Multi-joint wall-climbing robot

Abstract

The multi-joint wall-climbing robot comprises a guide plate, a head mechanism, a climbing mechanism, rotating joints, a flexible belt and a data acquisition unit, a guide groove is formed in the longitudinal direction of the guide plate, the head mechanism comprises a head mechanism body and a flexible belt driving unit, and the climbing mechanism comprises a climbing mechanism body and a magnetic wheel driving unit. The first end of the crawling mechanism body is rotationally connected with the second end of the head mechanism body through a rotating joint, the flexible belt is restrained in the guide groove, and the flexible belt driving unit drives the flexible belt to move in the longitudinal direction of the guide groove. According to the multi-joint wall-climbing robot, the wall-climbing robot can move on the inner wall of a steam generator in any direction, when the multi-joint wall-climbing robot works, the multi-joint wall-climbing robot is fed into and adsorbed to the inner wall of an evaporator from a hand hole of the evaporator, and an operator can achieve climbing of the wall-climbing robot and flexible belt driving control on a rear-end working platform; and the device is simple to use and install and wide in coverage range.

Description

Technical Field

[0001] The invention relates to the field of secondary side cleaning and video inspection of steam generators in nuclear power plants, and in particular to a multi-joint wall-climbing robot (for cleaning and inspection of steam generators in nuclear power plants). Background Art

[0002] The steam generator of a nuclear power plant (hereinafter referred to as the "evaporator") is the safety boundary of the first and second circuits. During the refueling and maintenance period, the secondary side of the steam generator needs to be cleaned at high pressure to reduce the impact of deposits on the heat transfer tubes. At the same time, video inspection is required to determine the cleaning effect. Traditional high-pressure cleaning mostly uses a rigid gun body to swing high-pressure water from the center corridor to both sides for cleaning. This method has a poor effect on some hard and semi-hard deposits. At present, some institutions at home and abroad use flat flexible belts as video inspection tools and high-pressure water delivery media. They can penetrate into the gap between the evaporator heat transfer tubes to perform fixed-point cleaning and video inspection of hard and semi-hard deposits. The carrier design is the key to affecting the efficiency of cleaning and inspection.

[0003] At present, most domestic institutions use straight rod guide rails as flexible belt guide mechanisms, and install the guide rails through the evaporator 0° and 180° hand holes. The guide rails are located in the central pipe gallery, and a movable drive mechanism is installed on the side. The flexible belt passes through the inside of the guide rail and reaches the designated heat transfer tube bundle along the drive mechanism for cleaning and inspection. This installation method is more complicated, and the flexible belt is higher than the tube sheet. Some areas cannot be reached by the rotating drive mechanism, resulting in blind spots for cleaning.

[0004] Therefore, it is necessary to design a multi-joint wall-climbing robot for cleaning and inspecting nuclear power plant steam generators. Summary of the invention

[0005] In view of some of the shortcomings of the above prior art, the present invention provides a multi-joint wall-climbing robot, which adopts a multi-joint modular design and integrates functions such as video monitoring, distance sensing, and flexible belt drive, and can meet the needs of evaporator video inspection and cleaning in various scenarios. It solves the current problem of clearing and inspecting the steam generator of a nuclear power plant.

[0006] To achieve the above-mentioned object and other related objects, the present invention provides a multi-joint wall-climbing robot, comprising:

[0007] A guide plate, wherein the guide plate is provided with a guide groove along its longitudinal direction;

[0008] The head mechanism comprises a head mechanism body and a flexible belt driving unit, wherein a first end of the head mechanism body is rotatably connected to a mounting end of the guide plate;

[0009] A crawling mechanism, the crawling mechanism comprising a crawling mechanism body and a magnetic wheel driving unit;

[0010] A revolute joint, wherein the first end of the crawling mechanism body and the second end of the head mechanism body are rotatably connected via the revolute joint; and

[0011] A flexible belt, wherein the flexible belt is constrained in the guide groove, and a flexible belt driving unit drives the flexible belt to move longitudinally along the guide groove;

[0012] The data acquisition unit collects data for monitoring the operation of the wall-climbing robot.

[0013] As one of the embodiments of the present invention, the mounting end of the guide plate is connected to the first end of the head mechanism body through a pair of rotating shafts, and a pair of torsion springs are provided on the pair of rotating shafts, one end of the spring body of each torsion spring abuts against the mounting end of the guide plate, and the other end of the spring body abuts against the stop column of the first end of the head mechanism body, so that the guide plate is tilted relative to the top surface of the head mechanism body.

[0014] As one embodiment of the present invention, the data acquisition unit includes a front camera, a pair of side cameras, a pair of infrared sensors and an angle sensor. The front camera is arranged at the first end of the head mechanism body, the pair of side cameras are correspondingly arranged on both sides of the crawling mechanism body, the pair of infrared sensors are correspondingly arranged on both sides of the crawling mechanism body, and are respectively located at both ends of the same side of the crawling mechanism body with the corresponding side cameras, and the angle sensor is arranged inside the crawling mechanism body.

[0015] As one of the embodiments of the present invention, a flexible belt drive unit is installed inside the head mechanism body, and the flexible belt drive unit includes a roller, a turbine-worm gear mechanism and a motor. The turbine-worm gear mechanism includes a turbine, a worm and a turbine mounting shaft. The worm is arranged along the longitudinal direction of the head mechanism body and is connected to the output shaft of the motor. The turbine mounting shaft is arranged along the transverse direction of the head mechanism body. The roller is mounted on the turbine mounting shaft, and pins are evenly and raised on the outer cylindrical surface of the roller. A top surface window is opened on the top surface of the head mechanism body, and the pins are plugged into and matched with the positioning holes on the flexible belt through the top surface window.

[0016] As one embodiment of the present invention, the rotating joint includes a first driving unit, a second driving unit and a rotating body, the first driving unit is arranged in the head mechanism body, the second driving unit is arranged in the crawling mechanism body, the rotating body is connected between the first end of the crawling mechanism body and the second end of the head mechanism body, the driving shaft of the first driving unit and the driving shaft of the second driving unit are arranged vertically, and the driving shaft of the first driving unit is rotatably connected to the rotating body, and the driving shaft of the second driving unit is fixedly connected to the rotating body.

[0017] As one embodiment of the present invention, the first driving unit includes a first gear driving mechanism, a first driving motor and a first driving shaft, the first gear driving mechanism includes a meshing large spur gear and a small spur gear, the small spur gear is mounted on the output shaft of the first driving motor, the large spur gear is sleeved on the first driving shaft, the first driving shaft is arranged along the longitudinal direction of the head mechanism body, and one end of the first driving shaft extends out of the second end of the head mechanism body and is rotatably connected to the rotating body, driving the head mechanism body to rotate around the Y axis;

[0018] The second drive units all include a second gear drive mechanism, a second drive motor and a second drive shaft. The second gear drive mechanism includes a spur gear I, a spur gear II and a spur gear III that are meshed in sequence. The spur gear I is mounted on the output shaft of the second drive motor. The gear shaft of the spur gear II is mounted on the crawling mechanism body through a straight plate. The spur gear III is mounted on the second drive shaft. The second drive shaft is arranged laterally along the crawling mechanism body, and one end of the second drive shaft extends out of the first end of the crawling mechanism body and is fixedly connected to the rotating body, driving the rotating body to drive the head mechanism body to rotate around the X-axis.

[0019] As one of the embodiments of the present invention, an inverted U-shaped mounting groove is arranged in the middle of the end portion of the first end of the crawling mechanism body, the rotating body includes a U-shaped mounting plate and a sealing plate, the U-shaped mounting plate is arranged correspondingly in the U-shaped mounting groove, the sealing plate is used to seal the opening of the U-shaped mounting plate, the bottom plate of the U-shaped mounting plate is rotatably connected to the protruding end of the first driving shaft, and a side plate of the U-shaped mounting plate is fixedly connected to the protruding end of the second driving shaft.

[0020] As one of the embodiments of the present invention, it also includes a wiring mechanism, which includes a wire rack plate, a bent pipe and a connecting pipe; the wire rack plate is arranged inside the crawling mechanism body, the second drive shaft is sleeve-shaped, the second drive shaft is sleeved on the connecting pipe, and the connecting pipe is axially limited and installed inside the head mechanism body, one end of the bent pipe is connected to the connecting pipe, and the other end of the bent pipe passes through the other side plate of the U-shaped mounting plate and the groove wall of the U-shaped mounting groove, and is connected to the interior of the head mechanism body, so that the wiring harness enters the interior of the head mechanism body through the threading hole at the second end of the crawling mechanism body, and then is arranged through the wire rack plate, and finally passes through the bent pipe and the connecting pipe to the interior of the head mechanism body.

[0021] As one of the embodiments of the present invention, a magnetic wheel drive unit is installed inside a crawling mechanism body, and includes two magnetic wheel mechanisms, each of which includes a magnetic wheel body, a roller and a magnetic wheel motor; the magnetic wheel body includes a cylindrical yoke, a magnetic ring, a rim and a pair of end covers, and the yoke, the magnetic ring and the rim are coaxially mounted in sequence, the axial ends of the rim and the pair of end covers are correspondingly engaged, the roller passes through the central axis of the rim and is fixedly connected to the output shaft of the magnetic wheel motor to drive the magnetic wheel body to rotate; the two magnetic wheel bodies of the two magnetic wheel mechanisms are arranged alternately, the two rollers of the two magnetic wheel bodies are arranged along the lateral direction of the crawling mechanism body, and the two rims of the two magnetic wheel bodies protrude through the bottom window of the crawling mechanism body respectively to contact the crawling wall.

[0022] As one of the embodiments of the present invention, flexible belt constraint circles are respectively provided on the longitudinal top surfaces of the head mechanism body and the crawling mechanism body corresponding to the guide groove of the guide plate, and limiting rollers are provided in the transverse direction of the guide groove. The flexible belt passes through each flexible belt constraint circle and the guide groove in turn, and extends outward along the longitudinal direction of the guide groove through the flexible belt driving unit.

[0023] The beneficial technical effects of the present invention include at least:

[0024] (1) A multi-joint wall-climbing robot of the present invention comprises a guide plate, a head mechanism, a crawling mechanism, a rotating joint, a flexible belt and a data acquisition unit. A guide groove is provided in the longitudinal direction of the guide plate. The head mechanism comprises a head mechanism body and a flexible belt driving unit. The first end of the head mechanism body is rotatably connected to the mounting end of the guide plate. The crawling mechanism comprises a crawling mechanism body and a magnetic wheel driving unit. The first end of the crawling mechanism body and the second end of the head mechanism body are rotatably connected via a rotating joint. The flexible belt is constrained in the guide groove. The flexible belt driving unit drives the flexible belt to move along the longitudinal direction of the guide groove.

[0025] Therefore, the magnetic wheel drive unit of the present invention adopts differential drive to realize the movement of the wall-climbing robot on the inner wall of the steam generator in any direction; the first end of the crawling mechanism body and the second end of the head mechanism body are rotatably connected through a rotating joint to realize the rotation of the head mechanism around the X-axis and around the Y-axis, which is convenient for adjusting the angle and height position during the movement of the flexible belt; at the same time, the data acquisition unit realizes video inspection in multiple directions and the crawling posture control of the wall-climbing robot. When the multi-joint wall-climbing robot of the present invention is working, the wall-climbing robot of the present invention is sent in from the hand hole of the evaporator and adsorbed on the inner wall of the evaporator. The operator can realize the crawling of the wall-climbing robot and the flexible belt drive control on the rear-end working platform to complete the evaporator cleaning and video inspection work. It is simple to use and install and has a wide coverage.

[0026] (2) The worm gear mechanism arranged inside the head mechanism body of the head mechanism of a multi-joint wall-climbing robot of the present invention serves as a driving mechanism for driving the movement of the flexible belt of the driving head, thereby realizing large torque transmission to the flexible belt, and is used in multiple scenarios such as high-pressure cleaning and video inspection between the evaporator heat transfer tube bundles. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 A three-dimensional schematic diagram of a multi-joint wall-climbing robot provided by an embodiment of the present invention with its top surface facing upward;

[0028] Figure 2 A three-dimensional schematic diagram of a multi-joint wall-climbing robot provided by an embodiment of the present invention with its bottom surface facing upward;

[0029] Figure 3 A schematic diagram of the structure of a multi-joint wall-climbing robot provided by an embodiment of the present invention when the flexible belt is not installed;

[0030] Figure 4 Schematic diagram of the internal structure of the head mechanism body and the crawling mechanism body of the multi-joint wall-climbing robot provided in one embodiment of the present invention Figure 1 ;

[0031] Figure 5 Schematic diagram of the internal structure of the head mechanism body and the crawling mechanism body of the multi-joint wall-climbing robot provided in one embodiment of the present invention Figure 2 ;

[0032] Figure 6 Schematic diagram of the internal structure of the head mechanism body and the crawling mechanism body of the multi-joint wall-climbing robot provided in one embodiment of the present invention Figure 3 ;

[0033] Figure 7 A schematic diagram of the assembly of a rotating body, a second driving shaft and a connecting pipe provided in one embodiment of the present invention;

[0034] Figure 8 To display Figure 7 A schematic diagram of the internal structure of the rotating body;

[0035] Fig. 9 A schematic structural diagram of a magnetic wheel drive unit provided in one embodiment of the present invention;

[0036] Fig.10 A three-dimensional exploded view of a magnetic wheel body provided in one embodiment of the present invention.

[0037] Component Symbols:

[0038] Guide plate 1, guide groove 11, mounting end 12 of guide plate 1, mounting end 13 of guide plate 1, a pair of rotating shafts 14, a pair of torsion springs 15, top surface 71, top surface window 711, bottom surface window 721, flexible belt restraining ring 73, head mechanism 2, head mechanism body 21, flexible belt driving unit 22, first end 211 of head mechanism body 21, second end 212 of head mechanism body 21, roller 221, motor 222, turbine 223, worm 224, turbine mounting shaft 225, pin 226, crawling mechanism 3, crawling mechanism body 31, magnetic wheel driving unit 32, first end 311 of crawling mechanism body 31, second end 312 of crawling mechanism body 31, U-shaped mounting groove 31 3. magnetic wheel body 321, roller 322, magnetic wheel motor 323, yoke 3211, magnetic ring 3212, wheel rim 3213, a pair of end covers 3214, rotating joint 4, first drive unit 41, first drive motor 411, first drive shaft 412, large spur gear 413, small spur gear 414, second drive unit 42, second drive motor 421, second drive shaft 422, spur gear I 423, spur gear II 424, spur gear III 425, rotating body 43, U-shaped mounting plate 431, sealing plate 432, flexible belt 5, front camera 51, a pair of side cameras 52, a pair of infrared sensors 53, angle sensor 54, wire rack plate 81, bent pipe 82, connecting pipe 83. DETAILED DESCRIPTION

[0039] The following is an explanation of the embodiments of the present invention by specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the features in the following embodiments and the embodiments can be combined with each other without conflict. It should also be understood that the terms used in the embodiments of the present invention are intended to describe specific embodiments, rather than to limit the scope of protection of the present invention. The test methods for which specific conditions are not specified in the following examples are usually carried out under conventional conditions or under the conditions recommended by the manufacturers.

[0040] See also Figures 1 to 10. It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the limiting conditions for the implementation of the present invention, so they have no substantial technical significance. Any modification of the structure, change in the proportional relationship, or adjustment of the size, without affecting the effects and purposes that can be achieved by the present invention, should still fall within the scope of the technical content disclosed by the present invention. At the same time, the terms such as "upper", "lower", "left", "right", "middle" and "one" quoted in this specification are only for the convenience of description, and are not used to limit the scope of the implementation of the present invention. Changes or adjustments in their relative relationships should also be regarded as the scope of the implementation of the present invention without substantially changing the technical content.

[0041] When numerical ranges are given in the embodiments, it should be understood that unless otherwise specified in the present invention, both endpoints of each numerical range and any value between the two endpoints can be selected. Unless otherwise defined, all technical and scientific terms used in the present invention are familiar to those skilled in the art and the description of the present invention, and any method, device and material of the prior art similar or equivalent to the method, device and material in the embodiments of the present invention can also be used to implement the present invention.

[0042] See also Figure 1 to Figure 3 A multi-joint wall-climbing robot of the present invention comprises a guide plate 1, a head mechanism 2, a crawling mechanism 3, a rotating joint 4, a flexible belt 5 and a data acquisition unit. A guide groove 11 is provided along the longitudinal direction of the guide plate 1. The head mechanism 2 comprises a head mechanism body 21 and a flexible belt driving unit 22. The first end 211 of the head mechanism body 21 is rotatably connected to the mounting end 12 of the guide plate 1. The crawling mechanism 3 comprises a crawling mechanism body 31 and a magnetic wheel driving unit 32. The first end 311 of the crawling mechanism body 31 and the second end 212 of the head mechanism body 21 are rotatably connected through a rotating joint 4. The flexible belt 5 is constrained in the guide groove 11. The flexible belt driving unit 22 drives the flexible belt 4 to move along the longitudinal direction of the guide groove 11. The data acquisition unit is used to collect data for monitoring the operation of the wall-climbing robot. The flexible belt 5 can be integrated with a high-pressure nozzle. Therefore, the wall-climbing robot of the present invention realizes magnetic wheel differential drive. The wall-climbing robot moves along the inner wall of the evaporator. At the same time, the head mechanism 2 rotates around the X-axis and the Y-axis to adjust the angle, so as to adjust the angle and height of the flexible belt. The flexible belt driving unit 22 drives the flexible belt to move along the direction of the guide groove 11 and extend to the heat transfer tube bundle of the evaporator, so as to realize multiple scene operations such as high-pressure cleaning and video inspection.

[0043] As one embodiment of the present invention, the data acquisition unit includes a front camera 51, a pair of side cameras 52, a pair of infrared sensors 53 and an angle sensor 54. The front camera 51 is arranged at the first end 211 of the head mechanism body 21, the pair of side cameras 52 are arranged on both sides of the crawling mechanism body 31, and the pair of infrared sensors 53 are arranged on both sides of the crawling mechanism body 31, and are respectively located at both ends of the same side of the crawling mechanism body 31 with the corresponding side cameras. The angle sensor 54 is arranged inside the crawling mechanism body 31. The front camera 51 and the pair of side cameras 52 are used for video monitoring, wherein the front camera 51 is used for video inspection and monitoring the entry and exit status of the flexible belt 5, the pair of infrared sensors 53 are used to monitor the crawling distance (height) sensing of the wall-climbing robot, and the angle sensor 54 is used for the crawling posture adjustment of the wall-climbing robot.

[0044] Flexible belt constraint circles 73 are respectively provided on the longitudinal top surfaces 71 of the head mechanism body 21 and the crawling mechanism body 31 corresponding to the guide groove 11 of the guide plate 1, and a limiting roller 13 is provided in the transverse direction of the guide groove 11. The flexible belt 5 passes through each flexible belt constraint circle 73 and the guide groove 11 in turn, and extends outward along the longitudinal direction of the guide groove 11 through the flexible belt driving unit 22.

[0045] See also Figures 4 to 6 As one embodiment of the present invention, the mounting end 13 of the guide plate 1 is connected to the first end 211 of the head mechanism body 21 through a pair of rotating shafts 14, and a pair of torsion springs 15 are provided on the pair of rotating shafts 14. One end of the spring body of each torsion spring abuts against the mounting end 13 of the guide plate 1, and the other end of the spring body abuts against the stop column of the first end 211 of the head mechanism body 21, so that the guide plate 1 is tilted relative to the top surface 71 of the head mechanism body 21. The guide plate 1 and the head mechanism body 21 are connected by the elastic rotation of the torsion spring. When working, the angle of the guide plate 1 is adjusted to facilitate the wall-climbing robot to enter the evaporator through the evaporator hand hole.

[0046] As one embodiment of the present invention, the flexible belt drive unit 22 is installed inside the head mechanism body 21, and the flexible belt drive unit 22 includes a roller 221, a worm gear mechanism and a motor 222. The worm gear mechanism includes a turbine 223, a worm 224 and a turbine mounting shaft 225. The worm 224 is arranged along the longitudinal direction of the head mechanism body 21 and connected to the output shaft of the motor 222. The turbine mounting shaft 225 is arranged along the transverse direction of the head mechanism body 21. The roller 221 is sleeved on the turbine mounting shaft 225. The outer cylindrical surface of the roller 221 is evenly and convexly provided with a pin 226; the top surface 71 of the head mechanism body 21 is provided with a top surface window 711, and the pin 226 is plugged into the positioning hole on the flexible belt 5 through the top surface window 711. The worm gear mechanism is used as a driving mechanism of the flexible belt 5, which can realize large torque transmission.

[0047] As one embodiment of the present invention, the rotating joint 4 includes a first driving unit 41, a second driving unit 42 and a rotating body 43. The first driving unit 41 is arranged in the head mechanism body 21, the second driving unit 42 is arranged in the crawling mechanism body 31, and the rotating body 43 is connected between the first end 311 of the crawling mechanism body 31 and the second end 212 of the head mechanism body 21. The driving shaft of the first driving unit 41 and the driving shaft of the second driving unit 42 are arranged vertically, and the driving shaft of the first driving unit 41 is rotatably connected to the rotating body 43, and the driving shaft of the second driving unit 42 is fixedly connected to the rotating body 43.

[0048] The first driving unit 41 includes a first gear driving mechanism, a first driving motor 411 and a first driving shaft 412. The first gear driving mechanism includes a large spur gear 413 and a small spur gear 414 that are meshed. The small spur gear 413 is mounted on the output shaft of the first driving motor 411. The large spur gear 413 is sleeved on the first driving shaft 412. The first driving shaft 412 is arranged along the longitudinal direction of the head mechanism body 21, and one end of the first driving shaft 412 extends out of the second end 212 of the head mechanism body 21 and is rotatably connected to the rotating body 43, so as to drive the head mechanism body 21 to rotate around the Y axis.

[0049] The second drive units 42 each include a second gear drive mechanism, a second drive motor 421 and a second drive shaft 422. The second gear drive mechanism includes a spur gear I 423, a spur gear II 424 and a spur gear III 425 that are meshed in sequence. The spur gear I 423 is mounted on the output shaft of the second drive motor 421. The gear shaft of the spur gear II 424 is mounted on the crawling mechanism body 31 through a straight plate. The spur gear III 425 is mounted on the second drive shaft 422. The second drive shaft 422 is arranged laterally along the crawling mechanism body 31, and one end of the second drive shaft 422 extends out of the first end 311 of the crawling mechanism body 31 and is fixedly connected to the rotating body 43, driving the rotating body 43 to drive the head mechanism body 21 to rotate around the X-axis.

[0050] See also Figure 7-8 An inverted U-shaped mounting groove 313 is provided in the middle of the end of the first end 311 of the crawling mechanism body 31. The rotating body 43 includes a U-shaped mounting plate 431 and a sealing plate 432. The U-shaped mounting plate 431 is correspondingly arranged in the U-shaped mounting groove 313. The sealing plate 432 is used to seal the opening of the U-shaped mounting plate 431. The bottom plate of the U-shaped mounting plate 431 is rotatably connected to the protruding end of the first driving shaft 412, and a side plate of the U-shaped mounting plate 431 is fixedly connected to the protruding end of the second driving shaft 422.

[0051] The wall-climbing robot also includes a wiring mechanism, which includes a wire rack plate 81, a curved pipe 82 and a connecting pipe 83; the wire rack plate 81 is arranged inside the crawling mechanism body 31, the second drive shaft 422 is sleeve-shaped, the second drive shaft 422 is sleeved on the connecting pipe 83, and the connecting pipe 83 is axially limited and installed inside the head mechanism body 21, one end of the curved pipe 82 is connected to the connecting pipe 83, and the other end of the curved pipe 82 passes through the other side plate of the U-shaped mounting plate 431 and the groove wall of the U-shaped mounting groove 313, and is connected to the interior of the head mechanism body 21, so that the wiring harness enters the interior of the head mechanism body 21 through the threading hole of the second end 312 of the crawling mechanism body 31, and then is arranged through the wire rack plate 81, and finally passes through the curved pipe 82 and the connecting pipe 83 to the interior of the head mechanism body 21.

[0052] See also Figure 9-10 As one embodiment of the present invention, the magnetic wheel drive unit 32 is installed inside the crawling mechanism body 31, including two magnetic wheel mechanisms, each of which includes a magnetic wheel body 321, a roller 322 and a magnetic wheel motor 323; the magnetic wheel body 321 includes a cylindrical yoke 3211, a magnetic ring 3212, a wheel rim 3213 and a pair of end covers 3214, and the yoke 3211, the magnetic ring 3212 and the wheel rim 3213 are coaxially mounted in sequence, and the axial ends of the wheel rim 3213 and a pair of The end cap 3214 is correspondingly engaged, the roller 322 penetrates the central axis of the wheel rim 3213, and is fixedly connected to the output shaft of the magnetic wheel motor 323, driving the magnetic wheel body 321 to rotate; the two magnetic wheel bodies 321 of the two magnetic wheel mechanisms are arranged alternately, the two rollers 323 of the two magnetic wheel bodies 321 are arranged along the lateral direction of the crawling mechanism body 31, and the two wheel rims 3213 of the two magnetic wheel bodies 321 are respectively in contact with the crawling wall through the bottom window 721 of the crawling mechanism body 31. The magnetic ring 3212 is composed of a number of NdFeB strong magnets, and the magnetic field direction of the magnets is arranged in a ring according to the Halbach array, which is used to increase the external magnetic field strength of the magnetic wheel body 321. The outside of the magnetic ring 3212 is wrapped with a wheel rim 3213 and a pair of end caps 3214, and the central built-in yoke 3211 is used to enhance the magnetic force. The magnetic wheel motors 323 of the two magnetic wheel mechanisms are used to control the crawling of the wall-climbing robot and control the steering of the wall-climbing robot through differential control.

[0053] In summary, the multi-joint wall-climbing robot of the present invention solves the problem of clearing and inspecting the steam generator of a nuclear power plant, and achieves the following positive effects: (1) The flexible belt 5 passes through each flexible belt constraint ring 73 and the guide groove 11 in turn, and extends outward along the longitudinal direction of the guide groove 11 through the flexible belt drive unit 22. The worm gear mechanism provides a large torque for driving the flexible belt 5, thereby driving the flexible belt 5 to move forward and backward between the heat transfer tube bundles of the evaporator; at the same time, the first drive unit 41 and the second drive unit 42 drive the head mechanism to rotate, thereby driving the flexible belt 5 to swing in the upward and downward directions between the heat transfer tube bundles. The multi-directional movement of the flexible belt 5 realizes the multi-scenario application of the wall-climbing robot of the present invention.

[0054] (2) The front camera 51 and a pair of side cameras 52 are used for video monitoring, wherein the front camera 51 is used for video inspection and monitoring the entry and exit status of the flexible belt 5, a pair of infrared sensors 53 are used to monitor the crawling distance (height) of the wall-climbing robot, and the angle sensor 54 is used for adjusting the crawling posture of the wall-climbing robot, so as to realize accurate monitoring of the wall-climbing robot of the present invention.

[0055] (3) The magnetic wheel motors 323 of the two magnetic wheel mechanisms are used to control the crawling of the wall-climbing robot and control the steering of the wall-climbing robot through differential speed. The magnetic wheel body 321 is firmly adsorbed on the inner wall of the evaporator, so that the wall-climbing robot can crawl on the vertical inner wall of the evaporator. The installation is simple and the coverage is wide. When working, the crawling robot only needs to be adsorbed on the inner wall of the steam generator, and the technicians can control the robot on the operating platform to complete all cleaning and inspection work.

[0056] (4) The wiring mechanism includes a wire rack plate 81, a curved tube 82 and a connecting tube 83, so that the wire harness enters the interior of the head mechanism body 21 through the threading hole of the second end 312 of the crawling mechanism body 31, is arranged through the wire rack plate 81, and finally passes through the curved tube 82 and the connecting tube 83 to the interior of the head mechanism body 21. The reasonable arrangement of the wire harness is achieved, and the routing of the wire harness in the crawling mechanism body 31 and the head mechanism body 21 does not affect the setting and use of other components.

[0057] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by a person of ordinary skill in the art without departing from the spirit and technical concept disclosed by the present invention shall still be covered by the claims of the present invention.

Claims

1. A multi-joint wall-climbing robot, characterized in that: include: A guide plate (1), wherein the guide plate (1) is provided with a guide groove (11) along its longitudinal direction; A head mechanism (2), the head mechanism (2) comprising a head mechanism body (21) and a flexible belt driving unit (22), the first end (211) of the head mechanism body (21) and the mounting end (12) of the guide plate (1) being rotatably connected; A crawling mechanism (3), the crawling mechanism (3) comprising a crawling mechanism body (31) and a magnetic wheel driving unit (32); A rotating joint (4), wherein the first end (311) of the crawling mechanism body (31) and the second end (212) of the head mechanism body (21) are rotatably connected via the rotating joint (4); a flexible belt (5), wherein the flexible belt (5) is constrained in the guide groove (11), and the flexible belt driving unit (22) drives the flexible belt (4) to move longitudinally along the guide groove (11); and A data acquisition unit collects data to monitor the operation of the wall-climbing robot.

2. The multi-joint wall-climbing robot according to claim 1, characterized in that: The mounting end (13) of the guide plate (1) is connected to the first end (211) of the head mechanism body (21) via a pair of rotating shafts (14), and a pair of torsion springs (15) are provided on the pair of rotating shafts (14), one end of the spring body of each torsion spring abuts against the mounting end (13) of the guide plate (1), and the other end abuts against the stop column of the first end (211) of the head mechanism body (21), so that the guide plate (1) is tilted relative to the top surface (71) of the head mechanism body (21).

3. The multi-joint wall-climbing robot according to claim 2, characterized in that: The data acquisition unit comprises a front camera (51), a pair of side cameras (52), a pair of infrared sensors (53) and an angle sensor (54); the front camera (51) is arranged at the first end (211) of the head mechanism body (21); the pair of side cameras (52) are correspondingly arranged on both sides of the crawling mechanism body (31); the pair of infrared sensors (53) are correspondingly arranged on both sides of the crawling mechanism body (31) and are respectively located at two ends of the same side of the crawling mechanism body (31) as the corresponding side cameras; and the angle sensor (54) is arranged inside the crawling mechanism body (31).

4. The multi-joint wall-climbing robot according to claim 3, characterized in that: The flexible belt drive unit (22) is installed inside the head mechanism body (21), and the flexible belt drive unit (22) comprises a roller (221), a worm gear mechanism and a motor (222), the worm gear mechanism comprises a turbine (223), a worm gear (224) and a turbine mounting shaft (225), the worm gear (224) is arranged along the longitudinal direction of the head mechanism body (21) and is connected to the output shaft of the motor (222), the turbine mounting shaft (225) is arranged along the transverse direction of the head mechanism body (21), the roller (221) is sleeved on the turbine mounting shaft (225), and the outer cylindrical surface of the roller (221) is evenly and protrudingly provided with column pins (226); the top surface (71) of the head mechanism body (21) is provided with a top surface window (711), and the column pin (226) is plugged through the top surface window (711) and the positioning hole on the flexible belt (5).

5. The multi-joint wall-climbing robot according to claim 4, characterized in that: The rotating joint (4) comprises a first driving unit (41), a second driving unit (42) and a rotating body (43); the first driving unit (41) is arranged in the head mechanism body (21); the second driving unit (42) is arranged in the crawling mechanism body (31); the rotating body (43) is connected between the first end (311) of the crawling mechanism body (31) and the second end (212) of the head mechanism body (21); the driving shaft of the first driving unit (41) and the driving shaft of the second driving unit (42) are arranged vertically, and the driving shaft of the first driving unit (41) is rotatably connected to the rotating body (43), and the driving shaft of the second driving unit (42) is fixedly connected to the rotating body (43).

6. The multi-joint wall-climbing robot according to claim 5, characterized in that: The first driving unit (41) comprises a first gear driving mechanism, a first driving motor (411) and a first driving shaft (412); the first gear driving mechanism comprises a meshing large spur gear (413) and a small spur gear (414); the small spur gear (413) is mounted on the output shaft of the first driving motor (411); the large spur gear (413) is sleeved on the first driving shaft (412); the first driving shaft (412) is arranged along the longitudinal direction of the head mechanism body (21); one end of the first driving shaft (412) extends out of the second end (212) of the head mechanism body (21) and is rotatably connected to the rotating body (43) to drive the head mechanism body (21) to rotate around the Y axis; The second driving unit (42) comprises a second gear driving mechanism, a second driving motor (421) and a second driving shaft (422); the second gear driving mechanism comprises a spur gear I (423), a spur gear II (424) and a spur gear III (425) meshing in sequence; the spur gear I (423) is mounted on the output shaft of the second driving motor (421); the gear shaft of the spur gear II (424) is mounted on the crawling mechanism body (31) through a straight plate; the spur gear III (425) is mounted on the second driving shaft (422); the second driving shaft (422) is arranged in the transverse direction of the crawling mechanism body (31); one end of the second driving shaft (422) extends out of the first end (311) of the crawling mechanism body (31) and is fixedly connected to the rotating body (43) to drive the rotating body (43) to drive the head mechanism body (21) to rotate around the X-axis.

7. The multi-joint wall-climbing robot according to claim 6, characterized in that: An inverted U-shaped mounting groove (313) is provided in the middle of the end of the first end (311) of the crawling mechanism body (31); the rotating body (43) comprises a U-shaped mounting plate (431) and a sealing plate (432); the U-shaped mounting plate (431) is correspondingly arranged in the U-shaped mounting groove (313); the sealing plate (432) is used to seal the opening of the U-shaped mounting plate (431); the bottom plate of the U-shaped mounting plate (431) is rotatably connected to the protruding end of the first driving shaft (412); and a side plate of the U-shaped mounting plate (431) is fixedly connected to the protruding end of the second driving shaft (422).

8. The multi-joint wall-climbing robot according to claim 7, characterized in that: The invention also comprises a wiring mechanism, wherein the wiring mechanism comprises a wire rack plate (81), a curved pipe (82) and a connecting pipe (83); the wire rack plate (81) is arranged inside the crawling mechanism body (31); the second drive shaft (422) is sleeve-shaped; the second drive shaft (422) is sleeved on the connecting pipe (83); and the connecting pipe (83) is axially limitedly installed inside the head mechanism body (21); one end of the curved pipe (82) is connected to the connecting pipe (83); and the curved pipe (82) is connected to the connecting pipe (83). The other end of the tube (82) passes through the other side plate of the U-shaped mounting plate (431) and the groove wall of the U-shaped mounting groove (313), and is connected to the interior of the head mechanism body (21), so that the wiring harness enters the interior of the head mechanism body (31) through the threading hole of the second end (312) of the crawling mechanism body (31), is arranged through the wire rack plate (81), and finally passes through the bent tube (82) and the connecting tube (83) to the interior of the head mechanism body (21).

9. The multi-joint wall-climbing robot according to claim 8, characterized in that: The magnetic wheel drive unit (32) is installed inside the crawling mechanism body (31), and comprises two magnetic wheel mechanisms, each of which comprises a magnetic wheel body (321), a roller (322) and a magnetic wheel motor (323); the magnetic wheel body (321) comprises a cylindrical yoke (3211), a magnetic ring (3212), a wheel rim (3213) and a pair of end covers (3214), and the yoke (3211), the magnetic ring (3212) and the wheel rim (3213) are coaxially mounted in sequence, and the axial ends of the wheel rim (3213) and the pair of end covers (3214) are correspondingly engaged. The roller (322) passes through the central axis of the wheel rim (3213) and is fixedly connected to the output shaft of the magnetic wheel motor (323) to drive the magnetic wheel body (321) to rotate; the two magnetic wheel bodies (321) of the two magnetic wheel mechanisms are arranged alternately, the two rollers (323) of the two magnetic wheel bodies (321) are arranged along the lateral direction of the crawling mechanism body (31), and the two wheel rims (3213) of the two magnetic wheel bodies (321) respectively protrude from the bottom window (721) of the crawling mechanism body (31) to contact the crawling wall.

10. The multi-joint wall-climbing robot according to claim 1, characterized in that: Flexible belt restraining rings (73) are respectively provided on the longitudinal top surfaces (71) of the head mechanism body (21) and the crawling mechanism body (31) corresponding to the guide groove (11) of the guide plate (1), and a limiting roller (13) is provided in the transverse direction of the guide groove (11). The flexible belt (5) passes through each of the flexible belt restraining rings (73) and the guide groove (11) in turn, and extends outward along the longitudinal direction of the guide groove (11) through the flexible belt driving unit (22).

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