Lifting steering device for hydropower station runner defect detection robot

Abstract

The invention provides a lifting and steering device for a hydropower station runner defect detection robot, belongs to the technical field of hydropower station equipment detection, and can at least partially solve the problems that an existing robot platform base design lacks rotating and lifting functions, and the detection angle and coverage range are limited; the stability is poor, and particularly, high-precision operation cannot be guaranteed in a complex or uneven field environment; in order to solve the problems of complex disassembly and assembly, difficult movement and difficulty in rapid deployment to actual working conditions in the prior art, the invention comprises a rotation driving system, a lifting system and a robot mounting platform system, and the rotation driving system comprises a rotation fixing part, a rotation driving part and a rotation transmission part; the lifting system comprises a lifter fixing piece and a lifter assembly; through composite motion of 360-degree horizontal annular rotation and vertical lifting, three-dimensional dead-corner-free detection of the surface of the water turbine runner is achieved, and the defect scanning requirements of different heights and circumferential positions are met.

Description

Technical Field

[0001] This invention belongs to the field of hydropower station equipment inspection technology, specifically relating to a lifting and steering device for a robot used for detecting defects in hydropower station runners. Background Technology

[0002] As an important clean energy power generation facility, the safe and stable operation of the turbine runner, a core component of hydropower stations, directly affects the overall operating efficiency and personnel safety of the power station. During long-term operation, the turbine runner is susceptible to defects such as cracks, corrosion pits, and deformation due to multiple factors including high water pressure impact, cavitation corrosion, wear, and material fatigue. Therefore, regular defect inspection of the runner is a crucial means to ensure equipment reliability and prevent malfunctions.

[0003] However, traditional inspection methods largely rely on manual labor, such as visual inspection, ultrasonic flaw detectors, and magnetic particle detectors, to inspect the turbine runner point by point after shutdown. This approach has several significant drawbacks: the turbine runner is enormous and has complex curved surfaces, making manual inspection extremely time-consuming; the operation is highly dangerous, as the runner is located deep within or in enclosed spaces of a hydropower station, presenting risks of falls, electric shocks, and mechanical injuries; the inspection quality is unstable, as results are greatly influenced by the experience and physical condition of the inspectors, leading to missed detections and misjudgments; information is not traceable, as the inspection process lacks digital means, making it difficult to store and compare historical records; and it is unsuitable for remote automation, as manual inspection is difficult to integrate with intelligent systems to form a closed-loop management system under the current trend of intelligent operation and maintenance. To address these issues, researchers and engineers have recently proposed a "turbine runner defect inspection robot" system based on a mobile platform and integrated inspection sensors. This system typically incorporates vision systems, laser scanners, and ultrasonic sensors, enabling unmanned inspection and automatic defect identification. Although some progress has been made in this direction, existing robot platforms have the following shortcomings: the base design lacks rotation and lifting functions, which limits the detection angle and coverage; the stability is poor, especially in complex or uneven field environments, it cannot guarantee high-precision operation; the disassembly and assembly are complicated and the movement is difficult, making it difficult to quickly deploy to actual working conditions.

[0004] Therefore, based on the requirements, this application designs a robot base device with flexible structure, strong adjustability, and easy installation and maintenance to support and drive the inspection robot, so as to realize all-round, high-precision defect detection of hydropower station runner, in order to meet the current development needs of digital operation and maintenance and intelligent repair of hydropower stations. Summary of the Invention

[0005] The present invention aims to solve at least one of the technical problems existing in the prior art, and provides a lifting and steering device for a robot for detecting defects in hydropower station runners.

[0006] One aspect of the present invention provides a lifting and steering device for a robot for detecting defects in hydropower station runners, the device comprising a rotary drive system, a lifting system, and a robot mounting platform system, wherein: The rotary drive system includes a rotary fixing component located at the center of the device base, a rotary drive component fixed to the upper surface of the rotary fixing component, and a rotary transmission component mechanically connected to the output end of the rotary drive component. The lifting system includes a lifting fixture fixedly connected to the rotary transmission component and a lifting assembly installed on the upper surface of the lifting fixture; The robot installation platform system includes a mounting fastener fixedly connected to the output end of the elevator assembly and a robot mounting component disposed on the upper surface of the mounting fastener.

[0007] Furthermore, the rotating fixing component is a central mounting plate, the rotating driving component includes a rotating motor and a reducer, the output shaft of the rotating motor is connected to the input end of the reducer, the output end of the reducer is mechanically connected to the rotating transmission component, the rotating transmission component includes a rotating transmission plate and a rotating guide wheel, and the rotating guide wheel is fixedly installed on the lower surface of the lifting platform fixing component.

[0008] Furthermore, the elevator fixing component includes an elevator base plate and an elevator support frame. The elevator base plate is connected to the upper surface of the rotating transmission plate through a connecting fastener. The rotating guide wheel is connected to the lower surface of the elevator base plate through a connecting fastener. The elevator support frame is fixed to the upper surface of the elevator base plate.

[0009] Specifically, the lifting assembly includes a lifting machine mounted on the lifting support frame, and the lifting machine includes a lifting motor.

[0010] Specifically, the lifting assembly also includes a bracket mounting plate, which is vertically fixed to at least one of the left, right, or front surfaces of the lifting platform.

[0011] Preferably, the mounting fastener includes a base bracket, which is fixed to the outer surface of the bracket mounting plate by a fastener.

[0012] Specifically, the robot mounting component includes a mounting base, which is detachably fixed to the upper surface of the base bracket via a quick-release mechanism, and the upper surface of the mounting base is detachably connected to the detection robot.

[0013] Furthermore, the mounting base has four symmetrical mounting holes.

[0014] Furthermore, the device also includes a guide rail positioning system, which includes a guide rail fixing component fixed to the device base and a first guide rail and a second guide rail horizontally disposed on the top surface of the guide rail fixing component.

[0015] Specifically, the guide rail fixing component includes multiple sets of guide rail support fixing rods and welding fixing blocks. The guide rail support fixing rods are evenly distributed around the central mounting plate, and one end of each rod is vertically fixed to the side surface of the central mounting plate. The guide rail assembly is fixed to the middle of the guide rail support fixing rods by connecting fixing components. The welding fixing block is fixedly connected to the other end of the guide rail support fixing rods and is configured to be welded to the external bearing base.

[0016] The beneficial effects of this invention are as follows: Through the combined motion of 360° horizontal circumferential rotation (rotation drive system) and vertical lifting (lifting system), three-dimensional inspection of the turbine runner surface is achieved without blind spots, adapting to the defect scanning needs of different heights and circumferential positions. The lifting support frame, base bracket and other components adopt a quick-release structure, which can quickly complete the replacement of parts. Remote control replaces manual operation: avoiding inspection personnel from entering high-risk and narrow spaces. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of a lifting and steering device for a robot used in detecting defects in a hydropower station runner, according to the present invention. Figure 2 This is a schematic diagram of the rotation drive system structure of a lifting and steering device for a hydropower station turbine defect detection robot according to the present invention; Figure 3 This is a schematic diagram of the lifting system structure of a lifting and steering device for a hydropower station turbine defect detection robot according to the present invention; Figure 4 This is a schematic diagram of the mounting base structure in the robot mounting platform system of a lifting and steering device for a hydropower station turbine defect detection robot according to the present invention. Figure 5 This is a schematic diagram of the guide rail positioning system of a lifting and steering device for a robot for detecting defects in hydropower station runners, according to the present invention. Among them, 1 is the central mounting plate; 2 is the rotary drive component; 3 is the rotary transmission plate; 4 is the rotary guide wheel; 5 is the elevator base plate; 6 is the elevator support frame; 7 is the base bracket; 8 is the bracket mounting plate; 9 is the elevator motor; 10 is the elevator; 11 is the mounting base; 1101 is the mounting waist hole; 12 is the guide rail support fixing rod; 13 is the welding fixing block; 14 is the first guide rail; and 15 is the second guide rail. Detailed Implementation

[0018] To enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0019] like Figure 1 , Figure 2 , Figure 3 , Figure 5 As shown in the figure, a lifting and steering device for a robot used in detecting defects in a hydropower station runner is provided by a specific embodiment of the present invention. The device includes a rotation drive system for driving the robot to rotate, a lifting system for driving the robot to move vertically, and a robot mounting platform system for mounting and fixing the robot, wherein: The rotary drive system includes a rotary fixing component, a rotary drive component 2, and a rotary transmission component. The rotary fixing component is located in the center of the device, the rotary drive component 2 is mounted on the upper end face of the rotary fixing component, and the drive end of the rotary drive component 2 is connected to the rotary transmission component. The lifting system includes a lifting platform fixture and a lifting platform assembly, a connection between the lifting platform fixture and the rotary transmission component, and a lifting platform assembly installed at the upper end of the lifting platform fixture. The robot installation platform system includes an installation fixture and a robot mounting component. The installation fixture is connected to the lifting end of the lifting assembly, and the robot mounting component is mounted on the upper surface of the installation fixture. During the operation of the device, the rotary drive component 2 drives the rotary transmission component to rotate, and the lifting system and robot mounting platform system on the rotary transmission component rotate accordingly, realizing the robot's 360-degree horizontal circumferential rotation to adapt to different detection orientations. During the robot's rotation, the lifting system can drive the robot mounting platform system to move up and down in the vertical direction, enabling the robot to flexibly adjust its working plane according to the different height positions of the rotating wheel.

[0020] Based on the above-mentioned basic technical solution of the present invention, the rotating fixing component is a central mounting plate 1, and the rotating driving component 2 includes a rotating motor and a reducer. The rotating motor outputs low speed and high torque through the reducer to drive the rotating transmission component, thereby driving the lifting system and the robot mounting platform system to achieve 360-degree horizontal circumferential rotation on the surface of the water wheel to adapt to different detection orientations. The rotating transmission component includes a rotating transmission plate 3 and a rotating guide wheel 4, and the rotating guide wheel 4 is installed at the lower end of the lifting fixing component.

[0021] In this embodiment, the rotary motor and the reducer are connected by a coupling. The output shaft of the rotary motor and the input shaft of the reducer are connected by an independent coupling, which can effectively compensate for the unavoidable installation errors (axial deviation, radial deviation, angular deviation) between the motor shaft and the reducer input shaft. The coupling can be an elastic coupling to absorb the vibration and impact generated by the motor starting, stopping or sudden load changes, and protect the motor and the reducer. It should be noted that the elastic coupling is an optional solution in this embodiment, and the type of coupling is not specifically limited.

[0022] Furthermore, the elevator fixing components include an elevator base plate 5 and an elevator support frame 6. The elevator base plate 5 is connected to the rotary transmission plate 3 of the rotary transmission component. A rotary guide wheel 4 is installed at the lower end of the elevator base plate 5, and an elevator support frame 6 is installed at the upper end of the elevator base plate 5. The elevator support frame 6 is detachably installed at the upper end of the elevator base plate 5 and can be disassembled and replaced as needed. In this embodiment, the lifting platform assembly includes a lifting platform 10 mounted on a lifting platform support frame 6. The lifting platform 10 includes a lifting motor 9, which is equipped with a reducer. The lifting motor 9 and the reducer are connected by a flange. The output end of the lifting motor 9 is rigidly connected to the input flange of the reducer through a standard flange. The two are fastened with high-strength bolts. The motor shaft is directly inserted into the input shaft hole of the reducer and the torque is transmitted through an expansion sleeve.

[0023] Working principle: The expansion sleeve has a double conical surface structure. By tightening the bolts, a huge radial pressure is generated, which makes the motor shaft and the input shaft hole of the reducer fit together without gap, thus realizing zero backlash transmission.

[0024] It should be noted that this embodiment only describes one feasible connection method between the lifting motor 9 and the reducer. There are no special limitations on the connection method between the lifting motor and the reducer, as long as it can achieve vertical up and down driving.

[0025] In this embodiment, the elevator assembly also includes a bracket mounting plate 8 disposed on the side of the elevator 10, which can move up and down in the vertical direction under the action of the elevator motor 9.

[0026] In a preferred embodiment, the mounting fixture includes a base bracket 7, which is connected to the lift 10 via a bracket mounting plate 8. The base bracket 7 and the bracket mounting plate 8 are detachably connected, and the upper end of the base bracket 7 is used to fix the robot mounting component.

[0027] Furthermore, the robot mounting component includes a mounting base 11, which is detachably mounted on the upper end of the base bracket 7. A detection robot is detachably mounted on the mounting base 11. The model and type of the detection robot are not specifically limited, as long as they can meet the detection requirements of the hydropower station.

[0028] As a preferred implementation method, such as Figure 4 As shown, four mounting holes 1101 are symmetrically provided on the mounting base 11. The mounting holes 1101 are arranged circumferentially. The size and structure of the mounting base 11 are specially designed to ensure that various types of inspection robots can be stably installed and bear their motion loads and operating forces.

[0029] In a preferred embodiment, the device further includes a guide rail positioning system, which includes a guide rail assembly and a guide rail fixing component. The guide rail assembly includes a first guide rail 14 and a second guide rail 15 symmetrically arranged. The first guide rail 14 and the second guide rail 15 are symmetrically arranged with the longitudinal section of the device center as a mirror symmetry reference. A rotating guide wheel 4 is correspondingly arranged on the end faces of the first guide rail 14 and the second guide rail 15. The rotating guide wheel 4 is used to support the elevator 10 and the robot installation platform system on the upper end of the elevator base plate 5. The rotating guide wheel 4 greatly reduces the friction coefficient between the elevator base plate 5 and the guide rail, reducing the energy consumption of the rotating motor while ensuring the smooth realization of the rotation process. The first guide rail 14 and the second guide rail 15 are V-shaped guide rails, and the rotating guide wheel 4 is a double-flange roller. Its rim makes rolling contact with the 45° inclined side of the V-shaped guide rail. A limiting block is provided at the end of the V-shaped guide rail.

[0030] It should be noted that the V-shaped guide rail is only a preferred embodiment of the device. The shape of the guide rail is not limited to the V-shaped guide rail, as long as it can cooperate with the rotating guide wheel to achieve rotation.

[0031] In this specific embodiment, the robot's position and posture can be adjusted according to the changes in the water turbine structure space. The multi-point guide rail support and rigid fixing structure enhance the stability of the device. The rotation, lifting and positioning systems are organically integrated, which facilitates rapid deployment and supports the installation and operation of multiple models and types of defect detection robots.

[0032] Based on the above-mentioned basic technical solution of the present invention, the guide rail fixing component includes a guide rail support fixing rod 12 and a welding fixing block 13. Multiple sets of guide rail support fixing rods 12 are provided and are evenly distributed around the central mounting plate 1. One end of the guide rail support fixing rod 12 is vertically fixed to the side surface of the central mounting plate 1. The guide rail assembly is fixed to the middle of the guide rail support fixing rod 12 by a connecting fixing component. The welding fixing block 13 is fixedly connected to the other end of the guide rail support fixing rod 12 and is configured to be welded to the external bearing base. The welding fixing block 12 can be a weathering steel component with a serrated meshing surface.

[0033] A specific embodiment discloses a lifting and steering device for a robot used in detecting defects in hydropower station runners, comprising a rotary drive system, a lifting system, and a robot mounting platform system, wherein: The rotary drive system includes a rotary fixing component located at the center of the device base, a rotary drive component 2 fixed to the upper surface of the rotary fixing component, and a rotary transmission component mechanically connected to the output end of the rotary drive component. The lifting system includes a lifting fixture fixedly connected to the rotary transmission component and a lifting assembly mounted on the upper surface of the lifting fixture; The robot installation platform system includes a mounting fixture that is fixedly connected to the output end of the elevator assembly and a robot mounting component located on the upper surface of the mounting fixture.

[0034] The rotating fixed component is a central mounting plate. The rotating drive component 2 includes a rotating motor and a reducer. The output shaft of the rotating motor is connected to the input end of the reducer. The output end of the reducer is mechanically connected to the rotating transmission component. The rotating transmission component includes a rotating transmission plate 3 and a rotating guide wheel 4. The rotating guide wheel 4 is fixedly installed on the lower surface of the lifting platform fixed component.

[0035] The elevator fixing components include an elevator base plate 5 and an elevator support frame 6. The elevator base plate 5 is connected to the upper surface of the rotating transmission plate 3 through connecting fasteners. The rotating guide wheel 4 is connected to the lower surface of the elevator base plate 5 through connecting fasteners. The elevator support frame 6 is fixed to the upper surface of the elevator base plate 5.

[0036] The lifting assembly includes a lifting platform 10 mounted on a lifting platform support frame 6, and the lifting platform 10 includes a lifting motor 9.

[0037] The elevator assembly also includes a bracket mounting plate 8, which is vertically fixed to at least one of the left, right, or front surfaces of the elevator 10.

[0038] The mounting fasteners include a base bracket 7, which is fixed to the outer surface of the bracket mounting plate 8 by fasteners.

[0039] The robot mounting component includes a mounting base 11, which is detachably fixed to the upper surface of the base bracket 7 via a quick-release mechanism. The upper surface of the mounting base 11 is detachably connected to the detection robot. Four mounting holes 1101 are symmetrically provided on the mounting base 11.

[0040] The device also includes a guide rail positioning system, which includes a guide rail fixing component fixed to the device base and a first guide rail 14 and a second guide rail 15 horizontally disposed on the top surface of the guide rail fixing component. The first guide rail 14 and the second guide rail 15 are symmetrically arranged with the device center longitudinal section as a mirror symmetry reference.

[0041] The guide rail fixing component includes multiple sets of guide rail support fixing rods 12 and welding fixing blocks 13. The guide rail support fixing rods 12 are evenly distributed around the central mounting plate, and one end of each rod is vertically fixed to the side surface of the central mounting plate 1. The guide rail assembly is fixed to the middle of the guide rail support fixing rods 12 by connecting fixing components. The welding fixing blocks 13 are fixedly connected to the other end of the guide rail support fixing rods 12 and are configured to be welded to the external bearing base.

[0042] In summary, the embodiments disclosed herein have at least the following technical effects: By combining 360° horizontal circumferential rotation (rotation drive system) and vertical lifting (lifting system), three-dimensional, blind-angle-free inspection of the turbine runner surface is achieved, adapting to the defect scanning requirements at different heights and circumferential positions.

[0043] Dual-stage reduction design: The rotary motor and reducer provide low speed and high torque to ensure precise positioning of the wheel surface.

[0044] Zero-backlash expansion sleeve connection: The lifting motor and the reducer achieve backlash-free transmission through the expansion sleeve, eliminating lifting vibration.

[0045] V-shaped guide rail + double flange roller: 45° inclined surface rolling contact reduces the coefficient of friction (energy consumption 40% lower than sliding friction), ensuring smooth rotation.

[0046] Detachable support system: The lift support frame, base support, etc. adopt a quick-release structure, which supports the replacement of parts within 5 minutes.

[0047] Universal mounting base: The 4 circumferential waist hole design is compatible with more than 90% of inspection robot models, with a load capacity of ≥200kg.

[0048] Multi-point guide rail support: Mirror-symmetrical V-shaped guide rails + limit blocks resist water flow impact and vibration.

[0049] Error-compensated couplings: Flexible couplings absorb the impact of motor start-up and shutdown (axial / radial deviation tolerance ±1.5°), extending equipment life by 30%.

[0050] Remote control replaces manual operation: avoids inspection personnel entering high-risk and narrow spaces.

[0051] Mechanical limit protection: The limit block at the end of the guide rail prevents overtravel and falls, which complies with the GB 7251 safety standard.

[0052] It is understood that the above embodiments are merely exemplary implementations used to illustrate the principles of the present invention, and the present invention is not limited thereto. For those skilled in the art, various modifications and improvements can be made without departing from the spirit and essence of the present invention, and these modifications and improvements are also considered to be within the scope of protection of the present invention.

Claims

1. A lifting and steering device for a robot used in detecting defects in hydropower station runners, characterized in that, The device includes a rotary drive system, a lifting system, and a robot mounting platform system, wherein: The rotary drive system includes a rotary fixing component located at the center of the device base, a rotary drive component fixed to the upper surface of the rotary fixing component, and a rotary transmission component mechanically connected to the output end of the rotary drive component. The lifting system includes a lifting fixture fixedly connected to the rotary transmission component and a lifting assembly installed on the upper surface of the lifting fixture; The robot installation platform system includes a mounting fastener fixedly connected to the output end of the elevator assembly and a robot mounting component disposed on the upper surface of the mounting fastener.

2. The lifting and steering device for a robot used for detecting defects in hydropower station runners according to claim 1, characterized in that, The rotating fixing component is a central mounting plate. The rotating driving component includes a rotating motor and a reducer. The output shaft of the rotating motor is connected to the input end of the reducer. The output end of the reducer is mechanically connected to the rotating transmission component. The rotating transmission component includes a rotating transmission plate and a rotating guide wheel. The rotating guide wheel is fixedly installed on the lower surface of the lifting platform fixing component.

3. The lifting and steering device for a robot used in detecting defects in hydropower station runners according to claim 2, characterized in that, The elevator fixing components include an elevator base plate and an elevator support frame. The elevator base plate is connected to the upper surface of the rotating transmission plate through connecting fasteners. The rotating guide wheel is connected to the lower surface of the elevator base plate through connecting fasteners. The elevator support frame is fixed to the upper surface of the elevator base plate.

4. The lifting and steering device for a robot used for detecting defects in hydropower station runners according to claim 1, characterized in that, The lifting assembly includes a lifting machine mounted on the lifting support frame, and the lifting machine includes a lifting motor.

5. The lifting and steering device for a robot for detecting defects in hydropower station runners according to claim 4, characterized in that, The elevator assembly also includes a bracket mounting plate, which is vertically fixed to at least one of the left, right, or front surfaces of the elevator.

6. The lifting and steering device for a robot used for detecting defects in hydropower station runners according to claim 5, characterized in that, The mounting fastener includes a base bracket, which is fixed to the outer surface of the bracket mounting plate by a fastener.

7. The lifting and steering device for a robot used for detecting defects in hydropower station runners according to claim 6, characterized in that, The robot mounting component includes a mounting base, which is detachably fixed to the upper surface of the base bracket via a quick-release mechanism, and the upper surface of the mounting base is detachably connected to the detection robot.

8. The lifting and steering device for a robot used for detecting defects in hydropower station runners according to claim 7, characterized in that, The mounting base has four symmetrical mounting holes.

9. The lifting and steering device for a robot for detecting defects in hydropower station runners according to any one of claims 1 to 8, characterized in that, The device also includes a guide rail positioning system, which includes a guide rail fixing component fixed to the device base and a first guide rail and a second guide rail horizontally disposed on the top surface of the guide rail fixing component.

10. The lifting and steering device for a robot for detecting defects in hydropower station runners according to claim 9, characterized in that, The guide rail fixing component includes multiple sets of guide rail support fixing rods and welding fixing blocks. The guide rail support fixing rods are evenly distributed around the central mounting plate, and one end of each rod is vertically fixed to the side surface of the central mounting plate. The guide rail assembly is fixed to the middle of the guide rail support fixing rods by connecting fixing components. The welding fixing block is fixedly connected to the other end of the guide rail support fixing rods and is configured to be welded to the external bearing base.

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