An assisted lowering device and dredging system

Abstract

The utility model provides a kind of auxiliary lowering device, comprising: wellhead support frame, for installation on the wellhead of inspection well;Lowering assembly, comprising: assembly frame, power roller, guide roller, pressure roller;The power roller is horizontally arranged, and the power roller is rotatably connected with the assembly frame;The outer ring of the power roller is provided with first recess;The pressure roller is horizontally arranged, and the pressure roller is rotatably connected with the assembly frame;The pressure roller is adjacent to the power roller;The guide roller is vertically arranged, and the upper and lower ends of the guide roller are rotatably connected with the assembly frame;Energy supply assembly is connected with the lowering assembly, for providing energy to the lowering assembly.The utility model provides a kind of auxiliary lowering device, only needs single-person operation to complete the collection and release work of hydraulic oil pipe and blow-off pipe in the operation process of dredging robot, and it is convenient to operate and efficient.The utility model further provides a kind of dredging system.

Description

Technical Field

[0001] This utility model belongs to the field of robotic dredging technology, specifically, it relates to an auxiliary lowering device and a dredging system. More specifically, it relates to an auxiliary lowering device and a dredging system used in conjunction with a dredging robot. Background Technology

[0002] A dredging robot is a device that is vertically lowered into a pipeline to be dredged from a manhole. It then moves continuously within the pipeline, cutting and crushing silt, solid debris, and household waste, before pumping it to the surface for further processing. During operation, the dredging robot typically requires the traction of two hydraulic power pipes (inlet and return lines) and one sewage pipe. Therefore, the hydraulic and sewage pipes need to be continuously lowered from the manhole as the robot moves. Currently, the task of lowering the manhole is primarily done manually.

[0003] The following problems exist with manually assigning tasks:

[0004] 1. During dredging operations, multiple pipes need to be lowered into the wellhead simultaneously. These pipes are heavy and require multiple workers to operate at the same time. Therefore, this results in high labor costs and low lowering efficiency.

[0005] 2. When manually lowering pipes, the timing and length of the pipe placement are controlled by human experience, resulting in poor timeliness and low precision, which can affect the continuous operation of the robot. Laying pipes too late or for insufficient length will obstruct the robot's movement; laying too many pipes will increase the dragging burden on the robot.

[0006] 3. Safety: During dredging operations, the manhole opening is completely open, and workers need to work around the opening. Furthermore, the hydraulic hoses and drain pipes exert a dragging force on the workers towards the opening, posing a safety hazard. Utility Model Content

[0007] The purpose of this utility model is to provide an auxiliary lowering device and a dredging system, which aims to solve the technical problems of low lowering efficiency and safety hazards in the existing technology.

[0008] To achieve the above objectives, the technical solution adopted by this utility model is: to provide an auxiliary lowering device for use in conjunction with a dredging robot, comprising:

[0009] Wellhead support frame, used for installation on the wellhead of inspection wells;

[0010] The lowering assembly includes: an assembly frame, a power roller, a guide roller, and a pressure roller; the power roller is arranged horizontally and is rotatably connected to the assembly frame; the outer ring of the power roller has a first groove; the pressure roller is arranged horizontally and is rotatably connected to the assembly frame; the pressure roller is arranged adjacent to the power roller; the guide roller is arranged vertically, and its upper and lower ends are rotatably connected to the assembly frame respectively;

[0011] A power supply component, connected to the lowering component, is used to provide energy to the lowering component;

[0012] The pipeline is first guided by the guide roller, and then placed into the first groove of the power roller; the pipeline is then locked into the first groove; then the power supply component works and drives the power roller to rotate, and under the action of friction, the pipeline is transported into the pipeline and dragged forward by the dredging robot.

[0013] Preferably, the wellhead support frame includes:

[0014] A support frame is used to be installed on the wellhead of the inspection well, and the support frame is slidably connected to the component frame;

[0015] A fixing pin is provided on the support frame;

[0016] A sliding positioning pin is slidably connected to the support frame;

[0017] When the support frame is installed on the manhole opening, the fixed positioning pin first abuts against the inside of the manhole opening, and then the sliding positioning pin is adjusted to abut against the opposite inside of the manhole opening and its position is locked.

[0018] Preferably, the wellhead support frame further includes:

[0019] The safety rope has one end connected and fixed to the support frame, and the other end is used to connect to a fixed object on the ground.

[0020] Preferably, the component frame includes:

[0021] The base plate is slidably connected to the wellhead support frame;

[0022] Roller support plates are fixedly connected to the base plate; two sets of roller support plates are arranged at a certain interval; the two sets of roller support plates are rotatably connected to the power roller;

[0023] The pressure plate has one end hinged to the top of any of the roller support plates and the other end connected to another roller support plate; the pressure plate is rotatably connected to the pressure roller.

[0024] The pressure plate is connected to one end of the guide roller; the base plate is connected to the other end of the guide roller.

[0025] Preferably, the distance between the pressure roller and the power roller is adjustable.

[0026] Preferably, the outer ring of the pressure roller is provided with a second groove, which is adapted to the first groove.

[0027] Preferably, the power supply component includes:

[0028] A drive unit, connected to the lowering assembly, is used to provide power for the operation of the lowering assembly;

[0029] A power supply unit is connected to the lowering assembly, and the power supply unit is used to provide power for the operation of the lowering assembly.

[0030] Preferably, the power roller and the pressure roller are arranged adjacent to each other in the vertical direction; the guide roller is arranged adjacent to the power roller and the pressure roller in the front-back direction.

[0031] A dredging system, comprising an auxiliary lowering device as described in any of the above.

[0032] Preferably, the device further includes a dredging robot, which includes a control component; the auxiliary lowering device further includes a control element; the control component is communicatively connected to the control element, and the control component controls the control element.

[0033] The advantages of this auxiliary lowering device and dredging system are as follows: Compared with the prior art, this auxiliary lowering device and dredging system requires only one person to operate, enabling the retraction and extension of hydraulic hoses and sewage pipes during the dredging robot's operation. It is convenient to operate and highly efficient. The device is motor-driven, allowing for precise control of the timing and length of retraction and extension of the hydraulic hoses and sewage pipes according to the dredging robot's operating status. Operators can operate the equipment within a safe area outside the inspection well opening, virtually eliminating the risk of falls and greatly improving construction safety. Attached Figure Description

[0034] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0035] Figure 1 A schematic diagram of the structure of an auxiliary lowering device and a dredging system provided for an embodiment of this utility model;

[0036] Figure 2 A schematic diagram of the structure of a wellhead support frame used in an auxiliary lowering device and dredging system provided for an embodiment of this utility model;

[0037] Figure 3 A schematic diagram of the structure of the lowering component used in an auxiliary lowering device and dredging system provided in this embodiment of the utility model. Figure 1 ;

[0038] Figure 4 A schematic diagram of the structure of the lowering component used in an auxiliary lowering device and dredging system provided in this embodiment of the utility model. Figure 2 .

[0039] In the diagram: 101, Lowering assembly; 1011, Pressure plate; 1012, Hinge shaft; 1013, Angle bracket; 1014, Base plate; 1015, Guide roller; 1016, Quick clamp; 1017, Roller support plate; 1018, T-nut; 1019, Power roller; 10110, Pressure roller; 102, Power supply component; 103, Wellhead support frame; 1031, Support frame; 1032, Fixed positioning pin; 1033, Safety rope; 1034, Sliding positioning pin; 104, Drive component; 105, Inspection wellhead. Detailed Implementation

[0040] To make the technical problems, technical solutions, and beneficial effects of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0041] Please refer to the following: Figures 1 to 4This invention provides an auxiliary lowering device. The auxiliary lowering device, used in conjunction with a dredging robot, includes: a wellhead support frame 103, a lowering component 101, and a power supply component. The wellhead support frame 103 is installed on the wellhead 105 of a manhole. The wellhead support frame 103 is responsible for the positioning and fixing of the entire device and supports other functional structures. The lowering component 101 includes: a component frame, a power roller 1019, a guide roller 1015, and a pressure roller 10110. The power roller 1019 is arranged horizontally and rotatably connected to the component frame; a first groove is provided on the outer ring of the power roller 1019. The pressure roller 10110 is also arranged horizontally and rotatably connected to the component frame; the pressure roller 10110 is adjacent to the power roller 1019. The guide roller 1015 is arranged vertically, and its upper and lower ends are rotatably connected to the component frame. The power supply component is connected to the lowering component 101 and is used to provide energy to the lowering component 101. The pipeline is first guided by the guide roller 1015, and then the pipeline is placed into the first groove of the power roller 1019; and the pipeline is locked into the first groove; then the power supply component works and drives the power roller 1019 to rotate. Under the action of friction, the pipeline is transported into the pipeline and dragged forward by the dredging robot.

[0042] As one specific implementation of this utility model, please refer to the following: Figures 1 to 2 The wellhead support frame 103 includes: a support frame 1031, a fixed positioning pin 1032, a safety rope 1033, and a sliding positioning pin 1034. The support frame 1031 is used to install on the wellhead 105 of the inspection well, and the support frame 1031 is slidably connected to the lowering assembly 101; the fixed positioning pin 1032 is disposed on the support frame 1031; the sliding positioning pin 1034 is slidably connected to the support frame 1031; one end of the safety rope 1033 is connected and fixed to the support frame 1031, and the other end is connected to a fixed object on the ground. The safety rope 1033 is used to prevent the device from accidentally falling into the inspection well.

[0043] In some feasible embodiments, the support frame 1031 is provided with two sets of elongated through holes, namely a first through hole and a second through hole. The first through hole is used for the sliding positioning pin 1034, and the second through hole is used for the installation of the lowering assembly 101. The fixed positioning pin 1032 is welded to the support frame 1031, and the sliding positioning pin 1034 is installed in the first through hole and can slide within the slot.

[0044] In any feasible embodiment, the support frame 1031 is U-shaped. Specifically, the support frame 1031 includes a first vertical frame, a second vertical frame arranged parallel to the first vertical frame, and a horizontal frame connected at one end to the first vertical frame and at the other end to the second vertical frame. The first vertical frame has a first through hole at one end and a second through hole at the other end. The arrangement of the second vertical frame corresponds one-to-one with that of the first vertical frame. That is, the second vertical frame has a first through hole at one end and a second through hole at the other end. A set of fixing pins 1032 is provided at each end of the horizontal frame. One end of the safety rope 1033 is fixed to the support frame 1031, and the other end is used to connect to a fixed object on the ground.

[0045] As one specific implementation of this utility model, please refer to the following: Figure 1 , Figure 3 as well as Figure 4 The lowering assembly 101 consists of a pressure plate 1011, a hinge shaft 1012, a mounting bracket 1013, a base plate 1014, a guide roller 1015, a quick clamp 1016, a roller support plate 1017, a power roller 1019, and a pressure roller 10110. The pressure plate 1011, hinge shaft 1012, base plate 1014, quick clamp 1016, and roller support plate 1017 together form the assembly frame. Specifically, the base plate 1014 is slidably connected to the wellhead support frame 103. Specifically, the base plate 1014 is engaged with the second through hole of the support frame 1031 by a T-nut 1018, achieving a slidable connection with the support frame 1031. Roller support plate 1017 is fixedly connected to base plate 1014; power roller 1019 is rotatably connected to roller support plate 1017; the outer ring of power roller 1019 is provided with a first groove; guide roller 1015 is rotatably connected to base plate 1014 at one end and connected at the other end; pressure plate 1011 is connected to the end of any roller support plate 1017 away from base plate 1014 (i.e., the top end) via hinge shaft 1012, and can rotate around hinge shaft 1012; the connecting end of pressure plate 1011 is rotatably connected to guide roller 1015; the other end is connected to another roller support plate 1017 via quick clamp 1016. Pressure roller 10110 is rotatably connected to pressure plate 1011; the outer ring of pressure roller 10110 is provided with a second groove, which is adapted to the first groove.

[0046] In some feasible embodiments, the lowering assembly 101 is mounted on a base plate 1014. T-nuts 1018 are provided on both sides of the bottom surface of the base plate 1014. The T-nuts 1018 can be engaged in and slide within the elongated slots (second through holes) of the support frame 1031, allowing for sliding adjustment of the entire lowering assembly 101 on the wellhead support frame 103. A roller support plate 1017 is placed vertically on the base plate 1014 and fixed with mounting brackets 1013. Bearings are installed on both sides of the central shaft of the power roller 1019 and mate with the bearing holes on the roller support plate 1017. One end of the central shaft of the power roller 1019 passes through one side of the roller support plate 101. The outer ring of the power roller 1019 has three first grooves, the size of which is determined according to the dimensions of the hydraulic oil pipe and the drain pipe. The power roller 1019 is made of plastic or rubber, which increases friction and allows for minor deformation. The pressure plate 1011 is connected to the roller support plate 1017 on one side via a hinge shaft and can rotate around the hinge shaft 1012. The two side plates of the pressure plate 1011 are provided with holes for mounting the pressure roller 10110, and the outer ring of the pressure roller 10110 is also provided with three second grooves corresponding to the power roller 1019. The closed area formed between the corresponding grooves of the first and second grooves can accommodate a hydraulic oil pipe or a drain pipe and exert a certain pressure on it. The distance between the pressure roller 10110 and the power roller 1019 is adjustable. Specifically, the pressure plate 1011 is provided with multiple sets of holes; when different holes are used for installation, the axial distance between the pressure roller 10110 and the power roller 1019 is different, which can be used to adjust the pressure of the two rollers on the hydraulic oil pipe and the drain pipe. Four guide rollers 1015 are installed between the pressure plate 1011 and the base plate 1014 to provide initial guidance for the hydraulic oil pipe and drain pipe when they enter the groove of the power roller 1019, preventing them from being dragged out of the groove by external forces during operation. The pressure plate 1011 is connected to the non-hinged side of the roller support plate 1017 using a quick clamp 1016. The quick clamp 1016 can be one or more of existing connections such as quick-release buckles or quick-release pins, which facilitates on-site assembly and disassembly.

[0047] As one specific embodiment of this utility model, please refer to Figure 1 The power supply components include a drive unit 104 and a power supply unit 102. The drive unit 104 is connected to the lowering component 101 and is used to provide power for the operation of the lowering component 101; the power supply unit 102 is connected to the lowering component 101 and is used to provide electricity for the operation of the lowering component 101.

[0048] In some feasible embodiments, the drive unit 104 is connected to the central axis of the power roller 1019 and mounted on the roller support plate 1017, providing power to the power roller 1019. The power supply unit 102 is mounted on the roller support plate 1017 on the other side, providing power to the entire device. In any feasible embodiment, the power supply unit 102 is a battery structure. The drive unit 104 includes a servo motor and a driver.

[0049] The workflow of the auxiliary lowering device and dredging system includes: before the dredging operation begins, the dredging robot lowers the pipe through the inspection wellhead 105, and then the auxiliary lowering device provided by this invention is deployed. For example... Figure 1 As shown, the first step is to place the device on the manhole opening 105, with the fixed positioning pin 1032 abutting against the inside of the manhole opening 105. Then, adjust the sliding positioning pin 1034 to abut against the opposite inside of the manhole opening 105 and lock the position of the sliding positioning pin, thus completing the placement and fixing of the equipment. When placing the lowering device, it is important to ensure that the front end of the lowering component 101 is aligned with the robot's forward direction. The second step is to flip the pressure plate 1011 and place the two hydraulic oil pipes and one sewage pipe into the gaps between the four guide rollers 1015 in sequence, then into the groove of the power roller 1019 and reset the pressure plate 1011, so that the hydraulic oil pipes and sewage pipe are locked into the corresponding grooves. Then, use the quick clamp 1016 to fix the pressure plate 1011. The third step is for the dredging robot to start moving forward. The device is started, and the drive component 104 drives the power roller 1019 to rotate. Under the action of friction, the hydraulic oil pipes and sewage pipe are successively transported into the pipeline and dragged forward by the robot. In the fourth step, the dredging operation is completed, and the power roller 1019 rotates in the opposite direction. Under the action of friction, the hydraulic oil pipe and the sewage pipe are lifted up one after another.

[0050] This utility model provides an auxiliary lowering device that, compared with existing technologies, replaces manual lowering. This device requires only one operator to complete the retraction and extension of hydraulic hoses and sewage pipes during the dredging robot's operation, making it convenient and efficient. The device is motor-driven and can accurately control the timing and length of retraction and extension of the hydraulic hoses and sewage pipes according to the dredging robot's operating status. Operators can operate the equipment within a safe range outside the inspection well opening, eliminating the risk of falls and greatly improving construction safety. Simultaneously, it reduces labor costs and improves operational safety and efficiency.

[0051] This invention also provides a dredging system, including an auxiliary lowering device as described in any of the above claims and a dredging robot. The auxiliary lowering device further includes a control structure. The dredging robot includes a control component, and the control structure is communicatively connected to the control component, and the control structure is controlled by the control component. This allows the lowering device to automatically match its own movement frequency and lowering length according to the robot's travel frequency and step length during operation, achieving automated lowering without human intervention. The lowering speed and distance of the device of this invention are set according to the dredging robot's travel frequency and step length, significantly improving the timeliness and accuracy of lowering.

[0052] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. An auxiliary lowering device, characterized in that, For use with dredging robots, including: Wellhead support frame (103) is used for installation on the wellhead (105) of the inspection well; The lowering component (101) includes: a component frame, a power roller (1019), a guide roller (1015), and a pressure roller (10110); the power roller (1019) is arranged horizontally and is rotatably connected to the component frame; the outer ring of the power roller (1019) is provided with a first groove; the pressure roller (10110) is arranged horizontally and is rotatably connected to the component frame; the pressure roller (10110) is arranged adjacent to the power roller (1019); the guide roller (1015) is arranged vertically, and the upper and lower ends of the guide roller (1015) are respectively rotatably connected to the component frame; A power supply component, connected to the lowering component (101), is used to provide energy to the lowering component (101); The pipeline is first guided by the guide roller (1015), and then placed into the first groove of the power roller (1019); and the pipeline is locked into the first groove; then the power supply component works and drives the power roller (1019) to rotate. Under the action of friction, the pipeline is transported into the pipeline and dragged forward by the dredging robot.

2. The auxiliary lowering device as described in claim 1, characterized in that, The wellhead support frame (103) includes: A support frame (1031) is used to be installed on the wellhead (105) of the inspection well, and the support frame (1031) is slidably connected to the component frame; A fixed positioning pin (1032) is provided on the support frame (1031); A sliding positioning pin (1034) is slidably connected to the support frame (1031); When the support frame (1031) is installed on the wellhead (105) of the inspection well, the fixed positioning pin (1032) first abuts against the inner side of the wellhead (105), and then the sliding positioning pin (1034) is adjusted to abut against the inner side of the wellhead (105) and its position is locked.

3. The auxiliary lowering device as described in claim 2, characterized in that, The wellhead support frame (103) also includes: The safety rope (1033) is fixed at one end to the support frame (1031) and at the other end to a fixed object on the ground.

4. An auxiliary lowering device as described in any one of claims 1-3, characterized in that, The component frame includes: The base plate (1014) is slidably connected to the wellhead support frame (103); Roller support plate (1017) is connected and fixed to the base plate (1014); two sets of roller support plates (1017) are arranged at a certain interval; the two sets of roller support plates (1017) are rotatably connected to the power roller (1019); The pressure plate (1011) is hinged at one end to the top of any of the roller support plates (1017) and connected at the other end to another roller support plate (1017); the pressure plate (1011) is rotatably connected to the pressure roller (10110); The pressure plate (1011) is connected to one end of the guide roller (1015); the base plate (1014) is connected to the other end of the guide roller (1015).

5. The auxiliary lowering device as described in claim 4, characterized in that, The distance between the pressure roller (10110) and the power roller (1019) is adjustable.

6. The auxiliary lowering device as described in claim 5, characterized in that, The outer ring of the pressure roller (10110) is provided with a second groove, which is adapted to the first groove.

7. The auxiliary lowering device as described in claim 1, characterized in that, The power supply component includes: A drive unit (104) is connected to the lowering assembly (101), and the drive unit (104) is used to provide power for the operation of the lowering assembly (101); A power supply unit (102) is connected to the lowering assembly (101) and is used to provide power for the operation of the lowering assembly (101).

8. The auxiliary lowering device as described in claim 1, characterized in that, The power roller (1019) and the pressure roller (10110) are arranged adjacent to each other in the vertical direction; the guide roller (1015) is arranged adjacent to the power roller (1019) and the pressure roller (10110) in the front-back direction.

9. A dredging system, characterized in that, Includes the auxiliary lowering device as described in any one of claims 1-8.

10. A dredging system as described in claim 9, characterized in that, It also includes a dredging robot, which includes a control component; the auxiliary lowering device further includes a control element; the control component is communicatively connected to the control element, and the control component controls the control element.

Images