An underwater robot interception device based on urban deep drainage tunnel

Abstract

The application discloses an underwater robot intercepting device based on a city deep drainage tunnel, which comprises an underground circular pipeline, a square shaft connected to the underground circular pipeline, a middle intercepting unit, a side intercepting unit and the like. The middle intercepting unit comprises a middle intercepting assembly arranged in the underground circular pipeline and used for intercepting an underwater robot in the middle of the circular pipeline and a limiting assembly arranged on the upper end of the middle intercepting assembly and used for limiting the middle intercepting assembly in cooperation with the square shaft. The side intercepting unit comprises a side intercepting assembly rotatably arranged on one side of the middle intercepting assembly and used for intercepting the gap between the middle intercepting assembly and the circular pipeline. By controlling the reverse rotation of the driving motor, the left intercepting door and the right intercepting door are reset, the underwater robot on the lower bottom plate is enclosed, the intercepting device is lifted out along the square shaft by using a crane, and the underwater robot can be recycled, so that the underwater robot can be reliably intercepted and recycled.

Description

Technical Field

[0001] This invention relates to the field of urban deep drainage tunnel detection technology, specifically to an underwater robot interception device based on urban deep drainage tunnels. Background Technology

[0002] Currently, urban deep drainage tunnels refer to deep and sub-deep underground spaces buried below the urban surface, generally 20m to 60m underground, used for regulating and transporting rainwater or sewage. They are characterized by large burial depth, high flow velocity, poor internal visibility, and some tunnels do not have the conditions to shut off water supply. Therefore, it is necessary to use underwater robots to enter the tunnel structure through the tunnel shaft for inspection. Due to the complexity and unknown conditions of urban underground pipe networks, underwater robot operations have great uncertainty. When encountering emergencies, interception of underwater robots becomes crucial. This invention is designed for the current situation where most urban sewage pipe networks have square vertical shafts at the top and circular underground pipes.

[0003] When existing underwater robots are used for underwater inspection of underground circular pipes, the underwater robot interception devices can only intercept the middle part of the underground circular pipe. If the water flow is strong and the inspection robot is swept away along the underground pipe, it can only intercept the middle area of ​​the pipe. Due to the small size of the underwater robot, when the underwater robot flows along the arc of the inner edge of the pipe with the water flow, there are large gaps between the two sides of the grille and the inner wall of the circular pipe, causing the underwater robot to flow out along the gaps, resulting in certain blind spots for interception, making it impossible to safely and reliably intercept and recover the robot.

[0004] The above content is only used to help understand the technical solution of the present invention, and does not represent an admission that the above content is the closest prior art. Summary of the Invention

[0005] The purpose of this invention is to provide an underwater robot interception device based on deep urban drainage tunnels, in order to solve the problem mentioned in the background art that when underwater robots intercept circular underground pipes, there are large gaps between the two sides of the grille and the inner wall of the circular pipe, causing the underwater robot to flow out along the gaps, creating blind spots in the interception, and making it impossible to safely and reliably achieve interception and recovery.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] An underwater robot interception device based on a deep urban drainage tunnel includes an underground circular pipe and a square vertical shaft connected to the underground circular pipe, and further includes:

[0008] The central interception unit includes a central interception component disposed within the underground circular pipe for intercepting an underwater robot in the middle of the circular pipe, and a limiting component disposed at the upper end of the central interception component for cooperating with a square vertical shaft to limit the central interception component.

[0009] The side interception unit includes a side interception component rotatably disposed on one side of the central interception component for intercepting the gap between the central interception component and the circular pipe, and a drive component disposed inside the central interception component for driving the side interception component to open or close.

[0010] Furthermore, the central interception component includes:

[0011] A bottom plate is placed at the bottom of the underground circular pipe, and water outlet holes are evenly opened at the upper end of the bottom plate;

[0012] The lower support rod is provided in multiple sets, which are connected at equal intervals at the upper edge of the lower base plate near the three sides to form an interception cage.

[0013] The mounting rod is connected to the opening at the upper end of the lower base plate near the interception cage and is used to install the side interception assembly.

[0014] Furthermore, the limiting component includes:

[0015] The middle base plate is connected to the upper end of the lower support rod;

[0016] The upper support rod is provided in multiple sets, which are connected at equal intervals to the upper end of the middle base plate and are used to be inserted into the square vertical shaft to limit the middle interception component.

[0017] The upper base plate is connected to the upper end of the upper support rod and is used to reinforce the upper support rod.

[0018] Furthermore, the limiting component also includes:

[0019] Guide wheels are installed at equal intervals around the perimeter of the upper base plate to guide the central interception unit as it is lowered along the inner wall of the square shaft.

[0020] Furthermore, the driving component includes:

[0021] The mounting bracket is installed on the upper part of the central interception component, and the upper end of the mounting bracket is provided with a first groove and a second groove in sequence.

[0022] A drive motor is connected to the upper end of the mounting bracket;

[0023] A drive shaft is connected to the drive end of the drive motor. A first half gear corresponding to the first groove and a second half gear corresponding to the second groove are sequentially fixedly sleeved on the outside of the drive shaft.

[0024] The first helical gear component is rotatably connected to a pre-drilled hole inside the mounting bracket and meshes with the second half gear through the first driven gear;

[0025] The second helical gear is rotatably connected to a pre-drilled hole inside the mounting bracket and meshes with the first half gear through the second driven gear.

[0026] Furthermore, a first gap is provided on the outer side of the first half gear;

[0027] The second half gear has a second gap on its outer side;

[0028] When the second half gear rotates to the second empty part corresponding to the first driven gear, the second driven gear in the first empty part switches to the first half gear meshing with the second driven gear.

[0029] Furthermore, the side-interception component includes:

[0030] Right intercepting door;

[0031] The third gear is connected to one side of the right intercepting door, and its internal rotation is sleeved on the outside of the mounting rod, which is used to rotate and intercept the right intercepting door outside the mounting rod.

[0032] The fourth gear meshes with the third gear, and the upper end of the fourth gear is fixedly connected to a third helical gear component that meshes with the drive assembly.

[0033] Furthermore, the side-interception component also includes:

[0034] Left intercepting door;

[0035] The fifth gear is connected to one side of the left intercepting door, and its interior is rotatably sleeved on the outside of another mounting rod, for rotating the left intercepting door to be mounted on the outside of the mounting rod;

[0036] The sixth gear meshes with the fifth gear, and a fourth helical gear component that meshes with the drive assembly is fixedly connected to the upper end of the sixth gear.

[0037] Furthermore, a limiting ring is fixedly sleeved on the outside of the mounting rod and below the third and fifth gears to limit the movement of the third and fifth gears.

[0038] Compared with the prior art, the beneficial effects of the present invention are:

[0039] 1. The present invention uses a crane to lower the central interception component along the square shaft to the intersection of the square shaft and the underground circular pipe. During the lowering process along the square shaft, in order to prevent the central interception component and the limiting component from colliding with the side wall of the square shaft, guide wheels are used to roll and move the central interception component along the square shaft, which effectively extends the service life of the interception device.

[0040] 2. In this invention, when the central interception component is placed at the bottom of the underground circular pipe, the upper support rod is located inside the square shaft. When the water flow in the underground circular pipe impacts the central interception component, the square shaft limits the upper support rod, effectively preventing the central interception component from being washed away by sewage along the underground circular pipe.

[0041] 3. This invention activates a drive motor, which drives the first and second half-gears to rotate synchronously via a drive shaft. The second half-gear first drives the first helical gear via the first driven gear, which in turn drives the fourth gear via the third helical gear. The fourth gear, through the third gear, opens the right intercepting gate to the right gap. Then, the second gap rotates to the position corresponding to the first driven gear, causing the first driven gear to stop rotating. Simultaneously, the first half-gear rotates to mesh with the second driven gear and drives it to rotate. The second driven gear, through the second helical gear, drives the fourth helical gear, which in turn drives the fifth gear via the sixth gear. The fifth gear opens the left intercepting gate to the left gap, and then the drive motor stops rotating. This effectively intercepts the large gap between the two sides of the grille and the inner wall of the circular pipe, preventing underwater robots in the water flow from flowing out through the gap.

[0042] 4. In this invention, after the left and right intercepting gates are opened, during the subsequent sewage flow in the underground circular pipe, the underwater robot intercepted by the lower support rod falls to the upper end of the lower base plate. After being intercepted by the left and right intercepting gates, the underwater robot flows into the lower support rod under the impact force of the sewage and is intercepted by the lower support rod before falling onto the lower base plate and accumulating. When the intercepted underwater robot needs to be retrieved, the drive motor is controlled to rotate in reverse, causing the left and right intercepting gates to reset, thus sealing the underwater robot on the lower base plate. The interception device is then lifted out along the square vertical shaft by a crane, completing the retrieval of the underwater robot. This achieves the effect of reliably intercepting and retrieving the underwater robot. Attached Figure Description

[0043] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0044] Figure 2 This diagram illustrates the relationship between the central interception unit and the underground circular pipe in this invention.

[0045] Figure 3 This is a diagram showing the cooperation relationship between the side interception units of the central interception unit in this invention;

[0046] Figure 4 This is a diagram showing the cooperation relationship between the driving component and the side interception component of the present invention;

[0047] Figure 5 For the present invention in Figure 4 Enlarged view of point A in the middle;

[0048] Figure 6 This is a schematic diagram of the internal structure of the driving component of the present invention;

[0049] Figure 7 This is a schematic diagram of the operation of the side interception component of the present invention.

[0050] Reference numerals: 1. Central interception unit; 2. Side interception unit; 100. Underground circular pipe; 101. Square vertical shaft; 11. Central interception assembly; 12. Limiting assembly; 111. Lower base plate; 1111. Water outlet; 112. Lower support rod; 113. Mounting rod; 121. Upper support rod; 122. Upper base plate; 123. Guide wheel; 124. Middle base plate; 21. Drive assembly; 22. Side interception assembly; 211. Mounting bracket; 2111. First groove; 2112. Second groove; 212. Drive motor; 213. Drive shaft; 214. First half gear; 215. Second half gear; 2141. First gap; 2151. Second gap; 216. First helical gear component; 2161. First driven gear; 217. Second helical gear component; 2171. Second driven gear; 221. Right intercepting gate; 222. Third gear; 223. Limiting ring; 224. Fourth gear; 225. Third helical gear component; 226. Left intercepting gate; 227. Fifth gear; 228. Sixth gear; 229. Fourth helical gear component. Detailed Implementation

[0051] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0052] Example 1

[0053] Please see Figure 1-7 The present invention provides a technical solution:

[0054] An underwater robot interception device based on a deep urban drainage tunnel includes an underground circular pipe 100 and a square vertical shaft 101 connected to the underground circular pipe 100, and further includes:

[0055] The central interception unit 1 includes a central interception component 11 disposed within the underground circular pipe 100 for intercepting an underwater robot in the middle of the circular pipe, and a limiting component 12 disposed at the upper end of the central interception component 11 for cooperating with the square vertical shaft 101 to limit the central interception component 11.

[0056] The side interception unit 2 includes a side interception component 22 rotatably disposed on one side of the central interception component 11 for intercepting the gap between the central interception component 11 and the circular pipe, and a drive component 21 disposed inside the central interception component 11 for driving the side interception component 22 to open or close.

[0057] It should be noted that initially, the side interception component 22 and the middle interception component 11 are in a folded state. The middle interception component 11 is inserted from the top of the square shaft 101 into the intersection of the square shaft 101 and the underground circular pipe 100 using a crane, so that the limiting component 12 is at the bottom of the square shaft 101. The middle interception component 11 intercepts the underwater robot in the middle of the underground circular pipe 100 when the sewage flows along the underground circular pipe 100. In order to intercept the underwater robot flowing out through the arc-shaped gap between the middle interception component 11 and the underground circular pipe 100, the drive component 21 is activated. The drive component 21 drives the side interception component 22 to open along the arc-shaped gap between the middle interception component 11 and the underground circular pipe 100, thereby achieving the effect of fully intercepting the underwater robot in the underground circular pipe 100.

[0058] As an improvement, such as Figure 1-3 As shown, the central interception component 11 includes:

[0059] A bottom plate 111 is placed at the bottom of the underground circular pipe 100, and water outlet holes 1111 are evenly opened at the upper end of the bottom plate 111.

[0060] The lower support rod 112 is provided in multiple sets, which are connected at equal intervals to form an interception cage at the upper end of the lower base plate 111 near the three sides.

[0061] Mounting rod 113 is connected to the opening at the upper end of the lower base plate 111 near the interception cage and is used to install the side interception assembly 22;

[0062] The bottom plate 111 has an arc shape to fill the gap between the underground circular pipe 100 and the bottom plate 111, preventing the underwater robot from running out of the gap between the bottom plate 111 and the underground circular pipe 100.

[0063] Furthermore, the limiting component 12 includes:

[0064] The middle base plate 124 is connected to the upper end of the lower support rod 112;

[0065] The upper support rod 121 is provided in multiple sets, which are connected at equal intervals to the upper end of the middle base plate 124, and are used to be inserted into the square vertical shaft 101 to limit the middle interception component 11.

[0066] The upper base plate 122 is connected to the upper end of the upper support rod 121 and is used to reinforce the upper support rod 121.

[0067] Furthermore, the limiting component 12 also includes:

[0068] Guide wheels 123 are installed at equal intervals around the upper base plate 122 to guide the central interception unit 1 as it is lowered along the inner wall of the square vertical shaft 101.

[0069] As an improvement, such as Figure 4-7 As shown, the driving component 21 includes:

[0070] Mounting bracket 211 is installed on the upper part of the central interception component 11. The upper end of the mounting bracket 211 is provided with a first groove 2111 and a second groove 2112 in sequence.

[0071] Drive motor 212 is connected to the upper end of the mounting bracket 211;

[0072] A drive shaft 213 is connected to the drive end of the drive motor 212. A first half gear 214 corresponding to the first groove 2111 and a second half gear 215 corresponding to the second groove 2112 are sequentially fixedly sleeved on the outside of the drive shaft 213.

[0073] The first helical gear 216 is rotatably connected to a pre-drilled hole inside the mounting bracket 211 and meshes with the second half gear 215 through the first driven gear 2161;

[0074] The second helical gear 217 is rotatably connected to a pre-drilled hole inside the mounting bracket 211 and meshes with the first half gear 214 through the second driven gear 2171.

[0075] Furthermore, such as Figure 5-6 As shown, the first half gear 214 has a first gap 2141 on its outer side;

[0076] The second half gear 215 has a second gap 2151 on its outer side;

[0077] When the second half gear 215 rotates to the point where the second empty part 2151 corresponds to the first driven gear 2161, the first empty part 2141 and the second driven gear 2171 are switched to mesh with the first half gear 214 and the second driven gear 2171.

[0078] As an improvement, the side interception component 22 includes:

[0079] Right intercepting door 221;

[0080] The third gear 222 is connected to one side of the right intercepting door 221. Its internal rotation is sleeved on the outside of the mounting rod 113, and is used to rotate the right intercepting door 221 to intercept it outside the mounting rod 113.

[0081] The fourth gear 224 meshes with the third gear 222, and the upper end of the fourth gear 224 is fixedly connected to a third helical gear 225 that meshes with the drive assembly 21;

[0082] The upper end of the third helical gear component 225 meshes with the first helical gear component 216.

[0083] Furthermore, such as Figure 7 As shown, the side interception component 22 further includes:

[0084] Left intercepting door 226;

[0085] The fifth gear 227 is connected to one side of the left intercepting door 226, and its interior is rotatably sleeved on the outside of another mounting rod 113, for rotating the left intercepting door 226 to be mounted on the outside of the mounting rod 113.

[0086] The sixth gear 228 meshes with the fifth gear 227, and the upper end of the sixth gear 228 is fixedly connected to a fourth helical gear 229 that meshes with the drive assembly 21;

[0087] The upper end of the fourth helical gear component 229 meshes with the second helical gear component 217.

[0088] Furthermore, a limiting ring 223 is fixedly sleeved on the outside of the mounting rod 113 and below the third gear 222 and the fifth gear 227 to limit the third gear 222 and the fifth gear 227.

[0089] It should be added that the bottom plate 124 of the present invention is equipped with a probe on the side for real-time recording of the underwater robot interception status of the underground circular pipe 100, and an underwater lighting lamp is installed at the lower end of the bottom plate 124 for illuminating the placement status of the middle interception component 11 and the side interception component 22 inside the underground circular pipe 100.

[0090] It should be noted that, as Figure 2-3 As shown, in the specific implementation of the present invention, a crane is used to lower the central interception component 11 along the square shaft 101 to the intersection of the square shaft 101 and the underground circular pipe 100. During the lowering process along the square shaft 101, in order to prevent the central interception component 11 and the limiting component 12 from colliding with the side wall of the square shaft 101, the guide wheel 123 is used to roll down with the square shaft 101, which effectively extends the service life of the interception device.

[0091] like Figure 2 As shown, when the middle interception component 11 is placed at the bottom of the underground circular pipe 100, the upper support rod 121 is located inside the square vertical shaft 101. When the water flow in the underground circular pipe 100 impacts the middle interception component 11, the square vertical shaft 101 limits the upper support rod 121, effectively preventing the middle interception component 11 from being washed away by sewage along the underground circular pipe 100.

[0092] like Figure 3-7 As shown, to prevent the underwater robot in the water flow from flowing out through the gap between the underground circular pipe 100 and the lower support rod 112, the present invention starts the drive motor 212. The drive motor 212 drives the first half gear 214 and the second half gear 215 to rotate synchronously through the drive shaft 213. The second half gear 215 first drives the first helical gear 216 to rotate through the first driven gear 2161. The first helical gear 216 drives the fourth gear 224 to rotate through the third helical gear 225. The fourth gear 224 drives the right intercepting gate 221 to open to the right gap through the third gear 222. Then the second gap 2151 rotates to be in contact with the first driven gear 2161. Correspondingly, the first driven gear 2161 stops rotating, while the first half gear 214 rotates to mesh with the second driven gear 2171 and drives the second driven gear 2171 to rotate. The second driven gear 2171 drives the fourth helical gear 229 to rotate through the second helical gear 217. The fourth helical gear 229 drives the fifth gear 227 to rotate through the sixth gear 228. The fifth gear 227 drives the left intercepting gate 226 to open to the left gap. Then the drive motor 212 stops rotating, thus effectively intercepting the large gap between the two sides of the grille and the inner wall of the circular pipe, effectively preventing underwater robots in the water flow from flowing out along the gap.

[0093] After the left intercepting gate 226 and the right intercepting gate 221 are opened, during the subsequent sewage flow in the underground circular pipe 100, the underwater robot intercepted by the lower support rod 112 falls onto the upper end of the lower base plate 111. After being intercepted by the left intercepting gate 226 and the right intercepting gate 221, the underwater robot flows into the lower support rod 112 under the impact of the sewage and is intercepted by the lower support rod 112 before falling onto the lower base plate 111 and accumulating. When the intercepted material needs to be cleaned up, the drive motor 212 is controlled to rotate in the opposite direction, so that the left intercepting gate 226 and the right intercepting gate 221 are reset, so that the underwater robot on the lower base plate 111 is sealed. The intercepting device is then lifted out along the square vertical shaft 101 by a crane, thus completing the recovery of the underwater robot and achieving the effect of reliably intercepting and recovering the underwater robot.

[0094] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0095] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An underwater robot interception device based on a deep urban drainage tunnel, comprising an underground circular pipe (100) and a square vertical shaft (101) connected to the underground circular pipe (100), characterized in that, Also includes: The central interception unit (1) includes a central interception component (11) disposed in the underground circular pipe (100) for intercepting the underwater robot in the middle of the circular pipe, and a limiting component (12) disposed at the upper end of the central interception component (11) for cooperating with the square vertical shaft (101) to limit the central interception component (11). The central interception component (11) includes a mounting rod (113). The side interception unit (2) includes a side interception component (22) rotatably disposed on one side of the central interception component (11) for intercepting the gap between the central interception component (11) and the circular pipe, and a drive component (21) disposed inside the central interception component (11) for driving the side interception component (22) to open or close. The driving component (21) includes: Mounting bracket (211) is installed on the upper part of the central interception component (11), and the upper end of the mounting bracket (211) is provided with a first groove (2111) and a second groove (2112) in sequence; A drive motor (212) is connected to the upper end of the mounting bracket (211); A drive shaft (213) is connected to the drive end of the drive motor (212). A first half gear (214) corresponding to the first groove (2111) and a second half gear (215) corresponding to the second groove (2112) are sequentially fixedly sleeved on the outside of the drive shaft (213). The first helical gear (216) is rotatably connected to the pre-drilled hole inside the mounting bracket (211) and meshes with the second half gear (215) through the first driven gear (2161); The second helical gear (217) is rotatably connected to the pre-drilled hole inside the mounting bracket (211) and meshes with the first half gear (214) through the second driven gear (2171); The first half gear (214) has a first gap (2141) on its outer side; The second half gear (215) has a second gap (2151) on its outer side; When the second half gear (215) rotates to the point where the second empty part (2151) corresponds to the first driven gear (2161), the second driven gear (2171) of the first empty part (2141) is switched to mesh with the first half gear (214) and the second driven gear (2171); The side interception assembly (22) includes: Right intercepting door (221); The third gear (222) is connected to one side of the right intercepting door (221), and its interior is rotatably sleeved on the outside of the mounting rod (113) to rotate and intercept the right intercepting door (221) on the outside of the mounting rod (113); The fourth gear (224) meshes with the third gear (222), and the upper end of the fourth gear (224) is fixedly connected with a third helical gear (225) that meshes with the drive assembly (21); The side interception assembly (22) also includes: Left intercepting gate (226); The fifth gear (227) is connected to one side of the left intercepting door (226), and its interior is rotatably sleeved on the outside of another mounting rod (113) for rotatably mounting the left intercepting door (226) on the outside of the mounting rod (113); The sixth gear (228) meshes with the fifth gear (227), and the upper end of the sixth gear (228) is fixedly connected to a fourth helical gear (229) that meshes with the drive assembly (21); A limiting ring (223) is fixedly sleeved on the outside of the mounting rod (113) and below the third gear (222) and the fifth gear (227) for limiting the third gear (222) and the fifth gear (227).

2. The underwater robot interception device based on a deep urban drainage tunnel according to claim 1, characterized in that: The central interception component (11) also includes: The bottom plate (111) is placed at the bottom of the underground circular pipe (100), and water outlet holes (1111) are evenly opened at the upper end of the bottom plate (111); The lower support rod (112) is provided with multiple sets, which are connected at equal intervals to form an interception cage at the upper end of the lower base plate (111) near the three sides. The mounting rod (113) is connected to the opening at the upper end of the lower base plate (111) near the interception cage and is used to install the side interception assembly (22).

3. The underwater robot interception device based on a deep urban drainage tunnel according to claim 2, characterized in that: The limiting component (12) includes: The middle base plate (124) is connected to the upper end of the lower support rod (112); The upper support rod (121) is provided in multiple sets and is connected at equal intervals to the upper end of the middle base plate (124) for insertion into the square vertical shaft (101) to limit the middle interception component (11); The upper base plate (122) is connected to the upper end of the upper support rod (121) and is used to reinforce the upper support rod (121).

4. The underwater robot interception device based on a deep urban drainage tunnel according to claim 3, characterized in that: The limiting component (12) also includes: Guide wheels (123) are installed at equal intervals around the upper base plate (122) to guide the central interception unit (1) as it is lowered along the inner wall of the square shaft (101).

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