Mechanical valve auxiliary operation robot

Abstract

The invention belongs to the technical field of robots, and discloses a mechanical valve auxiliary operation robot which comprises a moving platform and a multi-degree-of-freedom mechanical arm. The multi-degree-of-freedom mechanical arm is mounted on the moving platform, and a three-jaw floating electric spindle is mounted at the tail end of the multi-degree- The multi-degree-of-freedom mechanical arm comprises a first overturning frame, a second sliding frame, a rotating frame and a second overturning frame; the three-jaw floating electric main shaft is mounted on the second turnover frame; the first overturning frame is rotationally mounted on the moving platform; the second sliding frame is installed on the first overturning frame in a sliding mode and driven by a second sliding driving device to slide. The rotating frame is rotationally mounted on the second sliding frame; the second overturning frame is rotationally mounted on the rotating frame; the three-jaw floating electric spindle is integrated with a visual monitoring system, and the situation of a working area can be monitored in real time. The device can be automatically navigated and positioned to a designated position, the valve is grabbed and rotated according to the required opening degree according to different flange plate sizes and structures of the valve, and opening or closing of the valve is achieved.

Description

Technical Field

[0001] This invention belongs to the field of robotics technology, specifically relating to a mechanical valve-assisted operation robot. Background Technology

[0002] Against the backdrop of global energy structure transformation, the safe and stable operation of hydropower, as a clean and efficient energy form, is becoming increasingly important. The operation of manually operated mechanical valves, such as the inlet and outlet valves of the generating unit's technical water supply and the main oil supply valve of the speed control system, has always been a crucial issue in hydropower plant operation and maintenance. These valves typically have large operating torques and long operating strokes, making manual operation not only time-consuming and labor-intensive but also prone to damage or performance degradation due to improper operation. Furthermore, as the scale of hydropower stations continues to expand, the number of these valves is also increasing, further highlighting the inefficiency of manual operation.

[0003] Furthermore, the working environment of hydropower stations is often harsh, frequently encountering problems such as high temperatures, humidity, and high noise levels. These issues pose threats to the health and work efficiency of maintenance personnel. During high-risk tasks such as valve operation, even slight carelessness can lead to safety accidents.

[0004] With the deepening of smart power plant construction and the continuous development of robotics technology, the field of hydropower station operation and maintenance is undergoing a profound transformation. Robots with more sensing, operation, and human-machine collaboration functions are gradually becoming an important development direction for future hydropower operation and maintenance. These robots can not only replace manual labor in completing high-risk and high-intensity operation and maintenance tasks, reducing the risk of safety accidents, but also improve operation and maintenance efficiency and reduce labor costs through automated and intelligent operation methods, bringing significant economic benefits to hydropower stations.

[0005] Therefore, it is necessary to develop a mechanical valve-assisted operation robot that can accurately complete the opening and closing operations of valves, thereby significantly improving operation and maintenance efficiency and reducing operation and maintenance costs. Summary of the Invention

[0006] The present invention aims to provide a mechanical valve auxiliary operation robot, which solves the need for mechanical valve auxiliary operation through automated operation, improves the degree of automation and intelligence, and improves the efficiency and safety of operation.

[0007] To achieve the above objectives, the robot disclosed in this invention can adopt the following solution: A mechanical valve-assisted operation robot includes a mobile platform and a multi-degree-of-freedom robotic arm; the multi-degree-of-freedom robotic arm is mounted on the mobile platform and has a three-jaw floating electric spindle installed at its end.

[0008] Furthermore, the multi-degree-of-freedom robotic arm includes a first tilting frame, a second sliding frame, a rotating frame, and a second tilting frame; the three-jaw floating electric spindle is mounted on the second tilting frame; the first tilting frame is rotatably mounted on the moving platform; the second sliding frame is slidably mounted on the first tilting frame and is driven to slide by a sliding drive device; the rotating frame is rotatably mounted on the second sliding frame; the second tilting frame is tilted by the rotating frame.

[0009] Furthermore, a first sliding frame, driven by a first sliding drive device, is slidably mounted on the mobile platform; a first connecting leg is provided between the first flip frame and the first sliding frame, with both ends of the first connecting leg rotatably mounted on the first flip frame and the first sliding frame, respectively.

[0010] Furthermore, the second sliding frame is provided with a rotating platform, and the rotating frame is fixedly installed on the output end of the rotating platform.

[0011] Furthermore, a third sliding frame, driven by a third sliding drive device, is slidably mounted on the rotating frame; a second connecting leg is provided between the second tilting frame and the third sliding frame, with both ends of the second connecting leg rotatably mounted on the second tilting frame and the third sliding frame, respectively.

[0012] Furthermore, the mobile platform uses an AGV (Automated Guided Vehicle).

[0013] Furthermore, the three-jaw floating electric spindle integrates a vision monitoring system.

[0014] Furthermore, it is equipped with a control handle to control the operation of the auxiliary robot.

[0015] Furthermore, the mobile platform chassis uses omnidirectional wheels, and each wheel is equipped with an independent motor and motor control system.

[0016] Furthermore, the device is equipped with a torque sensor to monitor the output torque of the three-jaw floating electric spindle in real time.

[0017] Compared with the prior art, some of the beneficial effects of the technical solution disclosed in this invention include: This invention utilizes an adjustable three-jaw floating electric spindle, in conjunction with grippers and other components, to automate valve operation. This not only improves operational efficiency and precision but also reduces manual labor intensity and eliminates many potential hazards associated with manual operation. Consequently, it enhances the overall stability, reliability, and safety of valve operation. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a rear view of the overall structure of the present invention.

[0020] Figure 2 This is a schematic diagram of the front side of the overall structure of the three-jaw floating electric spindle of the present invention when it is vertical.

[0021] Figure 3 This is a schematic diagram of the front side of the overall structure of the three-jaw floating electric spindle of the present invention when it is horizontal.

[0022] Figure 4 This is a schematic diagram of the assembly structure of the mobile platform, the first sliding frame, the first flipping frame, and the second sliding frame of the present invention.

[0023] Figure 5 This is a schematic diagram of the assembly structure of the first flipping frame, the second sliding frame, the rotating frame, the third sliding frame, and the second flipping frame of the present invention.

[0024] Figure 6 This is a schematic diagram of the assembly structure of the second sliding frame, rotating frame, third sliding frame and second flipping frame of the present invention.

[0025] Figure 7 This is a schematic diagram of the assembly structure of the rotating frame, the third sliding frame, and the second flipping frame of the present invention.

[0026] The meanings of each component in the diagram are as follows: 1. Mobile platform; 2. First sliding frame; 3. First sliding drive device; 4. First tilting frame; 5. First fixed support leg; 6. First connecting support leg; 7. Second sliding frame; 8. Second sliding drive device; 9. Rotary table; 10. Rotary frame; 11. Third sliding frame; 12. Third sliding drive device; 13. Second tilting frame; 14. Second fixed support leg; 15. Second connecting support leg; 16. Three-jaw floating electric spindle. Detailed Implementation

[0027] The following description, in conjunction with the accompanying drawings and specific embodiments, further illustrates this embodiment.

[0028] To address the issues of low efficiency, low precision, and safety hazards associated with manual valve operation in existing technologies, the following embodiments are optimized to overcome these shortcomings.

[0029] Example This embodiment provides a mechanical valve-assisted operation robot, such as... Figures 1-3 As shown, it includes a mobile platform 1 and a multi-degree-of-freedom robotic arm; the multi-degree-of-freedom robotic arm is mounted on the mobile platform 1 and includes a first tilting frame 4, a second sliding frame 7, a rotating frame 10 and a second tilting frame 13, and a three-jaw floating electric spindle 16 is mounted on the second tilting frame 13.

[0030] like Figures 1-4 As shown, a first sliding frame 2 is horizontally slidably mounted on the mobile platform 1. The first sliding frame 2 is driven to slide by a first sliding drive device 3. The first sliding drive device 3 can be a lead screw assembly mounted on the mobile platform 1, powered by a servo motor mounted on the mobile platform 1. A first fixed support leg 5 is fixedly mounted on the mobile platform 1, and a first tilting frame 4 is rotatably mounted on the first fixed support leg 5. A first connecting support leg 6 is provided between the first tilting frame 4 and the first sliding frame 2, with both ends of the first connecting support leg 6 rotatably mounted on the first tilting frame 4 and the first sliding frame 2, respectively. A second sliding frame 7 is slidably mounted on the first tilting frame 4 and is driven to slide by a second sliding drive device 8. The second sliding drive device 8 can be a lead screw assembly mounted on the first tilting frame 4, powered by a servo motor mounted on the first tilting frame 4.

[0031] like Figures 5-7 As shown, a rotating platform 9 is provided on the second sliding frame 7. The rotating platform 9 can be a servo rotating platform. The rotating frame 10 is fixedly installed on the output end of the rotating platform 9 through a connecting plate. A third sliding frame 11 is slidably installed on the rotating frame 10. The third sliding frame 11 is driven to slide by a third sliding drive device 12. The third sliding drive device 12 can be a lead screw assembly installed on the rotating frame 10, which is powered by a servo motor installed on the rotating frame 10. A second fixed support leg 14 is fixedly installed on the rotating frame 10. A second tilting frame 13 is rotatably installed on the second fixed support leg 14. A second connecting support leg 15 is provided between the second tilting frame 13 and the third sliding frame 11. The two ends of the second connecting support leg 15 are rotatably installed on the second tilting frame 13 and the third sliding frame 11, respectively.

[0032] When the multi-degree-of-freedom robotic arm adjusts its posture, the first sliding drive device 3 drives the first sliding frame 2 to slide, and the first connecting leg 6 drives the first tilting frame 4 to tilt; similarly, the third sliding drive device 12 drives the third sliding frame 11 to slide, and the second connecting leg 15 drives the second tilting frame 13 to tilt. Figure 2 and Figure 3 The image shows the two states of the second tilting frame 13 before and after tilting; the second sliding drive device 8 drives the second sliding frame 7 to slide, and the rotating table 9 drives the rotating frame 10 to rotate.

[0033] As a specific implementation of this embodiment, the mobile platform 1 adopts an AGV vehicle, which achieves all-around movement through an omnidirectional steering wheel structure design and high-performance steering wheel drive technology; the chassis adopts an omnidirectional wheel design, each wheel is equipped with a large-sized rubber tire, and each wheel is equipped with an independent motor and motor control system, which can adjust its speed and rotation direction in real time according to needs, and can cope with various complex terrains; the suspension system improves terrain adaptability through the cooperation of mechanical spring structure and shock absorbers; To ensure the safe operation of the mobile platform 1 in water depths of at least 8cm, the vehicle body shell is made of corrosion-resistant and waterproof materials with an IP55 rating, including high-strength engineering plastics (ABS, PC materials) and metal materials (aluminum alloy, stainless steel) to prevent water infiltration; the drive system has a sealed design, the chassis is more than 80mm above the ground, and the electrical interfaces are located more than 80mm above the ground. The mobile platform 1 is equipped with contact-type anti-collision strips at the front and rear ends. The anti-collision strips are equipped with limit switches. When an obstacle touches the sensor, the mobile platform 1 immediately stops performing its task, issues an audible and visual alarm, and transmits the alarm to the backend. Mobile platform 1 is equipped with an autonomous navigation module. In the context of complex environments and large spaces in hydropower stations, the autonomous navigation module will use high-precision lidar and trackless navigation to achieve autonomous mapping, positioning and inspection tasks.

[0034] As a specific implementation of this embodiment, the three-jaw floating electric spindle 16 integrates a vision monitoring system. The vision monitoring system can monitor the working area in real time, provide accurate position information and target recognition capabilities, and enable the three-jaw self-centering chuck to adjust the position and angle of the jaws to ensure adaptation to different valves. It also provides real-time feedback on the actual opening degree of the valve on site and the simulated opening degree.

[0035] As a specific implementation of this embodiment, the auxiliary operating robot is equipped with a torque sensor to monitor the output torque of the three-jaw floating electric spindle 16 in real time, ensuring that the maximum allowable torque of the valve is not exceeded during the tightening process, thus avoiding damage to the valve; when the torque exceeds the normal value by 2 to 3 times, the auxiliary operating robot issues an alarm message and stops the corresponding operation.

[0036] As one specific implementation of this embodiment, the auxiliary operation robot is equipped with an independent control handle, such as the FrSky Tandem X20S control handle, to control the operation of the auxiliary operation robot.

[0037] The working principle of this embodiment is as follows: The operator issues instructions, the mobile platform 1 navigates and positions itself to the designated location, the multi-degree-of-freedom robotic arm adjusts its posture so that the three-jaw floating electric spindle 16 is correctly aligned with the valve, and then the multi-degree-of-freedom robotic arm and the three-jaw floating electric spindle 16 are used together to operate according to the different flange sizes and structures of the valve. The three-jaw floating electric spindle 16 grips and rotates the valve according to the required opening degree to realize the opening or closing of the valve. After verifying that the operation results are correct, the three-jaw floating electric spindle 16 disengages from the operated valve, the multi-degree-of-freedom robotic arm returns to its initial position, and the mobile platform 1 returns to the standby area or receives instructions to reach other valve positions to be operated.

[0038] When adopting the solution of this embodiment, the following technical effects can be obtained: 1. Through the combined design of a mobile platform, a multi-degree-of-freedom robotic arm, and a three-jaw floating electric spindle, it can automatically navigate and position itself to a designated location. Based on the different flange sizes and structures of the valves, it can grasp and rotate the valves according to the required opening degree to achieve the opening or closing of the valves.

[0039] 2. The three-jaw floating electric spindle integrates a vision monitoring system, which can monitor the working area in real time, provide accurate position information and target recognition capabilities, and enable the three-jaw self-centering chuck to adjust the position and angle of the jaws to ensure adaptation to different valves. It also provides real-time feedback on the actual valve opening and simulated opening value.

[0040] 3. Equipped with a torque sensor to monitor the output torque of the three-jaw floating electric spindle in real time, ensuring that the maximum allowable torque of the valve is not exceeded during the tightening process, thus avoiding damage to the valve.

[0041] 4. To adapt to the complex environment and large space of hydropower stations, the mobile platform achieves all-round movement through an omnidirectional steering wheel structure design and high-performance steering wheel drive technology. It is also equipped with an autonomous navigation module. The mobile platform shell is made of waterproof material, the drive system is sealed, and the chassis and electrical interfaces are set at a high ground clearance to prevent water infiltration.

[0042] The above are the embodiments listed in this example; however, this example is not limited to the optional embodiments described above; those skilled in the art can arbitrarily combine the above methods to obtain other various embodiments; anyone can derive other various forms of embodiments under the guidance of this example. The above specific embodiments should not be construed as limiting the scope of protection of this example; the scope of protection of this example should be determined by the claims.

Claims

1. A mechanical valve assist operating robot, characterized by: Including mobile platform (1) and multi-degree of freedom mechanical arm, the multi-degree of freedom mechanical arm is installed on the mobile platform (1), and the three-jaw floating electric spindle (16) is installed at the end.

2. The mechanical valve assist operating robot of claim 1, wherein: The multi-degree of freedom mechanical arm includes first turnover frame (4), second sliding frame (7), rotating frame (10) and second turnover frame (13), the three-jaw floating electric spindle (16) is installed on the second turnover frame (13), the first turnover frame (4) is rotatably installed on the mobile platform (1), the second sliding frame (7) is slidably installed on the first turnover frame (4) and is driven to slide by sliding drive device two (8), the rotating frame (10) is rotatably installed on the second sliding frame (7), and the second turnover frame (13) is driven to overturn by the rotating frame (10).

3. The mechanical valve assist operating robot of claim 2, wherein: The first sliding frame (2) driven to slide by the first sliding drive device (3) is slidably installed on the mobile platform (1), the first connecting leg (6) is arranged between the first turnover frame (4) and the first sliding frame (2), and the two ends of the first connecting leg (6) are rotatably connected with the first turnover frame (4) and the first sliding frame (2) respectively.

4. The mechanical valve assist operating robot of claim 2, wherein: The rotating table (9) is arranged on the second sliding frame (7), the rotating frame (10) is connected with the rotating table (9) and is driven to rotate by the rotating table (9).

5. The mechanical valve assist operating robot of claim 2, wherein: The third sliding frame (11) driven to slide by the third sliding drive device (12) is slidably installed on the rotating frame (10), the second connecting leg (15) is arranged between the second turnover frame (13) and the third sliding frame (11), and the two ends of the second connecting leg (15) are rotatably connected with the second turnover frame (13) and the third sliding frame (11) respectively.

6. The mechanical valve assist robot of any of claims 1-5, wherein: The mobile platform (1) adopts AGV car.

7. The mechanical valve assist robot of claim 1, wherein: The three-jaw floating electric spindle (16) is integrated with a visual monitoring system.

8. The mechanical valve assist robot of claim 1, wherein: A control handle is provided to control the operation of the auxiliary operation robot.

9. The mechanical valve assist robot of claim 1, wherein: The chassis of the mobile platform (1) adopts omni-directional wheels, each wheel is provided with an independent motor and a motor control system.

10. The mechanical valve assist operating robot of claim 1, wherein: The three-jaw floating electric spindle (16) is provided with a torque sensor to monitor the output torque of the three-jaw floating electric spindle (16) in real time.

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