Wall-climbing robot for inspecting water diversion pipeline of hydropower station

Abstract

The invention relates to the technical field of pipeline robots, in particular to a wall-climbing robot for inspecting a water diversion pipeline of a hydropower station, the outer end of a robot pipe body is fixedly connected with two fixed baffle rings which are in bilateral symmetry, a driving device is arranged between the two fixed baffle rings, and the outer ends of the two fixed baffle rings are rotationally connected with circumferential rings correspondingly; cameras are arranged at the outer ends of the two circumferential rings correspondingly, a driving shaft is rotationally connected between the two fixed baffle rings, the two ends of the driving shaft are fixedly connected with driving gears engaged with the circumferential rings on the same side correspondingly, and a driving gear ring is rotationally connected to the outer end of the robot pipe body. The driving shaft is coaxially and fixedly connected with an autorotation gear meshed with the driving gear ring, the fixed baffle ring located on the left side is fixedly connected with a motor, and the motor is fixedly connected with a power gear meshed with the driving gear ring. The condition of the inner wall of the water diversion pipeline can be visually checked, it is ensured that fluid can flow smoothly, and the service life can be prolonged through regular desilting.

Description

Technical Field

[0001] The invention relates to the technical field of pipeline robots, and in particular to a wall-climbing robot for inspecting water diversion pipelines of a hydropower station. Background Art

[0002] The water diversion pipeline is the channel for the hydropower station to introduce water. The height difference between its inlet and the turbine generator at the bottom of the dam is hundreds of meters, or even more than a thousand meters in hydropower stations. During the long-term use of the water diversion pipeline, silt and other substances will remain on the inner wall, and it is necessary to regularly inspect and clean the inside of the water diversion pipeline to ensure its normal operation. The existing technology uses robots to detect and clean the water diversion pipeline, which can not only improve maintenance efficiency, but also avoid safety hazards caused by manual maintenance. At the same time, the robot can realize large-scale and all-round monitoring and data collection, and can also comprehensively and accurately record and analyze the internal conditions of the water diversion pipeline, which helps to improve the refinement and intelligence level of maintenance management.

[0003] The pipeline robot technology in the existing technology has made certain progress, but there are still some technical difficulties: the body diameter of the existing pipeline robot cannot be adjusted and cannot adapt to pipelines of different sizes; after the water diversion pipeline has been used for a long time, dirt or silt will be attached to the inner wall of the pipeline. If it is not cleaned, it will affect the water diversion work, and the existing robots can only perform simple silt removal work on the inner wall of the pipeline, and cannot thoroughly clean the silt on the inner wall of the pipeline, nor can they discharge the cleaned silt to the outside, causing the silt to stay inside the pipeline and affect the use of the pipeline.

[0004] Therefore, the present invention provides a wall-climbing robot for inspecting water diversion pipelines of a hydropower station to solve the above-mentioned problems. Summary of the invention

[0005] In view of the above situation, in order to overcome the defects of the prior art, the present invention provides a wall-climbing robot for inspecting water diversion pipelines of hydropower stations, which effectively solves the problems that the body diameter of the existing pipeline robot cannot be adjusted, cannot adapt to pipelines of different sizes, and cannot discharge the cleaned sludge to the outside, thus affecting the use of the pipeline.

[0006] In order to achieve the above object, the technical solution adopted by the present invention is:

[0007] A wall-climbing robot for inspecting water diversion pipelines of a hydropower station comprises a robot body, two left-right symmetrical fixed baffle rings are fixedly connected to the outer end of the robot body, a driving device is arranged between the two fixed baffle rings, circumferential rings are rotatably connected to the outer ends of the two fixed baffle rings, cameras are arranged on the outer ends of the two circumferential rings, a driving shaft is rotatably connected between the two fixed baffle rings, driving gears meshing with the circumferential rings on the same side are fixedly connected at both ends of the driving shaft, a driving gear ring is rotatably connected to the outer end of the robot body, a self-rotating gear meshing with the driving gear ring is coaxially fixedly connected to the driving shaft, a motor is fixedly connected to the fixed baffle ring located on the left, and a power gear meshing with the driving gear ring is fixedly connected to the motor.

[0008] Preferably, the driving device includes a first moving rod and a second moving rod, and four first moving rods are rotatably connected to the right end of the fixed retaining ring located on the left side, and the top ends of the four first moving rods are respectively rotatably connected to the first walking wheel, and the four second moving rods are rotatably connected to the robot tube body, and the top ends of the four second moving rods are respectively rotatably connected to the second walking wheel, each of the first moving rods is respectively connected to an adjacent second moving rod, a connecting rod is respectively connected to each first walking wheel and an adjacent second walking wheel, a first sprocket group is respectively connected to the left end of each first moving rod, and a second sprocket group is respectively connected to each bevel gear group and the first sprocket group on the same side, and each bevel gear group is respectively connected to a driven gear meshing with a driving gear ring, and an adjustment device is provided at the right end of the robot tube body.

[0009] Preferably; the left end of the robot tube body is fixedly connected to the left end tube, the outer end of the left end tube is fixedly connected to a stabilizing ring, the left end of the stabilizing ring is fixedly connected to a plurality of positioning shafts, each of the positioning shafts is rotatably connected to a swinging assembly, the left end of the stabilizing ring is rotatably connected to an adjusting ring, an annular hole is provided on the adjusting ring, a compression spring is fixedly connected in the annular hole, and a vertical rod located in the annular hole is fixedly connected to the left end tube.

[0010] Preferably, the left end of the left end tube is fixedly connected with a connected ring, the left end of the connected ring is rotatably connected with a rotating circular plate, a plurality of mud cleaning plates are evenly and fixedly connected to the circumferential end of the rotating circular plate, a power block is fixedly connected to the inner end of each mud cleaning plate, a thrust ring is sliding left and right on the left end of the mud cleaning plate, and a push block corresponding to each power block is fixedly connected to the left end of the thrust ring.

[0011] Preferably, the adjusting device includes a moving ring, which is sleeved on the right end of the robot tube body, and each of the second moving rods is rotatably connected to a buffer rod, and each of the buffer rods is fixedly connected to a buffer spring, and an active push rod is connected between each buffer spring and the moving ring, and a driving telescopic rod is provided on the moving ring.

[0012] Preferably, the swing assembly includes a silt rod, each of the positioning shafts is rotatably connected to a silt rod, each of the silt rods is provided with a sliding groove, the adjusting ring is fixedly connected to a sliding rod located inside each sliding groove, the left end of the driving shaft is coaxially fixedly connected to a stabilizing gear meshing with the adjusting ring, the outer end of each silt rod is fixedly connected to a pressure spring, the other end of each pressure spring is fixedly connected to a pressure block, and each pressure block is provided with a cleaning plate.

[0013] Preferably, a load-bearing rod is fixedly connected to the inner wall of the robot tube, a conveying auger is rotatably connected to the load-bearing rod, and a third sprocket set is connected between the conveying auger and the drive shaft.

[0014] Preferably, a slope is provided inside the left port of the self-rotating circular plate, and teeth are fixedly provided on the outer end of each mud cleaning plate.

[0015] Preferably, the left end of the bearing rod is provided with an adjustable telescopic rod, the left end of the adjustable telescopic rod is fixedly connected to a moving frame, a crushing plate is evenly rotatably connected to the edge end of the moving frame, the left end of the moving frame is fixedly connected to a pushing telescopic rod, a supporting connecting rod is respectively connected between each of the crushing plates and the pushing telescopic rod, and threaded teeth are respectively arranged on the outer end surface of each of the crushing plates.

[0016] Preferably, a protective tube is provided between the two fixed baffle rings, a connecting tube is fixedly connected to the right end of the fixed baffle ring on the right side, a closed ring is fixedly connected to the right end of the connecting tube, and a mounting tube is fixedly connected to the right end of the closed ring.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] 1. Through the coordinated use of the motor, power gear, drive gear ring, self-rotating gear, drive shaft, drive gear, and circumferential ring, the camera rotates in a circle, which can more comprehensively and intuitively check the inner wall condition of the water diversion pipeline, thereby improving maintenance efficiency, reducing maintenance costs, accurately judging faults, and monitoring pipeline operation status.

[0019] 2. By driving the telescopic rod, the active push rod, the buffer spring, the buffer rod, the second moving rod, the connecting rod and the first moving rod, the first walking wheel and the second walking wheel can always be kept close to the inner wall of the water diversion pipe to avoid slipping, thereby improving the cleaning efficiency and adapting to the needs of various pipes.

[0020] 3. Cleaning the silt inside the water supply pipe can ensure the smooth flow of the pipe, avoid pipe blockage, extend the service life of the pipe system, restore the original design flow capacity of the pipe, ensure the smooth flow of the fluid, and regular silt removal can also detect other problems in the pipe, such as corrosion, cracks, etc. Cleaning the silt in the pipe can not only maintain the normal operation of the pipe system, but also extend the service life, prevent failures, and protect the environment.

[0021] 4. Through the coordinated use of the crushing plate, adjustable telescopic rod, mobile frame and conveying auger, the sludge hole can be enlarged, and the sludge lumps can also be broken to avoid forming large pieces of sludge, making it easier for the sludge cleaning plate to scrape the inside of the water diversion pipe, accelerating the sludge cleaning speed and facilitating the sludge discharge. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 A three-dimensional schematic diagram of the present invention Figure 1 ;

[0023] Figure 2 A three-dimensional schematic diagram of the present invention Figure 2 ;

[0024] Figure 3 A three-dimensional schematic diagram of the present invention Figure 3 ;

[0025] Figure 4 For the present invention Figure 1 A cross-sectional perspective schematic diagram of

[0026] Figure 5 It is a schematic diagram of the installation pipe of the present invention;

[0027] Figure 6 It is a schematic diagram of the installation positions of the first moving rod and the second moving rod of the present invention;

[0028] Figure 7 It is a schematic diagram of the crushing plate of the present invention;

[0029] Figure 8 It is a schematic diagram of the structure of the crushing plate of the present invention;

[0030] Fig. 9 It is a schematic diagram of the installation position of the thrust ring of the present invention;

[0031] Fig.10 It is a schematic diagram of the structure of the adjustment ring of the present invention;

[0032] Fig.11 It is a schematic structural diagram of the first moving rod and the second moving rod of the present invention;

[0033] Fig.12 For the present invention Figure 6 A is an enlarged schematic diagram;

[0034] Fig.13 It is a three-dimensional schematic diagram of a cross section of a rotating circular plate of the present invention;

[0035] Fig.14 For the present invention Fig. 9 The enlarged schematic diagram of point B in FIG.

[0036] Markings in the figure: 1. Robot tube body; 2. Fixed retaining ring; 3. Circumferential ring; 4. Camera; 5. Driving shaft; 6. Driving gear; 7. Driving gear ring; 8. Rotating gear; 9. Motor; 10. Power gear; 11. First moving rod; 12. Second moving rod; 13. First walking wheel; 14. Second walking wheel; 15. Linking rod; 16. First sprocket set; 17. Bevel gear set; 18. Second sprocket set; 19. Driven gear; 20. Left end tube; 21. Stabilizing ring; 22. Positioning shaft; 23. Adjusting ring; 24. Annular hole; 25. Compression spring; 26. Vertical rod; 27. Conjoined ring; 28. Rotating circular plate; 29. ​​Mud cleaning plate ; 30. Power block; 31. Thrust ring; 32. Push block; 33. Moving ring; 34. Buffer rod; 35. Buffer spring; 36. Active push rod; 37. Driving telescopic rod; 38. Silt rod; 39. Sliding groove; 40. Sliding rod; 41. Stabilizing gear; 42. Pressure spring; 43. Pressure block; 44. Cleaning plate; 46. Bearing rod; 47. Conveying auger; 48. Third sprocket group; 49. Inclined surface; 50. Teeth; 51. Adjusting telescopic rod; 52. Moving frame; 53. Crushing plate; 54. Pushing telescopic rod; 55. Support connecting rod; 56. Threaded teeth; 57. Protective tube; 58. Connecting tube; 59. Closing ring; 60. Mounting tube. DETAILED DESCRIPTION

[0037] The following will refer to Figures 1 to 14 Various embodiments of the present invention are described in detail.

[0038] A wall-climbing robot for inspecting water diversion pipelines in a hydropower station, such as Figure 1 , Figure 5 , Figure 6As shown, it includes a robot body 1, and the robot body 1 is a left-right through structure. Two left-right symmetrical fixed baffle rings 2 are fixedly connected to the outer end of the robot body 1, and a driving device is arranged between the two fixed baffle rings 2. The two fixed baffle rings 2 are rotatably connected to the end faces away from each other with circumferential rings 3, and a plurality of teeth are fixedly arranged on the inner walls of the two circumferential rings 3. Three cameras 4 are fixedly arranged on the outer ends of the two circumferential rings 3, respectively. A controller and a battery are fixedly arranged on the fixed baffle ring 2 on the left side. The three cameras 4 are connected to the controller through wires, and the controller is connected to the battery through wires. The controller is connected to an external display through an electrical signal, and the display can observe the inner wall condition of the water diversion pipe. The controller and the camera 4 are connected in an existing manner to prevent the camera from 4, when the robot body 1 rotates, the wire and the controller are entangled and knotted. A driving shaft 5 is rotatably connected between the two fixed baffle rings 2. The two ends of the driving shaft 5 are coaxially fixedly connected with driving gears 6. Each driving gear 6 is meshed with the teeth on the circumferential ring 3 on the same side. A driving gear ring 7 is rotatably connected to the outer end of the robot tube body 1. The driving gear ring 7 is arranged between the two fixed baffle rings 2, and the driving gear ring 7 is arranged close to the fixed baffle ring 2 on the left. A self-rotating gear 8 meshing with the driving gear ring 7 is coaxially fixedly connected to the driving shaft 5. A motor 9 is fixedly connected to the right end of the fixed baffle ring 2 on the left. The motor 9 is connected to the controller through a wire. The motor 9 selects an existing suitable forward and reverse motor. A power gear 10 meshing with the driving gear ring 7 is coaxially fixedly connected to the rotating shaft of the motor 9.

[0039] Close the valve on the water diversion pipe to be inspected so that no water enters the water diversion pipe, place the robot body 1 inside the water diversion pipe, start the driving device, and suspend the robot body 1 in the water diversion pipe. Turn on the power supply, and the motor 9 rotates the driving gear ring 7 through the power gear 10. The driving gear ring 7 rotates the driving shaft 5 through the self-rotating gear 8. The two driving gears 6 mesh with the corresponding circumferential rings 3 to rotate. At this time, each camera 4 illuminates the inside of the water diversion pipe during the circumferential rotation process, and feeds back the camera situation to the display. The personnel observe the situation inside the water diversion pipe through the display. If a problem is found, the water diversion pipe can be repaired or replaced in time. In this way, the situation inside the water diversion pipe can be observed in time and effectively. Due to the continuous circular rotation of the camera 4, the inner wall condition of the water diversion pipe can be checked more comprehensively and intuitively, thereby improving the maintenance efficiency, reducing the maintenance cost, accurately judging the fault, and monitoring the pipeline operation status.

[0040] like Figure 5 , Figure 6 , Fig.11As shown, the driving device includes a first moving rod 11 and a second moving rod 12. Four first moving rods 11 are rotatably connected to the right end of the fixed retaining ring 2 on the left side, and the tops of the four first moving rods 11 are respectively rotatably connected to first walking wheels 13. Four second moving rods 12 are rotatably connected to the outer end of the robot tube body 1. The second moving rod 12 is arranged on the right side of the first moving rod 11, and the tops of the four second moving rods 12 are respectively rotatably connected to second walking wheels 14. The outer end surfaces of the first walking wheels 13 and the second walking wheels 14 are provided with threads to increase the friction with the inner wall of the water diversion pipe. A connecting rod 15 is rotatably connected to the middle part of each of the first moving rods 11, and the other end of each connecting rod 15 is rotatably connected to the middle part of the corresponding second moving rod 12. A first sprocket group 16 is connected between each of the first traveling wheels 13 and the adjacent second traveling wheels 14. Each first sprocket group 16 includes two first sprockets and a first chain. A first sprocket is coaxially fixedly connected to the outer end of each first traveling wheel 13, and a first sprocket is coaxially fixedly connected to the outer end of each second traveling wheel 14, and a first chain is connected between two adjacent first sprockets.

[0041] A bevel gear set 17 is connected to the left end of each of the first moving rods 11, and a mounting ring is fixedly connected to the outer end of the robot body 1, and the mounting ring is arranged on the left side of the driving gear ring 7. Each of the bevel gear sets 17 includes a first bevel gear and a second bevel gear, and the left bottom end of each of the first moving rods 11 is coaxially fixedly connected to the first bevel gear, and the mounting ring is rotatably connected to a bevel gear shaft, and each bevel gear shaft is coaxially fixedly connected to a second bevel gear meshing with the first bevel gear, and a second sprocket set 18 is respectively connected between each of the bevel gear sets 17 and the first sprocket set 16 on the same side, and each of the second sprocket sets 18 includes two second sprockets and a second chain, and each first bevel gear is coaxially fixedly connected to a second sprocket, and the first sprockets on the first walking wheel 13 are coaxially fixedly connected to the second sprocket, and the second chain is respectively connected between the two second sprockets on the same side, and each bevel gear shaft is respectively connected to a driven gear 19 meshing with the driving gear ring 7, and an adjustment device is provided at the right end of the robot body 1;

[0042] The robot tube body 1 is placed inside the water diversion pipe, and the adjustment device drives each second moving rod 12 to move, and then each connecting rod 15 pushes the corresponding first moving rod 11 to move. At this time, the first moving rod 11 and the second moving rod 12 are gradually expanded outward until the first walking wheel 13 and the second walking wheel 14 are respectively attached to the inner wall of the robot tube body 1, so that the robot tube body 1 is suspended to the inside of the water diversion pipe, thereby completing the adjustment of the robot tube body 1, turning on the power supply, and the motor 9 drives the driving gear ring 7 to rotate through the power gear 10, and the driving gear ring 7 engages with each driven gear 19 to rotate. At this time, the second bevel gear engages with the first bevel gear to rotate, and the second sprocket group 18 and the first sprocket group 16 rotate respectively. At this time, the first walking wheel 13 and the second walking wheel 14 are respectively attached to the inner wall of the robot tube body 1 and roll, thereby driving the robot tube body 1 to move left and right, so that it can walk inside a variety of water diversion pipes and adapt to a variety of pipeline needs.

[0043] like Figure 6 , Figure 7 , Fig.10 As shown, a left end tube 20 is fixedly connected to the left end of the robot tube body 1, a stabilizing ring 21 is fixedly connected to the outer end of the left end tube 20, three positioning shafts 22 are fixedly connected to the left end of the stabilizing ring 21, each of the positioning shafts 22 is rotatably connected to a swing assembly, an adjusting ring 23 is rotatably connected to the left end of the stabilizing ring 21, the three positioning shafts 22 are arranged inside the adjusting ring 23, an arc-shaped rack is fixedly arranged on the inner wall of the adjusting ring 23, and the arc-shaped rack is one-third of the circumference of the adjusting ring 23, an annular hole 24 is opened on the adjusting ring 23, and the arc-shaped rack is arranged on one side of the annular hole 24, a compression spring 25 is fixedly connected to one end of the inner side of the annular hole 24, the compression spring 25 is slidably connected to the inner wall of the annular hole 24, the compression spring 25 is in the shape of an arc structure, and a vertical rod 26 is fixedly connected to the other end of the compression spring 25, and the vertical rod 26 is slidably connected to the inner wall of the annular hole 24.

[0044] like Figure 6 , Fig. 9 , Fig.13 , Fig.14As shown, a conjoined ring 27 is fixedly connected to the left top end of the left end tube 20, and a self-rotating circular plate 28 is rotatably connected to the left end of the conjoined ring 27. A plurality of mud cleaning plates 29 are evenly fixedly connected to the circumferential end of the self-rotating circular plate 28. Six mud cleaning plates 29 are arranged here, and the mud cleaning plates 29 are arranged on the left side of the self-rotating circular plate 28. A power block 30 is fixedly connected to the right inner end of each mud cleaning plate 29, and a driving inclined surface is arranged on the right end of the power block 30. A torsion spring is sleeved on the rotating shaft of the mud cleaning plate 29, and one end of the torsion spring One end is fixedly connected to the self-rotating circular plate 28, and the other end is fixedly connected to the mud cleaning plate 29. Three mounting holes are opened on the left end of the self-rotating circular plate 28. A first hydraulic rod is fixedly connected inside each mounting hole. The first hydraulic rod is connected to the controller. A thrust ring 31 is fixedly connected between the telescopic rod ends on the left side of the three first hydraulic rods. The thrust ring 31 is concentrically arranged with the left end tube 20. Three push blocks 32 are fixedly connected to the left end of the thrust ring 31. Each push block 32 is arranged corresponding to the power block 30 on the same side.

[0045] When the robot tube body 1 is adjusted inside the water diversion pipe, the controller starts the three first hydraulic rods, and the three first hydraulic rods push the thrust ring 31 to move to the left, each push block 32 slides along the corresponding driving inclined surface, the power block 30 moves to the left, each mud cleaning plate 29 swings to the left, and the torsion spring twists. At this time, the six mud cleaning plates 29 are respectively unfolded until the left top end of the mud cleaning plate 29 contacts the inner wall of the water diversion pipe and stops; when the robot tube body 1 moves to the left, each mud cleaning plate 29 will shovel away the silt on the inner wall of the water diversion pipe, and the shoveled silt will fall into the inside of the pipe. When the silt is more and more, the accumulated silt will gradually enter the right end of the robot tube body 1 through the conjoined ring 27 and the left end pipe 20 and be discharged to the outside;

[0046] When not in use, the controller restores the three first hydraulic rods with the thrust ring 31 to their initial state. At the same time, due to the reaction of the torsion spring, the six mud cleaning plates 29 return to their initial state. This can clean the silt on the inner wall of the water diversion pipe to prevent the silt from clogging the water diversion pipe and affecting its use. Since the mud cleaning plates 29 are hinged, they can meet the needs of various water diversion pipes.

[0047] like Figure 5 , Figure 6 , Fig.11As shown, the adjusting device includes a moving ring 33, and the moving ring 33 is sleeved on the outer wall of the right end of the robot tube body 1, and each of the second moving rods 12 is rotatably connected with a buffer rod 34, and each of the buffer rods 34 is fixedly connected with a buffer spring 35, and each of the buffer springs 35 is connected with an active push rod 36 between the moving ring 33, and each of the active push rods 36 is rotatably connected to the moving ring 33, and the other end of each of the active push rods 36 is fixedly connected with a plug rod, and the right end of each buffer rod 34 is provided with a socket, and each of the plug rods is slidably connected inside the socket, and the plug rod is arranged inside the buffer spring 35, and a driving telescopic rod 37 is fixedly connected to the left end of the fixed retaining ring 2 on the right side, and the driving telescopic rod 37 selects an electric telescopic rod, and the electric telescopic rod is connected to the controller, and the telescopic end of the driving telescopic rod 37 is fixedly connected to the moving ring 33;

[0048] When the power is turned on, the controller starts driving the telescopic rod 37, driving the telescopic rod 37 to push the active push rod 36, the buffer spring 35, and the buffer rod 34 to move to the left, and each second moving rod 12 moves, and then each connecting rod 15 pushes the corresponding first moving rod 11 to move. At this time, the first moving rod 11 and the second moving rod 12 gradually expand outward until the first walking wheel 13 and the second walking wheel 14 are respectively attached to the inner wall of the water diversion pipe, thereby completing the adjustment of the robot body 1; when the robot body 1 is walking, when the first walking wheel 13 or the second walking wheel 14 encounters a hard mud block, the first walking wheel 13 or the second walking wheel 14 will approach the robot body 1, and the corresponding components will compress the buffer spring 35, which can play a good shock-absorbing and buffering role, always making the first walking wheel 13 and the second walking wheel 14 stick to the inner wall of the water diversion pipe to avoid slipping and improve the cleaning efficiency.

[0049] like Figure 6 , Fig.10 As shown, the swing assembly includes a silt rod 38, each of the positioning shafts 22 is rotatably connected with a silt rod 38, the silt rod 38 is arranged on the left side of the adjusting ring 23, and each of the silt rods 38 is provided with a vertical sliding groove 39, and three sliding rods 40 are fixedly connected to the adjusting ring 23, and each sliding rod 40 is slidably connected to the corresponding sliding groove 39, and a stabilizing gear 41 is coaxially fixedly connected to the left end of the driving shaft 5, and the arc-shaped rack on the adjusting ring 23 is meshed with the stabilizing gear 41, and a pressure spring 42 is fixedly connected to the outer top end of each of the silt rods 38, and a pressure block 43 is fixedly connected to the other end of each of the pressure springs 42, and a cleaning plate 44 is rotatably connected to each of the pressure blocks 43;

[0050] When the driving shaft 5 rotates, the stabilizing gear 41 meshes with the arc-shaped rack and moves, the adjusting ring 23 presses the compression spring 25, and at the same time, the vertical rod 26 slides against the annular hole 24, and then each slide bar 40 slides against the sliding groove 39, the silt rod 38 gradually swings, and the slide bar 40 gradually approaches the positioning shaft 22. When each slide bar 40 slides to the extreme position of the sliding groove 39, the stabilizing gear 41 at this time disengages from the arc-shaped rack meshing. Due to the continuous rotation of the motor 9, the stabilizing gear 41 will continuously move the last tooth of the arc-shaped rack. At this time, the adjusting ring 23 remains stationary. Due to the rotation connection of the cleaning plate 44, the cleaning plate 44 will adaptively adjust to fit the inner wall of the water diversion pipe;

[0051] Turn on the power supply, the motor 9 drives the driving gear ring 7 to rotate through the power gear 10, and the driving gear ring 7 meshes with each driven gear 19 to rotate. At this time, the second bevel gear meshes with the first bevel gear to rotate, and the second sprocket set 18 and the first sprocket set 16 rotate respectively. At this time, the first walking wheel 13 and the second walking wheel 14 are respectively attached to the inner wall of the robot tube body 1 and roll, thereby driving the robot tube body 1 to move to the left, and the cleaning plate 44 cleans the sludge on the inner wall of the water diversion pipe again, thereby improving the cleanliness of the inner wall of the water diversion pipe, making the camera 4 illuminate more clearly, and reducing the incidence of hidden dangers in the water diversion pipe;

[0052] When the cleaning is completed, the motor 9 drives the drive shaft 5 to rotate in the opposite direction, the stabilizing gear 41 engages with the arc-shaped rack and moves in the opposite direction, the adjusting ring 23 gradually stops applying pressure to the compression spring 25, and the vertical rod 26 slides in the opposite direction along the annular hole 24, and then each sliding rod 40 slides along the sliding groove 39, the silt rod 38 gradually approaches the left end tube 20, and the sliding rod 40 gradually moves away from the positioning shaft 22. When each sliding rod 40 slides to the top limit position of the sliding groove 39, the stabilizing gear 41 disengages from the arc-shaped rack engagement, and the compression spring 25 returns to normal. Due to the continuous rotation of the motor 9, the stabilizing gear 41 will continuously move the last tooth at the other end of the arc-shaped rack. At this time, the adjusting ring 23 remains stationary, and the robot tube body 1 gradually moves out from the inside of the water diversion pipe.

[0053] like Figure 4 , Fig.10 As shown, a load-bearing rod 46 is fixedly connected to the inner wall of the robot tube body 1, and a conveying auger 47 located inside the robot tube body 1 is rotatably connected to the load-bearing rod 46. The conveying auger 47 is concentrically arranged with the robot tube body 1, and the blades of the conveying auger 47 are in contact with the inner wall of the robot tube body 1. A third sprocket group 48 is connected between the conveying auger 47 and the drive shaft 5. The third sprocket group 48 includes two third sprockets and a third chain. The third sprockets are coaxially fixedly connected to the rotating shaft of the conveying auger 47 and the drive shaft 5, respectively, and a third chain is connected between the two third sprockets. The third chain runs through the left end tube 20;

[0054] When the robot tube body 1 moves to the left, the driving shaft 5 rotates with the conveying auger 47 through the third sprocket set 48, and each mud-clearing plate 29 will shovel away the sludge on the inner wall of the water diversion pipe. As the robot tube body 1 continues to move to the left, the shoveled sludge will fall into the inside of the pipe. When the sludge is increasing, the accumulated sludge will gradually enter the robot tube body 1 through the conjoined ring 27 and the left end pipe 20. At this time, the conveying auger 47 transports the sludge to the outside space to complete the sludge cleaning work, thereby preventing the sludge from sticking to the inner wall of the water diversion pipe and affecting the water diversion work and the movement of the robot tube body 1.

[0055] Cleaning the water supply pipe can ensure the smooth flow of the pipe path, avoid pipe blockage, extend the service life of the pipe system, restore the original design flow capacity of the pipe, ensure the smooth flow of the fluid, and regular dredging can also detect other problems in the pipe, such as corrosion, cracks, etc. Cleaning the silt in the pipe can not only maintain the normal operation of the pipe system, but also extend the service life, prevent failures, and protect the environment.

[0056] like Fig. 9 , Fig.12 , Fig.13 As shown, a slope 49 is provided in the left port of the self-rotating circular plate 28. The setting of the slope 49 can facilitate the rapid entry of sludge into the left end pipe 20. The outer end of each mud cleaning plate 29 is fixedly provided with teeth 50. A moving gear ring is coaxially fixedly connected to the right end of the self-rotating circular plate 28. A moving gear meshing with the moving gear ring is coaxially fixedly connected to the left top end of the driving shaft 5. When the driving shaft 5 rotates with the moving gear ring through the moving gear, the self-rotating circular plate 28 rotates with each mud cleaning plate 29.

[0057] When each mud cleaning plate 29 rotates, the teeth 50 can clean the hard mud blocks on the inner wall of the water diversion pipe to prevent the hard blocks from sticking to the inner wall of the water diversion pipe and affecting the water diversion effect.

[0058] like Figure 7 , Figure 8As shown, the left end of the carrying rod 46 is rotatably connected with an adjusting telescopic rod 51, which is coaxially fixedly connected to the conveying auger 47, and the telescopic end of the adjusting telescopic rod 51 is fixedly connected with a moving frame 52, and a triangular-shaped crushing plate 53 is evenly rotatably connected to the edge end of the moving frame 52. Six crushing plates 53 are arranged here, and the six crushing plates 53 are combined to form a cone structure. The left end of the moving frame 52 is fixedly connected with a pushing telescopic rod 54, and the adjusting telescopic rod 51 and the pushing telescopic rod 54 are hydraulic rods, and the hydraulic telescopic rod is connected to a controller, and a push plate is fixedly connected to the telescopic end of the pushing telescopic rod 54, and a supporting connecting rod 55 is respectively rotatably connected to the inner end of the left side of each crushing plate 53, and the other end of each supporting connecting rod 55 is respectively rotatably connected to the push plate, and a threaded tooth 56 is respectively fixedly provided on the outer end surface of each crushing plate 53, and a spacing is reserved between the circumferential edge of the moving frame 52 and the inclined surface 49 to facilitate the passage of silt;

[0059] When the inside of the water diversion pipe is completely blocked, the six crushing plates 53 are first merged into a cone, the controller starts the adjustment telescopic rod 51 to push the movable frame 52 to move to the left, the conveying auger 47 rotates with the adjustment telescopic rod 51, and the movable frame 52 moves with the cone, the cone drills holes in the sludge body, and the threaded teeth 56 can accelerate the destruction of the sludge. As the sludge holes become larger and larger; the controller starts to push the telescopic rod 54 to extend to the left, and each supporting connecting rod 55 pushes the crushing plate 53 to gradually expand. Since the adjustment telescopic rod 51 keeps rotating, the sludge hole can be expanded and the sludge lumps can be broken to avoid becoming large sludge. It is also convenient for the mud cleaning plate 29 to clean the inside of the water diversion pipe, accelerate the cleaning speed of the sludge, and facilitate the discharge of the sludge.

[0060] like Figure 2 , Figure 4 , Figure 5 As shown, a protective tube 57 is fixedly provided between the two fixed baffle rings 2, and the diameter of the protective tube 57 is equal to the diameter of the fixed baffle ring 2. The protective tube 57 protects the internal structure thereof, and four long holes are provided on the protective tube 57. The adjacent first moving rod 11 and the second moving rod 12 are arranged in the corresponding long holes and can move freely. A connecting tube 58 is fixedly connected to the right end of the fixed baffle ring 2 on the right side, and the connecting tube 58 is arranged inside the circumferential ring 3 on the right side. A closed ring 59 is fixedly connected to the right outer end of the connecting tube 58. The fixed baffle ring 2 on the right side is rotatably connected to the closed ring 59, and a mounting tube 60 is fixedly connected to the right end of the closed ring 59. The right end of the mounting tube 60 is threadedly connected to a conveying pipe. When the conveying auger 47 conveys sludge, the sludge enters the conveying pipe through the mounting tube 60, thereby conveying the sludge to the outside of the water diversion pipe.

[0061] It should be noted that in the description of the present invention, the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings, which are only for the convenience of description, and do not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0062] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0063] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

Claims

1. A wall-climbing robot for inspecting water diversion pipelines of a hydropower station, comprising a robot body (1), characterized in that: Two left-right symmetrical fixed baffle rings (2) are fixedly connected to the outer end of the robot tube body (1), a driving device is arranged between the two fixed baffle rings (2), circumferential rings (3) are rotatably connected to the outer ends of the two fixed baffle rings (2), cameras (4) are arranged on the outer ends of the two circumferential rings (3), a driving shaft (5) is rotatably connected between the two fixed baffle rings (2), two ends of the driving shaft (5) are respectively fixedly connected to driving gears (6) meshing with the circumferential rings (3) on the same side, a driving gear ring (7) is rotatably connected to the outer end of the robot tube body (1), a self-rotating gear (8) meshing with the driving gear ring (7) is coaxially fixedly connected to the driving shaft (5), a motor (9) is fixedly connected to the fixed baffle ring (2) located on the left, and a power gear (10) meshing with the driving gear ring (7) is fixedly connected to the motor (9).

2. A wall-climbing robot for inspecting water diversion pipelines of a hydropower station according to claim 1, characterized in that: The driving device comprises a first moving rod (11) and a second moving rod (12); four first moving rods (11) are rotatably connected to the right end of the fixed retaining ring (2) on the left side; the top ends of the four first moving rods (11) are respectively rotatably connected to first running wheels (13); four second moving rods (12) are rotatably connected to the robot tube body (1); the top ends of the four second moving rods (12) are respectively rotatably connected to second running wheels (14); each first moving rod (11) is rotatably connected to an adjacent second moving rod (12); A connecting rod (15) is respectively connected to each of the first travel wheels (13) and the adjacent second travel wheels (14); a first sprocket group (16) is respectively connected to the left end of each of the first travel wheels (11); a second sprocket group (18) is respectively connected between each of the bevel gear groups (17) and the first sprocket group (16) on the same side; each of the bevel gear groups (17) is respectively connected to a driven gear (19) meshing with a driving gear ring (7); and an adjusting device is provided at the right end of the robot tube body (1).

3. A wall-climbing robot for inspecting water diversion pipelines of a hydropower station according to claim 1, characterized in that: The left end of the robot tube body (1) is fixedly connected to a left end tube (20), the outer end of the left end tube (20) is fixedly connected to a stabilizing ring (21), the left end of the stabilizing ring (21) is fixedly connected to a plurality of positioning shafts (22), each of the positioning shafts (22) is rotatably connected to a swing assembly, the left end of the stabilizing ring (21) is rotatably connected to an adjusting ring (23), an annular hole (24) is provided on the adjusting ring (23), a compression spring (25) is fixedly connected inside the annular hole (24), and a vertical rod (26) located inside the annular hole (24) is fixedly connected to the left end tube (20).

4. A wall-climbing robot for inspecting water diversion pipelines of a hydropower station according to claim 3, characterized in that: The left end of the left end tube (20) is fixedly connected to a connected ring (27), the left end of the connected ring (27) is rotatably connected to a self-rotating circular plate (28), a plurality of mud cleaning plates (29) are evenly fixedly connected to the circumferential end of the self-rotating circular plate (28), each mud cleaning plate (29) is fixedly connected to the inner end thereof with a power block (30), a thrust ring (31) is slidably provided on the left end of the mud cleaning plate (29), and a thrust block (32) corresponding to each power block (30) is fixedly connected to the left end of the thrust ring (31).

5. A wall-climbing robot for inspecting water diversion pipelines of a hydropower station according to claim 2, characterized in that: The adjusting device comprises a moving ring (33), the moving ring (33) is sleeved on the right end of the robot tube body (1), each of the second moving rods (12) is rotatably connected to a buffer rod (34), each of the buffer rods (34) is fixedly connected to a buffer spring (35), each of the buffer springs (35) is connected to the moving ring (33) with an active push rod (36), and the moving ring (33) is provided with a driving telescopic rod (37).

6. A wall-climbing robot for inspecting water diversion pipelines of a hydropower station according to claim 3, characterized in that: The swing assembly comprises a silt rod (38), each of the positioning shafts (22) is rotatably connected to a silt rod (38), each of the silt rods (38) is provided with a sliding groove (39), the adjusting ring (23) is fixedly connected to a sliding rod (40) located inside each sliding groove (39), the left end of the driving shaft (5) is coaxially fixedly connected to a stabilizing gear (41) meshing with the adjusting ring (23), the outer end of each silt rod (38) is fixedly connected to a pressure spring (42), the other end of each pressure spring (42) is fixedly connected to a pressure block (43), and each pressure block (43) is provided with a cleaning plate (44).

7. A wall-climbing robot for inspecting water diversion pipelines of a hydropower station according to claim 6, characterized in that: A bearing rod (46) is fixedly connected to the inner wall of the robot tube body (1), a conveying auger (47) is rotatably connected to the bearing rod (46), and a third sprocket set (48) is connected between the conveying auger (47) and the drive shaft (5).

8. The wall-climbing robot for inspecting water diversion pipelines of a hydropower station according to claim 4, characterized in that: A slope (49) is arranged inside the left end of the self-rotating circular plate (28), and teeth (50) are fixedly arranged on the outer end of each mud cleaning plate (29).

9. A wall-climbing robot for inspecting water diversion pipelines of a hydropower station according to claim 7, characterized in that: The left end of the bearing rod (46) is provided with an adjustable telescopic rod (51), the left end of the adjustable telescopic rod (51) is fixedly connected to a moving frame (52), the edge end of the moving frame (52) is evenly rotatably connected to a crushing plate (53), the left end of the moving frame (52) is fixedly connected to a pushing telescopic rod (54), each crushing plate (53) is respectively connected to the pushing telescopic rod (54) with a supporting connecting rod (55), and each crushing plate (53) is respectively provided with a threaded tooth (56) on its outer end surface.

10. A wall-climbing robot for inspecting water diversion pipelines of a hydropower station according to claim 1, characterized in that: A protective tube (57) is provided between the two fixed baffle rings (2); a connecting tube (58) is fixedly connected to the right end of the fixed baffle ring (2) on the right side; a closed ring (59) is fixedly connected to the right end of the connecting tube (58); and a mounting tube (60) is fixedly connected to the right end of the closed ring (59).

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