CN108152470B - Water quality analysis device in pipeline - Google Patents
Water quality analysis device in pipeline Download PDFInfo
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- CN108152470B CN108152470B CN201810163285.9A CN201810163285A CN108152470B CN 108152470 B CN108152470 B CN 108152470B CN 201810163285 A CN201810163285 A CN 201810163285A CN 108152470 B CN108152470 B CN 108152470B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/18—Water
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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Abstract
A water quality analysis device in a pipeline comprises a supporting frame, wherein the front side and the rear side of the supporting frame are respectively connected with a flexible connecting part, and a plurality of connecting shaft shoulders are sequentially connected to the flexible connecting parts on the front side and the rear side along the front-rear direction; wherein, a walking mechanism is arranged on part of the connecting shaft shoulder, and an acquisition mechanism is arranged on part of the connecting shaft shoulder; the supporting frame is of a hollow structure, the outer surface of the supporting frame is provided with a lighting lamp and a waterproof CCD camera, the interior of the supporting frame is provided with an actuator, and the actuator is electrically connected with a control bus and the waterproof CCD camera which are connected with the inside of the shaft shoulder. The invention can smoothly enter sewers with different sizes and shapes, and because the impurity analysis chamber and the sewage analysis chamber are arranged, ground personnel can collect and analyze a certain section of sewage to judge whether abnormal discharge exists in the section, thereby effectively providing a basis for sewage discharge supervision.
Description
The technical field is as follows:
the invention relates to the technical field of mechanical equipment, in particular to a water quality analysis device in a pipeline.
Background art:
the sewer is an urban public facility and refers to a pipeline for removing sewage and rainwater from a building; also refers to underground channels for removing sewage and rainwater in cities, factories or villages. Generally, a sewage system is used for collecting and discharging domestic wastewater generated in cities and industrial wastewater generated in industrial production. Various kinds of waste water, particularly industrial waste water, can be discharged after reaching the standard, however, a few sewage disposal units with slight environmental awareness can steal the waste water which does not reach the standard and discharge the waste water into urban sewers, the sewers are very complicated pipe network systems, a plurality of local workers can not reach the sewage disposal units, and when the waste water source which does not reach the standard is investigated, effective sampling can not be carried out, so that automatic carrying out and analyzing equipment needs to be designed, the waste water source is placed into the sewers, the water quality of each position is monitored in real time, and the waste water source which does not reach the standard can be found out in time.
The invention content is as follows:
the invention aims to overcome the defects in the prior art and provides a water quality analysis device in a pipeline, which can effectively clean sewers with special conditions such as gradual change in size and bend and remarkably improve the operation capacity and the operation range of the existing robot.
The technical solution of the invention is as follows:
a water quality analysis device in a pipeline comprises a supporting frame, wherein the front side and the rear side of the supporting frame are respectively connected with a flexible connecting part, and a plurality of connecting shaft shoulders are sequentially connected to the flexible connecting parts on the front side and the rear side along the front-rear direction; wherein, a walking mechanism is arranged on part of the connecting shaft shoulder, and an acquisition mechanism is arranged on part of the connecting shaft shoulder; the support frame is of a hollow structure, the outer surface of the support frame is provided with a lighting lamp and a waterproof CCD camera, the interior of the support frame is provided with an actuator, and the actuator is electrically connected with a control bus and the waterproof CCD camera which are connected with the interior of the shaft shoulder, so that the operation processes of the travelling mechanism and the acquisition mechanism are controlled; the executor is further wirelessly connected with a controller on the ground, the controller comprises a control circuit, a control panel and a display screen, the control circuit connects the control panel with the display screen, the control panel is provided with a working parameter setting button, an emergency stop button, an alarm button, a mode switching button and a power supply switching button, and the display screen receives a sewer live picture shot by the waterproof CCD camera; the controller is provided with a manual setting mode and an intelligent mode, and the mode switching button is triggered to automatically switch the manual setting mode and the intelligent mode;
the connecting shaft shoulder is provided with a central shaft, a plurality of connecting joints connected with a control bus inside the connecting shaft shoulder are arranged on the outer circumference of the central shaft, rotary joints are connected to two ends of the central shaft, a detachable sealing cover is arranged outside the rotary joints, plugs are inserted into the outer ends of the rotary joints, and adapters are connected to the plugs; the control bus passes through the central shaft, the rotary joint, the plug and the adapter and then enters the next connecting shaft shoulder;
the walking mechanism comprises a plurality of walking branch parts connected with a connecting joint of a connecting shaft shoulder, the walking branch parts are uniformly distributed on the circumference of the outer side of the connecting shaft shoulder, each walking branch part comprises a walking fixing arm fixedly connected with the connecting shaft shoulder, the end part of each walking fixing arm is connected with a walking telescopic arm, the tail end of each walking telescopic arm is connected with a walking wrist, and the tail end of each walking wrist is connected with a walking assembly;
specifically, the walking assembly comprises a walking support body, a walking motor is arranged in the walking support body, two walking wheels are arranged outside the walking support body, one walking wheel is fixedly connected with an output shaft of the walking motor, a walking crawler belt is connected between the two walking wheels, and a plurality of walking tension pulleys are further arranged on the walking support body; the end part of the walking fixing arm is provided with a linear brake for driving the walking telescopic arm to stretch, the linear brake is communicated with a telescopic detection element, the telescopic detection element is fixed on the walking telescopic arm, the walking wrist part is a universal actuator, the universal brake is provided with a buffer spring, the front end and the rear end of the walking support body are respectively provided with a front sensor and a rear sensor, the walking track is provided with a contact sensor, the universal brake is provided with a swing sensor, and the linear brake, the telescopic detection element, the universal brake, the front sensor and the rear sensor, the contact sensor and the swing sensor are communicated with each other;
the mechanism includes two flexible linking arms of being connected with the connecting shaft shoulder, the end-to-end connection of flexible linking arm has the collection main part, the collection main part is including the collection box of sealed setting, collection box inside sets up impurity analysis room and sewage analysis room, impurity analysis room is linked together with the impurity extraction pipe, sewage analysis room is linked together with the sewage extraction pipe, impurity extraction pipe and sewage extraction pipe all extend to the outside of collection box, the analysis result of sewage analysis room and impurity analysis room is preserved in the inside memory cell of collection box, memory cell passes through wireless mode and ground communication, perhaps memory cell passes through output line and ground communication.
Specifically, the executor still possesses the condenser, and the tail at the robot is fixed to the condenser, and the outside of condenser has the charging wire, through the setting of condenser, can provide stand-by power supply for the executor, prevents that the executor from lacking the electricity.
The invention has the beneficial effects that:
the invention can enter sewers with different sizes and different shapes, and because the impurity analysis chamber and the sewage analysis chamber are arranged, ground personnel can collect and analyze a certain section of sewage, judge whether the section has abnormal discharge abnormality or not, and effectively provide a basis for sewage discharge supervision.
Description of the drawings:
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural diagram of a traveling mechanism;
FIG. 3 is a schematic view of a walking branch avoidance sewer;
FIG. 4 is a schematic view of a walking branch in contact with a sewer;
fig. 5 is a schematic structural view of the connecting shoulder.
The specific implementation mode is as follows:
in order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
A water quality analysis device in a pipeline comprises a supporting frame 1, wherein the front side and the rear side of the supporting frame 1 are respectively connected with a flexible connecting part 10, and a plurality of connecting shaft shoulders 2 are sequentially connected to the flexible connecting parts 10 on the front side and the rear side along the front-rear direction; wherein, a walking mechanism 3 is arranged on part of the connecting shaft shoulder 2, and an acquisition mechanism 5 is arranged on part of the connecting shaft shoulder 2;
the supporting frame 1 is of a hollow structure, the outer surface of the supporting frame is provided with a lighting lamp and a waterproof CCD camera, the interior of the supporting frame is provided with an actuator, and the actuator is electrically connected with a control bus 24 and the waterproof CCD camera which are connected with the inside of the shaft shoulder 2, so that the operation processes of the travelling mechanism 3 and the acquisition mechanism 5 are controlled;
the executor is also in wireless connection with a controller on the ground, the controller comprises a control circuit, a control panel and a display screen, the control circuit connects the control panel with the display screen, the control panel is provided with a working parameter setting button, an emergency stop button, an alarm button, a mode switching button and a power supply switching button, and the display screen receives a sewer live picture shot by the waterproof CCD camera; the controller is provided with a manual setting mode and an intelligent mode, and the mode switching button is triggered to automatically switch the manual setting mode and the intelligent mode;
the executor still possesses electric storage device 6, and electric storage device 6 is fixed at the afterbody of robot, and the outside of electric storage device has charging wire 60, through the setting of electric storage device 6, can provide stand-by power supply for the executor, prevents that the executor from lacking in electricity.
In an intelligent mode, the controller automatically optimizes and sets working parameters according to a sewer live picture fed back by the waterproof CCD camera; under the artificial mode of setting for, owing to set up multiple control button on the control panel, subaerial staff can judge operating condition according to the live picture analysis of sewer that appears on the display screen to carry out the settlement of corresponding parameter.
The connecting shaft shoulder 2 is provided with a central shaft 20, a plurality of connecting joints 200 connected with a control bus 24 inside the connecting shaft shoulder 2 are arranged on the outer circumference of the central shaft 20, rotary joints 21 are connected to two ends of the central shaft 20, a detachable sealing cover 210 is arranged outside the rotary joints 21, a plug 22 is inserted into the outer end of each rotary joint 21, and an adapter 23 is connected to each plug 22; the control bus 24 passes through the central shaft 20, the rotary joint 21, the plug 22 and the adapter 23 and enters the next connecting shoulder 2.
The traveling mechanism 3 comprises a plurality of traveling branch parts 30 connected with the connecting joint 200 of the connecting shaft shoulder 2, the traveling branch parts 30 are uniformly distributed on the circumference of the outer side of the connecting shaft shoulder 2, each traveling branch part 30 comprises a traveling fixing arm 31 fixedly connected with the connecting shaft shoulder 2, the end part of each traveling fixing arm 31 is connected with a traveling telescopic arm, the tail end of each traveling telescopic arm is connected with a traveling wrist 32, and the tail end of each traveling wrist 32 is connected with a traveling assembly.
The end of the walking fixed arm 31 is provided with a linear brake 310 for driving the walking telescopic arm to extend and retract, the linear brake 310 communicates with a telescopic detection element 312, the telescopic detection element 312 is fixed on the walking telescopic arm, the walking wrist 32 is a universal actuator, the universal brake is provided with a buffer spring, the front end and the rear end of the walking support body 334 are respectively provided with a front sensor 313 and a rear sensor 313, the walking crawler 330 is provided with a contact sensor 331, the universal brake is provided with a swing sensor 322, and the linear brake 310, the telescopic detection element 312, the universal brake, the front sensor 313 and the rear sensor 313, the contact sensor 331 and the swing sensor 322 are communicated with each.
The walking assembly 33 comprises a walking support body 334, a walking motor is arranged inside the walking support body 334, two walking wheels 332 are arranged outside the walking support body 334, one walking wheel 332 is fixedly connected with an output shaft of the walking motor, a walking crawler 330 is connected between the two walking wheels 332, and a plurality of walking tension wheels 333 are further arranged on the walking support body 334.
The walking branch parts are uniformly distributed on the outer circumferential surface of the connecting shaft shoulder 2, in the walking process, the walking components 33 of the walking branch parts 30 are in contact with the inner wall of a sewer to further drive the supporting frame to move back and forth, and in the walking process, the actuator can effectively support and drive the supporting frame according to detection signals of the front and rear inductors 313, the contact sensor 331, the telescopic detection element 312 and the swing sensor 322 and the actions of the linear brake 310 and the universal brake because the linear brake 310, the telescopic detection element 312, the front and rear inductors 313, the contact sensor 331 and the swing sensor 322 are communicated with each other.
Because set up impurity analysis room and sewage analysis room, ground personnel can gather and the analysis to the sewage of a certain section, judge whether this section has abnormal emission unusual, the effectual basis that provides for sewage discharge supervision.
Claims (2)
1. The in-pipeline water quality analysis device is characterized by comprising a supporting frame (1), wherein the front side and the rear side of the supporting frame (1) are respectively connected with a flexible connecting part (10), and a plurality of connecting shaft shoulders (2) are sequentially connected to the flexible connecting parts (10) on the front side and the rear side along the front-rear direction; wherein, a walking mechanism (3) is arranged on part of the connecting shaft shoulder (2), and an acquisition mechanism (5) is arranged on part of the connecting shaft shoulder (2); the supporting frame (1) is of a hollow structure, the outer surface of the supporting frame is provided with a lighting lamp and a waterproof CCD camera, the interior of the supporting frame is provided with an actuator, and the actuator is electrically connected with a control bus (24) and the waterproof CCD camera which are connected with the inside of the shaft shoulder (2), so that the operation processes of the travelling mechanism (3) and the acquisition mechanism (5) are controlled; the executor is further wirelessly connected with a controller on the ground, the controller comprises a control circuit, a control panel and a display screen, the control circuit connects the control panel with the display screen, the control panel is provided with a working parameter setting button, an emergency stop button, an alarm button, a mode switching button and a power supply switching button, and the display screen receives a sewer live picture shot by the waterproof CCD camera; the controller is provided with a manual setting mode and an intelligent mode, and the mode switching button is triggered to automatically switch the manual setting mode and the intelligent mode;
the connecting shaft shoulder (2) is provided with a central shaft (20), a plurality of connecting joints (200) connected with a control bus (24) inside the connecting shaft shoulder (2) are arranged on the outer circumference of the central shaft (20), rotary joints (21) are connected to two ends of the central shaft (20), a detachable sealing cover (210) is arranged outside each rotary joint (21), a plug (22) is inserted into the outer end of each rotary joint (21), and an adapter (23) is connected to each plug (22); the control bus (24) passes through the central shaft (20), the rotary joint (21), the plug (22) and the adapter (23) and then enters the next connecting shaft shoulder (2);
the walking mechanism (3) comprises a plurality of walking branch parts (30) connected with a connecting joint (200) of a connecting shaft shoulder (2), the walking branch parts (30) are uniformly distributed on the circumference of the outer side of the connecting shaft shoulder (2), each walking branch part (30) comprises a walking fixing arm (31) fixedly connected with the connecting shaft shoulder (2), the end part of each walking fixing arm (31) is connected with a walking telescopic arm, the tail end of each walking telescopic arm is connected with a walking wrist part (32), and the tail end of each walking wrist part (32) is connected with a walking assembly; the walking assembly (33) comprises a walking support body (334), a walking motor is arranged inside the walking support body (334), two walking wheels (332) are arranged outside the walking support body (334), one walking wheel (332) is fixedly connected with an output shaft of the walking motor, a walking crawler belt (330) is connected between the two walking wheels (332), and a plurality of walking tension pulleys (333) are further arranged on the walking support body (334); the end part of the walking fixing arm (31) is provided with a linear brake (310) for driving the walking telescopic arm to stretch, a stretching detection element (312) is fixed on the walking telescopic arm, a walking wrist part (32) is a universal actuator, the universal brake is provided with a buffer spring, the front end and the rear end of the walking support body (334) are respectively provided with a front sensor and a rear sensor (313), a walking crawler (330) is provided with a contact sensor (331), the universal brake is provided with a swing sensor (322), and the linear brake (310), the stretching detection element (312), the universal brake, the front sensor and the rear sensor (313), the contact sensor (331) and the swing sensor (322) are communicated with each other;
the collection mechanism (5) includes two flexible linking arms (51) of being connected with connecting shaft shoulder (2), the end-to-end connection of flexible linking arm (51) has the collection main part, the collection main part is including sealed collection box that sets up, collection box inside sets up impurity analysis room and sewage analysis room, impurity analysis room is linked together with the impurity extraction pipe, sewage analysis room is linked together with the sewage extraction pipe, impurity extraction pipe and sewage extraction pipe all extend to the outside of collection box, the analysis result of sewage analysis room and impurity analysis room is preserved in the inside memory cell of collection box, memory cell passes through wireless mode and ground communication, perhaps memory cell passes through output line (50) and ground communication.
2. The in-pipe water quality analysis apparatus according to claim 1, characterized in that: the actuator is also provided with a storage battery (6), the storage battery (6) is fixed at the tail part of the water quality analysis device in the pipeline, a charging wire (60) is arranged outside the storage battery, and a standby power supply can be provided for the actuator through the arrangement of the storage battery (6) so as to prevent the actuator from being lack of power.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810163285.9A CN108152470B (en) | 2018-02-26 | 2018-02-26 | Water quality analysis device in pipeline |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810163285.9A CN108152470B (en) | 2018-02-26 | 2018-02-26 | Water quality analysis device in pipeline |
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| Publication Number | Publication Date |
|---|---|
| CN108152470A CN108152470A (en) | 2018-06-12 |
| CN108152470B true CN108152470B (en) | 2020-08-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810163285.9A Active CN108152470B (en) | 2018-02-26 | 2018-02-26 | Water quality analysis device in pipeline |
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| CN (1) | CN108152470B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111257531A (en) * | 2020-03-02 | 2020-06-09 | 河海大学 | Water supply pipeline safety and water quality monitoring device |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6079285A (en) * | 1997-10-01 | 2000-06-27 | Baker; Jack T. | Robotic sampler for remote sampling of liquids in a process stream |
| CN201566717U (en) * | 2009-12-30 | 2010-09-01 | 中国科学院沈阳自动化研究所 | Walking style pipe robot |
| CN103615663A (en) * | 2013-11-11 | 2014-03-05 | 江苏师范大学 | Robot for detecting inner condition of pipeline |
| CN104236956A (en) * | 2014-09-18 | 2014-12-24 | 湖南大麓管道工程有限公司 | Drainage pipeline detection robot |
| CN204924958U (en) * | 2015-08-28 | 2015-12-30 | 广州市畅通管道工程有限公司 | Sewage pipe guipure water inspection robot |
| CN206632074U (en) * | 2017-02-27 | 2017-11-14 | 山东科技大学 | A kind of Novel stretchable pipeline cleaning machine people |
-
2018
- 2018-02-26 CN CN201810163285.9A patent/CN108152470B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6079285A (en) * | 1997-10-01 | 2000-06-27 | Baker; Jack T. | Robotic sampler for remote sampling of liquids in a process stream |
| CN201566717U (en) * | 2009-12-30 | 2010-09-01 | 中国科学院沈阳自动化研究所 | Walking style pipe robot |
| CN103615663A (en) * | 2013-11-11 | 2014-03-05 | 江苏师范大学 | Robot for detecting inner condition of pipeline |
| CN104236956A (en) * | 2014-09-18 | 2014-12-24 | 湖南大麓管道工程有限公司 | Drainage pipeline detection robot |
| CN204924958U (en) * | 2015-08-28 | 2015-12-30 | 广州市畅通管道工程有限公司 | Sewage pipe guipure water inspection robot |
| CN206632074U (en) * | 2017-02-27 | 2017-11-14 | 山东科技大学 | A kind of Novel stretchable pipeline cleaning machine people |
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| CN108152470A (en) | 2018-06-12 |
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Effective date of registration: 20200702 Address after: Jiaojiang Jia Zhi Village District of Taizhou City, Zhejiang province 318000 Street No. 69 Applicant after: Zhou Chunping Address before: 518061 Guangdong city of Shenzhen province Nanshan District Guangdong streets, Road No. 1003 software industry base 2 C block 1202A Applicant before: SHENZHEN DAVINCI INNOVATION TECHNOLOGY Co.,Ltd. |
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Effective date of registration: 20221013 Address after: 276000 Hexi Village, Zhulu Town, Lingang Economic Development Zone, Linyi City, Shandong Province Patentee after: Linyi Lingang Water Affairs Co.,Ltd. Address before: 318000 No. 69, Zhongcun village, Jiaojiang street, Jiaojiang, Zhejiang Patentee before: Zhou Chunping |