovery mechanism is connected with the outer side of the cable, the outer end through the cable recovery mechanism 8, high-pressure water cleaning mechanism 8, and the control mechanism is connected with the outer tube.
The crawling mechanism can be used for adjusting the device to be supported in the underground pipeline and enabling the device to move back and forth in the pipeline; the shell 4 is used for protecting a 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 camera is required to be used, the camera is extended to the outside of the shell 4 to carry out shooting and detection on the pipeline; the high-pressure water cleaning mechanism 6 converts normal-pressure water into high-pressure water for cleaning plugs such as silt; the cable recovery mechanism 8 can adjust the speed of the crawling mechanism or stop moving according to the pulling force of the cable 7; the control mechanism is the brain of the device, can make each mechanism cooperate with each other to finish the work, and the staff can also give instructions 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 mounted 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 coupling, the first telescopic rod 31 and the second telescopic rod 32 are all provided with toothed bars, and the racks of the first turbine 35, the first telescopic rod 31 and the second telescopic rod 32 are mutually matched, so that the extension and shortening of the telescopic structure 3 are realized. One end of the first telescopic link 31 and one end of the second telescopic link 32 are installed in parallel to each other at both sides of the first turbine 35, and the first turbine 35 is connected with the first telescopic link 31 and the second telescopic link 32 through racks, respectively. The other end of the first telescopic rod 31 passes through a first through hole of the shell 4 and is hinged with the first supporting rod 12 of the driven supporting structure 1, the other end of the second telescopic rod 32 passes through a second through hole of the shell 4 and is hinged with the second supporting rod 23 of the driving supporting structure 2, the first telescopic rod 31 is of a hollow structure, the water outlet pipe 63 of the high-pressure water cleaning mechanism 6 is communicated with the inner cavity of the first telescopic rod 31, and the first telescopic rod 31 is connected with the main shaft 65 of the high-pressure water cleaning mechanism 6. The first telescopic rod 31 and the second telescopic rod 32 are respectively provided with a travel switch, the controller of the control mechanism controls the first motor 33 through the 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 expansion structure 3 controls the expansion or folding of the driven support structure 1 and the driving support structure 2 through the change of the length of the expansion structure, thereby achieving the purpose of adjusting the friction force among the driven wheel of the driven support structure 1, the driving wheel 21 of the driving support structure 2, the driven wheel and the inner wall of the underground pipeline. The first telescopic rod 31 adjusts the friction force between the driven support 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 inside the shell 4, the folding forms of the driven support structure 1 and the driving support structure 2 are realized, the volume of the device is reduced, and the device is convenient to carry; when the first telescopic rod 31 and the second telescopic rod 32 extend to the maximum inside of the housing 4, the driven support structure 1 and the driving support structure 2 are opened to the maximum support outer diameter, that is, the underground pipeline with the maximum inner diameter which the device can use. The first motor 33 provides power for the left-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 turbine 35 is used to transmit the power of the first motor 33 to the first telescopic link 31 and the second telescopic link 32.
The working principle of the crawling mechanism is as follows: the first motor 33 starts to rotate positively, the first motor 33 drives the first telescopic rod 31 and the second telescopic rod 32 to extend through the first turbine 35, the first telescopic rod 31 drives the driven support structure 1 to open, and meanwhile, the second telescopic rod 32 drives the driving support structure 2 to open, so that the first driven wheel 11, the second driven wheel 22 and the driving wheel 21 can be finally tightly pressed on the inner wall of the underground pipeline. 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 properly reduced, the first motor 33 reverses, the first motor 33 drives the first telescopic rod 31 and the second telescopic rod 32 to shrink through the first turbine 35, and finally the first driven wheel 11, the second driven wheel 22 and the driving wheel 21 are always attached to the inner wall of the pipeline.
As shown in fig. 7, the high-pressure water cleaning mechanism 6 includes a spray head 61, a water inlet pipe 62, a water outlet pipe 63, a high-pressure water pump 64 and a main shaft 65, the high-pressure water pump 64 is mounted 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 an inner cavity of the first telescopic rod 31, the first telescopic rod 31 is communicated with one end of the main shaft 65, the other end of the main shaft 65 is communicated with the spray head 61, the spray head 61 is a high-pressure water spray head 61 which can rotate due to a certain angle between the water outlet and the main shaft 65, when high-pressure water is sprayed, the high-pressure water spray is finally formed to rotate due to unbalance of moment, and sundries such as sludge of an underground pipeline are 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 force of high-pressure water spray; 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 injection; the main shaft 65 is positioned for transporting the high-pressure water body a certain distance.
As shown in fig. 4 to 5, the cable recycling mechanism 8 includes a tensioning bracket 81, a cable fixing bracket 82, a cable switching bracket 83, a cable 7 and a cable winding bracket, the cable switching bracket 83 is connected with the control mechanism, one end of the cable 7 is fixed on the cable switching 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 a third through hole of the housing 4 to extend outwards, and the other end of the cable 7 is wound on the cable winding bracket. If the tension bracket 81 is subjected to a great pressure while the device is advancing, which indicates that the speed of the cable 7 is slow or that the cable 7 is jammed, the crawling mechanism of the device needs to be slowed down or stopped, and the device can continue to advance after the pressure 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 to the singlechip 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 running 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 and the cable 7, and has the function of arranging wires; the cable 7 acts as a carrier for the transmission of power to the device and as a rescue line in case of emergency; the wire winding bracket is connected through a shaft by adopting two tripods, a winding drum is arranged on the shaft, and a cable 7 is wound on the winding drum, so that the effect of recovering and arranging the cable 7 is achieved, and a worker manually winds or releases the cable 7 through the bracket.
The detection and cleaning device of the underground pipeline needs sufficient electric power to run smoothly. In the prior art, a rechargeable battery is adopted as a power source, and the device has the advantages of no constraint of a cable 7 and more flexibility and convenience; the defect is that under the operational environment of underground pipeline, this environment belongs to the place that the staff can't see, in case the device breaks down or the battery electric quantity is not enough or by the condition such as foreign matter blocks, not only can't accomplish the maintenance task of underground pipeline but also need dig the pipeline and rescue the maintenance device, extravagant manpower and materials. The detection cleaning device for the underground pipeline in the embodiment adopts the cable 7 to provide power for the device, the cable 7 has two functions, firstly, the power is provided for the whole device, secondly, once the device is blocked by foreign matters or the device fails and cannot move, the cable 7 can serve as a rescue rope at the moment, and the whole device is pulled out of the underground pipeline.
As shown in fig. 6, the tension bracket 81 includes a swing bracket 811, an electric telescopic rod 812, a pressure sensor and a roller 813, the pressure sensor is mounted on the electric telescopic rod 812, the electric telescopic rod 812 is mounted on the inner wall of the housing 4 through the swing bracket 811, the roller 813 is mounted 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 becomes large, the pressure sensor transmits information to the controller, and the controller gives an instruction to shorten the electric telescopic rod 812; when the pressure sensor pressure becomes smaller, the pressure sensor transmits the pressure to the controller, and the controller gives a command to extend the electric telescopic rod 812.
The swing support 811 can enable the electric telescopic rod 812 to swing and change angles, and adapt to the pressure of the cable 7; the electric telescopic rod 812 detects the data of the pressure 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 cable tension; the roller 813 is used for bearing 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 turbine 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 turbine 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, one surface of the plate-shaped structure is provided with a rack, the second turbine 53 is matched with the rack, the other end of the third telescopic rod 54 is of a cylindrical structure, the shell of the cylindrical structure is of a transparent glass structure, the camera is mounted in an inner cavity of the cylindrical structure, and the camera scans outwards through glass for shooting. The controller of the control mechanism controls the second motor 52 and the camera through a relay, and a travel switch is arranged on the third telescopic rod 54 and feeds back information to the controller.
The second base 51 is used for installing the second motor 52 in the inner cavity of the housing 4; the second motor 52 powers the extension or retraction of the third telescopic rod 54; the second turbine 53 plays a role in transmission, and the shaft of the second motor 52 rotates to drive the third telescopic rod 54 to move; the camera is used for collecting videos or pictures in the underground pipeline and feeding the videos or pictures back to the control mechanism; the third telescopic link 54 extends or retracts the camera to or from the outside of the housing 4 by moving left and right by itself.
As shown in fig. 1, the driven support structure 1 includes three first driven wheels 11, three first support rods 12, three first hinge shafts 13 and one first support frame 14, the three first driven wheels 11 are respectively installed at one ends of the three first support rods 12, the other ends of the three first support rods 12 are hinged with the first telescopic rods 31, the middle parts of the three first support rods 12 are hinged with the first support frame 14 through the first hinge shafts 13, and the first support frame 14 is installed at the front end of the housing 4.
The first driven wheel 11 is used for reducing the resistance of the device to 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 retraction 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 as to enhance the unfolding and folding capabilities of the driven support structure 1; the first support frame 14 serves 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, where the two second driven wheels 22 are respectively installed at one ends 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 with the ends of the second telescopic rods 32, so that the two driven wheels 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 arranged at the rear end of the outer part of the shell 4, and a controller of the control mechanism is connected with a motor of the driving wheel 21 through a relay. Whether the driving wheel 21 is rotated forward or backward depends on two aspects, one of which is to receive a forward or backward command signal pressed by the worker; on the other hand, the control means dynamically adjusts the position of the high-pressure water jet position according to specific requirements such as the tension pressure generated by the cable collecting means 8 and the position adjustment of the image detecting means 5. 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, but are not uniformly distributed, as shown in fig. 1. The design can ensure that the device can run smoothly no matter what stress state the device is in.
The driving wheel 21 is a power source for the movement of 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 retraction of the second telescopic rod 32; the second hinge shaft 24 is used for connecting the second supporting rod 23 and the second supporting frame 25, so as to enhance the unfolding and folding capabilities of the driving supporting structure 2; the second supporting frame 25 functions as a bracket.
As shown in fig. 8, the control mechanism includes a controller, 5 relays, and a protection circuit, the protection circuit is connected with the cable 7 through a wire switching bracket 83 of the cable recovery mechanism 8, the protection circuit and the plurality of relays are all connected with the controller, and the protection circuit is connected with the wire switching 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 of the image detection mechanism 5, the camera, 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 respectively. The controller is connected with a rotation speed sensor of the driving wheel 21, a travel switch of the telescopic structure 3, a pressure sensor of the tensioning bracket 81, a travel switch of the third telescopic rod 54 and a 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 the singlechip is internally provided with program codes for realizing the actions required by the device; the control mechanism can control linkage among all mechanisms, when a worker gives an instruction, the control mechanism sends out corresponding instructions according to the working states of all mechanisms, and controls all motors to start, so that flexible operation of the device is realized, and detection tasks of underground pipelines are completed by matching with video detection and high-pressure water cleaning. The relay serves as an automatic switch for controlling the actions between the individual 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 pressure; the travel switch is used to automatically stop, reverse, shift, or reciprocate the first, second, and third telescopic links 31, 32, and 54 at a certain position or travel.
As shown in fig. 9, a method for using a detection and cleaning device for an underground pipeline includes the following steps:
s1, a worker presses a start button, a detection cleaning device of the underground pipeline is started, and a control mechanism is used for carrying out a system initialization state.
S2, placing the detection cleaning device of the underground pipeline into the underground pipeline, enabling the telescopic structure 3 to drive the driven supporting structure 1 and the driving supporting structure 2 to open, enabling the driving wheel 21 of the driving supporting structure 2 to start to operate, judging whether the hub slips by a rotation speed sensor on the driving wheel 21, and if so, indicating that the compaction 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, drives the driven support structure 1 and the driving support structure 2 to open, and compresses the driving wheel 21 on the inner wall of the underground pipeline, thereby increasing friction force until the driving wheel 21 does not slip or spin.
S3, the driving wheel 21 rotates positively, a detection cleaning device of the underground pipeline advances in the underground pipeline, meanwhile, the image detection mechanism 5 detects the underground pipeline, when the tensioning support 81 of the cable recovery mechanism 8 detects that the tension of the cable 7 is overlarge, the driving wheel 21 stops running, and workers tidy the cable 7 through the cable winding support; when the cable recovery mechanism 8 detects that the tension of the cable 7 is acceptable, the driving wheel 21 continues to advance;
s4, detecting places where underground pipelines are broken and sludge is blocked through a 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 to be manually maintained. If the sludge is blocked, the high-pressure water cleaning mechanism 6 is started at the moment, and the spray head 61 sprays out the rotating high-pressure water to cut up and wash away the sludge like a water knife, so that the technical problem of underground pipeline blocking is solved.
S5, repeating the steps S3-S4, after the detection and cleaning of the underground pipeline are completed, reversing the driving wheel 21, enabling the detection and cleaning device of the underground pipeline to retreat in the underground pipeline, stopping the driving wheel 21 when the cable recovery mechanism 8 detects that the tension of the cable 7 is too small, and enabling a worker to tidy the cable 7 through the cable winding bracket; when the cable recovery mechanism 8 detects that the tension of the cable 7 is qualified, the driving wheel 21 continuously reverses, and the underground pipeline detection and cleaning device 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 drives the driven supporting structure 1 and the driving supporting structure 2 to fold respectively, and recovery of the detection and cleaning device of the underground pipeline is completed.
The above embodiments are preferred examples of the present utility model, and the present utility model is not limited thereto, and any other modifications or equivalent substitutions made without departing from the technical aspects of the present utility model are included in the scope of the present utility model.
Claims (5)
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 clearance mechanism, cable recovery mechanism and control mechanism, crawl mechanism includes extending structure, driven bearing structure and drive bearing structure, extending structure installs in the inner chamber of shell, extending structure's one end passes shell and driven bearing structure and articulates, extending structure's the other end passes shell and drive bearing structure and articulates, driven bearing structure and drive bearing structure are connected with the both ends of shell respectively, high-pressure water clearance mechanism, image detection mechanism, cable recovery mechanism and control mechanism all install in the inner chamber of shell, extending structure and high-pressure water clearance mechanism are connected, extending structure and drive bearing structure all are connected with control mechanism, high-pressure water clearance mechanism, image detection mechanism, cable recovery mechanism all are connected with control mechanism;
the telescopic structure comprises a first telescopic rod, a second telescopic rod, a first motor, a first base and a first turbine, wherein the first motor is arranged on the inner wall of the shell through the first base, the first turbine is arranged on the first motor, two sides of the first turbine are respectively connected with one end of the first telescopic rod and one end of the second telescopic rod through racks, the other end of the first telescopic rod penetrates through the shell to be hinged with the driven supporting structure, the other end of the second telescopic rod penetrates through the shell to be hinged with 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;
the cable recovery mechanism comprises a tensioning bracket, a cable fixing bracket, a cable switching bracket, a cable and a cable winding bracket, wherein the cable switching 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 switching bracket, and the other end of the cable sequentially penetrates through the cable fixing bracket, the tensioning bracket and the shell to be connected with the cable winding bracket;
the tensioning support comprises a swing support, an electric telescopic rod, a pressure sensor and a roller, one end of the electric telescopic rod is arranged on the inner wall of the shell through the swing support, the roller is arranged on the other end of the electric telescopic rod, the cable is arranged on the roller, the pressure sensor is arranged on the electric telescopic rod, and the pressure sensor and the electric telescopic rod are connected with the control mechanism;
the driving support structure comprises a rotation speed sensor, a driving wheel, a plurality of second driven wheels and a second support frame, wherein the rotation speed sensor is arranged on the driving wheel, the second driven wheels and the driving wheel are respectively hinged with a second telescopic rod through second support rods, the second support frame is arranged on the shell, the second support rods are hinged with the second support frame through second hinge shafts, and the driving wheel and the rotation speed sensor are connected with the control mechanism;
the driven supporting structure comprises a plurality of first driven wheels and a first supporting frame, the first driven wheels are hinged with the first telescopic rods through first supporting rods respectively, the first supporting rods are hinged with the first supporting frame through first hinge shafts, and the first supporting frame is installed on the shell.
2. The underground pipeline detection and cleaning device according to claim 1, wherein the high-pressure water cleaning mechanism comprises a spray head, a water inlet pipe, a water outlet pipe, a high-pressure water pump and a main shaft, the spray head is communicated with one end of the main shaft, the other end of the main shaft is communicated with the water outlet pipe through an inner cavity of a first telescopic rod, 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.
3. The underground pipeline detection and cleaning device according to claim 1, wherein 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 mounted 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 mounted on the other end of the third telescopic rod, and the second motor and the camera are connected with the control mechanism.
4. The underground pipeline detection and cleaning device according to 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 with the controller, the relays are respectively connected with 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 with the telescopic structure, the driving support structure, the image detection mechanism, the high-pressure water cleaning mechanism and the cable recovery mechanism.
5. The method of using a device for inspecting and cleaning underground pipes according to any one of claims 1 to 4, comprising the steps of:
s1, starting a detection cleaning device of an underground pipeline, and initializing a system by a control mechanism;
s2, placing the detection cleaning device of the pipeline into the pipeline, and enabling the telescopic structure to drive the driven supporting structure and the driving supporting structure to open until the driving wheel of the driving supporting mechanism and the inner wall of the pipeline do not slip;
s3, the driving wheel rotates positively, the detection cleaning device of the pipeline advances in the pipeline, the image detection mechanism detects the pipeline, and when the cable recovery mechanism detects that the cable tension is overlarge, the driving wheel stops running, and workers tidy 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 out a blockage of the pipeline, the high-pressure water cleaning mechanism cleans the blockage, and when the image detection mechanism finds out the underground pipeline is damaged, the control mechanism transmits the pipeline damage related information to the staff;
s5, repeating the steps S3-S4, after the detection and cleaning of the pipeline are completed, reversing the driving wheel, enabling the detection and cleaning device of the pipeline to retreat in the pipeline, stopping the driving wheel when the cable recovery mechanism detects that the cable tension is too small, and enabling the staff to tidy the cable; when the cable recovery mechanism detects that the tensile 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 drives the driven supporting structure and the driving supporting structure to fold respectively, and recovery of the detection cleaning device of the pipeline is completed.
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| CN114084263B (en) * | 2021-11-19 | 2023-06-09 | 广州城市理工学院 | Balance car with double balance systems and balance control method thereof |
| CN115301638B (en) * | 2022-10-11 | 2023-06-23 | 南通速维工程设备有限公司 | Laser rust removing system and method for pressure pipeline |
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