A positioning device for an efficient positioning walking robot

Abstract

The present invention discloses a positioning device for an efficient positioning walking robot. The present invention relates to the technical field of positioning of a walking robot and a stator shielding sleeve. It includes a lifting and mounting mechanism and a guiding mechanism. The lifting and mounting mechanism includes a base and a fine-tuning component. A frame is fixedly arranged on the base. A lifting plate is slidably mounted on the right side of the frame. A self-locking winch is arranged on the left side of the frame. The steel wire on the self-locking winch bypasses a directional wheel and is fixedly arranged on the lifting plate. The fine-tuning component is arranged on the top surface of the lifting plate. The guiding mechanism is arranged on the platform of the fine-tuning component. The guiding mechanism includes a bracket fixedly arranged on the top surface of the platform. Guide rails are fixedly arranged on the inner end faces of three connecting frames along their length directions. Bell mouths are fixedly arranged at the right ends of the three guide rails. Positioning blocks are fixedly arranged on the outer end faces of the three bell mouths. The beneficial effects of the present invention are: shortening the positioning time of the walking robot, greatly improving the positioning efficiency of the walking robot and the stator shielding sleeve, and having simple operation.

Description

Technical Field

[0001] The present invention relates to the technical field of positioning a walking robot and a stator shield sleeve, and particularly to a positioning device for efficiently positioning a walking robot. Background Art

[0002] The stator shield sleeve of the shielded main pump is tightly attached to the inner cavity of the stator through plastic deformation, which is not conducive to the implementation of maintenance work; during the maintenance process of the main pump, the stator assembly is placed on an upright support. If the pressure test of the stator shield fails, it indicates that there may be a break on the inner wall of the shield sleeve, and the position of the break needs to be found and repaired. The stator shield sleeve is about 4m long and is in direct contact with the primary loop medium, resulting in a large radiation dose, which is not conducive to the inspection work of maintenance personnel and does not conform to the ALARA principle. The structure of the stator shield sleeve 1 is as Figure 1 shown, and a through hole 2 is axially formed in its inner part, and a stepped hole 3 is arranged at the port of the through hole 2.

[0003] Workers in the workshop use a walking robot as shown in Figure 2 to inspect the break on the inner wall of the stator shield sleeve 1. The walking robot includes a body 4, a driving motor is arranged at the bottom of the body 4, a driving wheel 5 is installed on the driving motor, two cross-shaped connecting rods are fixedly arranged on the top surface of the body 4, an auxiliary wheel 6 is rotatably installed at the top of the connecting rod, and a camera is arranged on the body 4 for taking images of the inner wall of the stator shield sleeve 1.

[0004] The method for using the walking robot to inspect the break on the inner wall of the stator shield sleeve is as follows:

[0005] S1. Workers use a hoisting machine to hoist the walking robot so that it is at the same height as the stator shield sleeve 1. After hoisting, the workers move the walking robot back and forth to ensure that both the driving wheel 5 and the two auxiliary wheels 6 of the walking robot are tangent to the inner wall of the through hole 2 of the stator shield sleeve 1, thereby realizing the positioning of the walking robot and the stator shield sleeve 1;

[0006] S2. Workers push the walking robot into the through hole 2 of the stator shield sleeve 1, and then untie the rope. At this time, both the driving wheel 5 and the two auxiliary wheels 6 are in contact with the inner wall of the through hole 2 of the stator shield sleeve 1; finally, the workers control the driving motor of the walking robot to start, the driving motor drives the driving wheel 5 to rotate, the driving wheel 5 drives the walking robot to move in the through hole 2 of the stator shield sleeve 1. During the movement, the camera on the walking robot takes images of the inner wall of the through hole 2 of the stator shield sleeve 1 and sends the images to the controller, and the workers can view whether there is a break on the inner wall of the stator shield sleeve 1 on the display screen of the controller.

[0007] However, in step S1, when positioning the walking robot with the stator shielding sleeve 1, the worker needs to first tie the body 4 of the walking robot with a rope, and then use a hoisting machine to pull the rope upward to hoist the walking robot, so as to position the walking robot. This positioning method undoubtedly adds the process of tying the body 4, thus increasing the time required to position the walking robot, and further reducing the positioning efficiency of the walking robot and the stator shielding sleeve.

[0008] In addition, when the walking robot is lifted in place, the worker needs to frequently adjust the front and rear positions of the walking robot to achieve the positioning of the walking robot and the stator shielding sleeve 1. Frequent position adjustment undoubtedly increases the time required to position the walking robot, greatly reducing the positioning efficiency of the walking robot and the stator shielding sleeve 1. Therefore, there is an urgent need for an efficient positioning device that can shorten the positioning time of the walking robot and greatly improve the positioning efficiency of the walking robot and the stator shielding sleeve. Summary of the Invention

[0009] The purpose of the present invention is to overcome the shortcomings of the prior art and provide a positioning device for efficiently positioning a walking robot with a compact structure, which can shorten the positioning time of the walking robot, greatly improve the positioning efficiency of the walking robot and the stator shielding sleeve, and is easy to operate.

[0010] The purpose of the present invention is achieved through the following technical solutions: A positioning device for efficiently positioning a walking robot, which includes a lifting and installation mechanism and a guiding mechanism. The lifting and installation mechanism includes a base and a fine-tuning component. A frame is fixedly arranged on the base. A lifting plate is slidably installed on the right side of the frame. A directional wheel is rotatably installed at the upper end of the frame. A self-locking winch is arranged on the left side of the frame. The steel rope on the self-locking winch bypasses the directional wheel and is fixed on the lifting plate. The fine-tuning component is arranged on the top surface of the lifting plate;

[0011] The guiding mechanism is arranged on the platform of the fine-tuning component. The guiding mechanism includes a bracket fixedly arranged on the top surface of the platform. A left annular plate and a middle annular plate are fixedly arranged on the top surface of the bracket. Three connecting frames are fixedly arranged between the left annular plate and the middle annular plate. The three connecting frames all extend to the outside of the lifting plate to the right. Guide rails are fixedly arranged on the inner end faces of the three connecting frames along their lengths. Flaring mouths are fixedly arranged at the right ends of the three guide rails. The three flaring mouths are respectively butted with the guide grooves of the three guide rails. Positioning blocks are fixedly arranged on the outer end faces of the three flaring mouths. The outer end face of the positioning block is an arc surface. The diameter enclosed by the three arc surfaces is equal to the large hole diameter of the stepped hole of the stator shielding sleeve; Limit blocks are fixedly arranged in the guide grooves of the three guide rails and at their left ends.

[0012] A plurality of universal wheels are arranged on the bottom surface of the base.

[0013] A counterweight block is also fixedly arranged on the top surface of the base and on the left side of the frame.

[0014] The positioning block is a rubber block.

[0015] A right annular plate is also fixedly arranged between the three connecting frames, and the right annular plate is arranged on the right side of the lifting plate.

[0016] The left annular plate, the middle annular plate and the right annular plate are arranged in parallel with each other.

[0017] The fine-tuning assembly includes a platform, two mounting seats fixedly arranged on the top surface of the lifting plate, and a track fixedly arranged on the top surface of the lifting plate. A longitudinally arranged lead screw is rotatably installed between the two mounting seats, a nut is threadedly connected to the lead screw, the platform is fixedly arranged on the top surface of the nut, and a slider is fixedly arranged on the bottom surface of the platform, and the slider is slidably installed on the track.

[0018] A hand wheel is fixedly connected to the front end of the lead screw.

[0019] The present invention has the following advantages: The structure of the present invention is compact, the positioning time of the walking robot is shortened, the positioning efficiency of the walking robot and the stator shielding sleeve is greatly improved, and the operation is simple. Description of the Drawings

[0020] Figure 1 is a schematic structural diagram of the stator shielding sleeve;

[0021] Figure 2 is a schematic structural diagram of the walking robot;

[0022] Figure 3 is a schematic structural diagram of the present invention;

[0023] Figure 4 is a schematic structural diagram of the lifting and installing mechanism;

[0024] Figure 5 is Figure 4 a schematic structural diagram of removing the platform in

[0025] Figure 6 is a schematic structural diagram of the guiding mechanism;

[0026] Figure 7 is a connection schematic diagram of the connecting frame, the positioning block, the limiting block and the bell mouth;

[0027] Figure 8 is a schematic structural diagram of the positioning block;

[0028] Figure 9 is a schematic diagram of the walking robot installed in the guiding mechanism;

[0029] Figure 10 is Figure 9 a partial enlarged schematic diagram of part I of

[0030] Figure 11 is Figure 9 a partial enlarged schematic view of Part II;

[0031] Figure 12 is a schematic view of the positioning of the walking robot and the stator shield;

[0032] Figure 13 is a physical diagram of the guiding mechanism;

[0033] In the figure, 1 - stator shield, 2 - through hole, 3 - stepped hole, 4 - body, 5 - drive wheel, 6 - auxiliary wheel, 7 - lifting and mounting mechanism, 8 - guiding mechanism, 9 - base, 10 - fine-tuning component, 11 - frame, 12 - lifting plate, 13 - directional wheel, 14 - self-locking winch, 15 - steel wire rope, 16 - bracket, 17 - left annular plate, 18 - middle annular plate, 19 - connecting frame, 20 - guide rail, 21 - bell mouth, 22 - positioning block, 23 - arc surface, 24 - limit block, 25 - counterweight, 27 - right annular plate, 28 - platform, 29 - track, 30 - lead screw, 31 - nut, 32 - hand wheel. Specific embodiments

[0034] The following further describes the present invention with reference to the accompanying drawings. The protection scope of the present invention is not limited to the following:

[0035] As Figures 3 to 8 shown, a positioning device for an efficiently positioned walking robot includes a lifting and mounting mechanism 7 and a guiding mechanism 8. The lifting and mounting mechanism 7 includes a base 9 and a fine-tuning component 10. A plurality of universal wheels are provided on the bottom surface of the base 9. A counterweight 25 is also fixedly provided on the top surface of the base 9 on the left side of the frame 11. The base 9 is fixedly provided with a frame 11. A lifting plate 12 is slidably mounted on the right side of the frame 11. A directional wheel 13 is rotatably mounted at the upper end of the frame 11. A self-locking winch 14 is provided on the left side of the frame 11. The steel wire rope 15 on the self-locking winch 14 bypasses the directional wheel 13 and is fixedly provided on the lifting plate 12. The fine-tuning component 10 is provided on the top surface of the lifting plate 12. The fine-tuning component 10 includes a platform 28, two mounting seats fixedly provided on the top surface of the lifting plate 12, and a track 29 fixedly provided on the top surface of the lifting plate 12. A longitudinally arranged lead screw 30 is rotatably mounted between the two mounting seats. A hand wheel 32 is fixedly connected to the front end of the lead screw 30. A nut 31 is threadedly connected to the lead screw 30. The platform 28 is fixedly provided on the top surface of the nut 31. A slider is fixedly provided on the bottom surface of the platform 28. The slider is slidably mounted on the track 29.

[0036] As Figures 3 to 8As shown in the figure, the guiding mechanism 8 is arranged on the platform 28 of the fine-tuning component 10. The guiding mechanism 8 includes a bracket 16 fixedly arranged on the top surface of the platform 28. On the top surface of the bracket 16, a left annular plate 17 and a middle annular plate 18 are fixedly arranged. Three connecting frames 19 are fixedly arranged on the left annular plate 17 and the middle annular plate 18. The three connecting frames 19 all extend to the right outside the lifting plate 12. Guide rails 20 are fixedly arranged on the inner end faces of the three connecting frames 19 along their lengths. Flaring mouths 21 are fixedly arranged at the right ends of the three guide rails 20. The three flaring mouths 21 are respectively butted with the guiding grooves of the three guide rails 20. Positioning blocks 22 are fixedly arranged on the outer end faces of the three flaring mouths 21. The positioning blocks 22 are rubber blocks, and the outer end faces of the positioning blocks 22 are arc surfaces 23. The diameter surrounded by the three arc surfaces 23 is equal to the large hole diameter of the stepped hole 3 of the stator shielding sleeve 1. Limit blocks 24 are fixedly arranged in the guiding grooves of the three guide rails 20 and at their left ends. A right annular plate 27 is also fixedly arranged between the three connecting frames 19. The right annular plate 27 is arranged on the right side of the lifting plate 12. The left annular plate 17, the middle annular plate 18 and the right annular plate 27 are arranged parallel to each other.

[0037] The working process of the present invention is as follows:

[0038] S1. Installation of the mobile robot and the guiding mechanism 8, and its specific operation steps are as follows:

[0039] S11. The worker manually shakes the handle of the self-locking winch 14, and the self-locking winch 14 pays out the steel rope 15 thereon. At this time, the lifting plate 12 connected to the steel rope 15 moves downward in a straight line along the frame 11. The lifting plate 12 drives the fine-tuning component 10 to move downward. The platform 28 of the fine-tuning component 10 moves downward, and the platform 28 drives the guiding mechanism 8 to move downward;

[0040] S12. After the lifting plate 12 contacts the ground, the worker pushes the mobile robot on the ground to move towards the guiding mechanism 8. The driving wheels 5 of the mobile robot enter the guiding grooves of the guide rails 20 through the flaring mouths 21 at the bottom of the guiding mechanism 8. At the same time, the two auxiliary wheels 6 of the mobile robot respectively enter the guiding grooves of the other two guide rails 20. When the driving wheels 5 and the two auxiliary wheels 6 respectively abut against the three limit blocks 24, the installation of the mobile robot can be completed, as Figures 9 to 11 shown;

[0041] S2. Positioning of the mobile robot and the stator shielding sleeve 1, and its specific operation steps are as follows:

[0042] S21. The worker manually rotates the handle of the self-locking winch 14 in the reverse direction. The self-locking winch 14 winds the steel cable 15 thereon. At this time, the lifting plate 12 connected to the steel cable 15 moves linearly upward along the frame 11. The lifting plate 12 drives the fine-tuning assembly 10 to move upward. The platform 28 of the fine-tuning assembly 10 moves upward. The platform 28 drives the guiding mechanism 8 to move upward. The guiding mechanism 8 drives the walking robot to move upward synchronously. When the lifting plate 12 moves to the upper limit position, the walking robot and the stator shield 1 are just at the same height.

[0043] S22. The worker pushes the frame 11 to move so that the guiding mechanism 8 moves towards the first port direction of the stator shield 1. Subsequently, the three positioning blocks 22 of the guiding mechanism 8 are inserted into the large hole of the stepped hole 3 of the stator shield 1 to the right. Since the diameter enclosed by the arc surfaces 23 of the three positioning blocks 22 is equal to the diameter of the large hole of the stepped hole 3, the three bell mouths 21 are all initially butted against the through hole 2 of the stator shield 1.

[0044] S23. The worker manually rotates the handwheel 32 in the forward or reverse direction. The handwheel 32 drives the lead screw 30 to rotate forward or backward. The lead screw 30 drives the nut 31 to move forward or backward. The nut 31 drives the platform 28 to move forward or backward synchronously. The platform 28 drives the guiding mechanism 8 to move forward or backward. Thus, the walking robot installed in the guiding mechanism 8 moves forward or backward synchronously. When the worker observes that the three bell mouths 21 are all completely butted against the through hole 2 of the stator shield 1, the positioning of the walking robot and the stator shield 1 can be finally completed. As Figure 12 shown, at this time, the driving wheel 5 and the two auxiliary wheels 6 of the walking robot are all tangent to the inner wall of the through hole 2 of the stator shield 1.

[0045] Among them, it can be seen from steps S1 to S2 that the worker only needs to push the driving wheel 5 and the two auxiliary wheels 6 into the three guide rails 20 respectively and abut against the limit blocks 24 to realize the positioning of the walking robot and the guiding mechanism 8. After positioning, by shaking the handle, the lifting plate 12 is lifted, and then the walking robot installed in the guiding mechanism 8 is lifted. Therefore, this positioning device does not need to tie the walking robot with a rope and then use a hoisting machine to lift the walking robot, thus saving the positioning process, shortening the time used for positioning the walking robot, and greatly improving the positioning efficiency of the walking robot and the stator shield 1.

[0046] In addition, for this positioning device, only three positioning blocks 22 need to be simultaneously inserted into the large holes of the stepped holes 3 of the stator shield 1, so that the three flared openings 21 are initially docked with the through holes 2. Then, by rotating the handwheel 32 of the fine-tuning assembly 10, the front and rear positions of the platform 28 are adjusted, so that the three flared openings 21 are completely docked with the through holes 2. Therefore, this positioning device does not require workers to frequently adjust the front and rear positions of the mobile robot, shortening the time used for positioning the mobile robot, and thus greatly improving the efficiency of positioning the mobile robot with the stator shield 1.

[0047] S3. Control the driving motor to start. The driving motor drives the driving wheel 5 to rotate, and the driving wheel 5 moves to the right along the corresponding guide rail 20. When the driving wheel 5 passes through the flared opening 21, the driving wheel 5 enters the through hole 2 of the stator shield 1. At the same time, the auxiliary wheel 6 moves to the right along the corresponding guide rail 20. When the auxiliary wheel 6 passes through the flared opening 21, the auxiliary wheel 6 enters the through hole 2 of the stator shield 1. At this time, the entire mobile robot is within the through hole 2. The camera on the mobile robot captures an image of the inner wall of the through hole 2 of the stator shield 1 and sends the image to the controller. Workers can view whether there is a break on the inner wall of the stator shield 1 on the display screen of the controller.

[0048] Finally, it should be noted that the above are only the preferred embodiments of the present invention and are not used to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An efficient positioning device for a walking robot, characterized in that: It includes a lifting and installation mechanism (7) and a guiding mechanism (8). The lifting and installation mechanism (7) includes a base (9) and a fine-tuning component (10). A frame (11) is fixedly arranged on the base (9). A lifting plate (12) is slidably installed on the right side of the frame (11). A directional wheel (13) is rotatably installed at the upper end of the frame (11). A self-locking winch (14) is arranged on the left side of the frame (11). A steel rope (15) on the self-locking winch (14) bypasses the directional wheel (13) and is fixed on the lifting plate (12). The fine-tuning component (10) is arranged on the top surface of the lifting plate (12). The guiding mechanism (8) is arranged on the platform (28) of the fine-tuning component (10). The guiding mechanism (8) includes a bracket (16) fixedly arranged on the top surface of the platform (28). A left annular plate (17) and a middle annular plate (18) are fixedly arranged on the top surface of the bracket (16). Three connecting frames (19) are fixedly arranged between the left annular plate (17) and the middle annular plate (18). The three connecting frames (19) all extend to the outside of the lifting plate (12) towards the right. Guide rails (20) are fixedly arranged on the inner end faces of the three connecting frames (19) along their lengths. Bell mouths (21) are fixedly arranged at the right ends of the three guide rails (20). The three bell mouths (21) are respectively butted with the guide grooves of the three guide rails (20). Positioning blocks (22) are fixedly arranged on the outer end faces of the three bell mouths (21). The outer end face of the positioning block (22) is an arc surface (23). The diameter enclosed by the three arc surfaces (23) is equal to the large hole diameter of the stepped hole (3) of the stator shield (1). Limiting blocks (24) are fixedly arranged in the guide grooves of the three guide rails (20) and at their left ends. A plurality of universal wheels are arranged on the bottom surface of the base (9). A counterweight block (25) located on the left side of the frame (11) is also fixedly arranged on the top surface of the base (9).

2. The positioning device of an efficient positioning walking robot according to claim 1, characterized in that: The positioning block (22) is a rubber block.

3. The positioning device of an efficient positioning walking robot according to claim 1, characterized in that: A right annular plate (27) is also fixedly arranged between the three connecting frames (19). The right annular plate (27) is arranged on the right side of the lifting plate (12).

4. The positioning device of an efficient positioning walking robot according to claim 1, characterized in that: The left annular plate (17), the middle annular plate (18) and the right annular plate (27) are arranged in parallel.

5. The positioning device of an efficient positioning walking robot according to claim 1, characterized in that: The fine-tuning component (10) includes a platform (28), two mounting seats fixedly arranged on the top surface of the lifting plate (12), and a track (29) fixedly arranged on the top surface of the lifting plate (12). A longitudinally arranged lead screw (30) is rotatably installed between the two mounting seats. A nut (31) is threadedly connected to the lead screw (30). The platform (28) is fixedly arranged on the top surface of the nut (31). A slider is fixedly arranged on the bottom surface of the platform (28). The slider is slidably installed on the track (29).

6. The positioning device of an efficient positioning walking robot according to claim 5, characterized in that: A hand wheel (32) is fixedly connected to the front end of the lead screw (30).

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