Four-axis rope-driven parallel robot for power plant maintenance

Abstract

The invention belongs to the technical field of parallel robots, and discloses a four-axis rope-driven parallel robot for power plant maintenance, which comprises a base, rope-driven mechanisms, a wire pressing mechanism and a wire outlet wheel, strip-shaped holes are formed in the periphery of the base, and the rope-driven mechanisms are mounted above the strip-shaped holes of the base. The base is provided with a plurality of strip-shaped holes, the base is provided with line pressing mechanisms capable of elastically moving below the strip-shaped holes, the base is fixedly provided with line outgoing wheels at the side front ends of the strip-shaped holes, the rope driving mechanism is provided with a connecting rope in a winding mode, the base is provided with a network controller, and the rope driving mechanism does horizontal non-tilting movement of rope winding driving relative to the fixed line outgoing wheels. The device has the advantages that two-point and one-line output horizontal non-tilting movement of the connecting rope is kept, the connecting rope is compacted by the line pressing mechanism, the actual length of the connecting rope output by the revolution of the integrated network servo motor is ensured, cost is reduced, quality is improved, manual overhaul risk replacement is assisted, overhaul positioning precision is improved, and movement stability is good.

Description

Technical Field

[0001] The invention belongs to the technical field of parallel robots and relates to a four-axis rope-driven parallel robot used for power plant maintenance. Background Art

[0002] During the maintenance process of power plants, maintenance tasks rely on manpower. This manual inspection method has a high rate of missed detection. For some dangerous areas such as high temperature and excessive harmful gases, manual inspection poses a huge safety hazard. In addition, power plants that operate 24 hours a day require a lot of manpower and time to carry out daily equipment inspections, which seriously affects production efficiency and employee health and safety. Based on this, rope-driven parallel robots can replace manual labor to go to dangerous areas to assist in maintenance.

[0003] Traditional rope-driven parallel robots place the motor at the base, and the ropes are connected in a serpentine manner through multiple guide wheels and output through multi-segment coordination of universal wheels. Under long-term high-intensity work, the ropes are easily worn out by the guide wheels and universal wheels, reducing their service life. The multi-segment coordination of the ropes makes it impossible to effectively compact the ropes over long distances, resulting in inaccurate positioning accuracy.

[0004] Based on this, a four-axis rope-driven parallel robot is designed that can be used in power plant maintenance to replace manual labor in dangerous maintenance work, reduce the risk of manual maintenance, and can be accurately positioned and used efficiently. Summary of the Invention

[0005] The present invention provides a four-axis rope-driven parallel robot for power plant maintenance, aiming to solve the application problems of traditional ropes, guide wheels, and pulleys, which will wear out and reduce the service life, and the long-distance rope cannot be effectively compacted, resulting in inaccurate positioning accuracy, so as to realize high-risk maintenance operations in power plants.

[0006] To achieve the above-mentioned objectives, the present invention provides a four-axis rope-driven parallel robot for power plant maintenance, comprising a base, a rope-driven mechanism, a wire-pressing mechanism, and a wire-out wheel, wherein the base is provided with strip holes at four sides, the base is provided with a rope-driven mechanism above each strip hole, the base is provided with an elastically movable wire-pressing mechanism below each strip hole, the base is provided with a wire-out wheel fixedly provided at the side front end of each strip hole, the rope-driven mechanism is wound with a connecting rope, one end of each connecting rope passes through the wire-out wheel at the corresponding position and is set in the external four-side direction, the top of the wire-pressing mechanism elastically presses against the bottom of the rope-driven mechanism through the strip hole to compact the connecting rope, a network controller is provided on the base, the network controller is electrically connected to the rope-driven mechanism, and the rope-driven mechanism performs horizontal non-tilting movement of winding the rope drive relative to the fixed wire-out wheel position.

[0007] Preferably, a support plate and a bracket are connected to the base, the support plate and the bracket are located on both sides of the strip hole, and the two ends of the rope drive mechanism are respectively mounted on the support plate and the bracket.

[0008] Preferably, the rope drive mechanism includes a reducer, a Ferrari disk, an integrated network servo motor, an external hexagonal transmission rod, and a rope turntable. The support plate is provided with a first through hole, and the reducer is fastened to one side of the support plate. One side of the reducer is connected to a Ferrari disk through the first through hole, and the other side of the reducer is connected to an integrated network servo motor. The center of the Ferrari disk is connected to an external hexagonal transmission rod, and a fixed-point mounting disk is provided on the bracket. A rope turntable with an internal hexagonal hole in the center is provided between the support plate and the bracket, and one end of the external hexagonal transmission rod is installed on the fixed-point mounting disk through the internal hexagonal hole, and the integrated network servo motor is electrically connected to the network controller.

[0009] Preferably, a perforated cylindrical screw is fastened and connected at the center position of one side of the rope turntable, and an external thread is provided on the outer side of the perforated cylindrical screw. A second through hole is provided on the bracket, and the second through hole is on the same axis as the fixed mounting plate and the first through hole. The bracket is provided with a nut on the second through hole, and the external hexagonal transmission rod is movable through the perforated cylindrical screw, and the external thread of the perforated cylindrical screw is screwed to the nut thread to drive the rope turntable to move left and right, wherein the inner diameter of the perforated cylindrical screw is larger than the outer dimension of the external hexagonal transmission rod.

[0010] Preferably, the rope turntable is provided with a plurality of concave grooves for winding the connecting rope, the connecting rope is arranged outward along the bottom through the outlet wheel, and the connecting rope is output from the rope turntable to the outlet wheel in a horizontal and non-inclined state.

[0011] Preferably, the wire pressing mechanism includes a mounting block, a connecting rod, a pressure roller shaft, a pressure roller, a connecting piece, and a return spring. The bottom surface of the base is provided with mounting blocks on both sides of the strip hole, and the two mounting blocks are connected by a connecting rod. A pressure roller shaft is provided on the outside of the connecting rod, and connecting pieces are connected to both ends of the connecting rod and the pressure roller shaft. The connecting rod sleeve is provided with a return spring, and the two ends of the return spring are respectively correspondingly clamped to the connecting piece and the bottom surface of the base to make the pressure roller shaft press against the rope turntable. The pressure roller shaft sleeve is provided with a movable pressure roller, and the pressure roller presses and contacts the rope turntable to compact the connecting rope.

[0012] Preferably, an anti-jump wire component is provided on the outside of the outlet wheel to prevent the connecting rope from jumping out of the outlet wheel.

[0013] The beneficial effects of the present invention compared to the prior art are as follows: The present invention provides a four-axis rope-driven parallel robot for power plant maintenance. The line-out direction is fixed at a line-out wheel, and a rope turntable maintains the horizontal non-tilting movement of the connecting rope output relative to the line-out wheel. The two-point-one-line connection design reduces the rope loss of traditional multi-pulley long-distance coordination, thereby reducing costs and improving quality. The connecting rope is correspondingly retracted and placed into the concave wire groove through a wire pressing mechanism, and the connecting rope is compacted from the rope turntable, ensuring the actual length of the connecting rope output by the integrated network servo motor revolutions, assisting in replacing the risk of manual maintenance and improving the maintenance positioning accuracy, and having good motion stability.

[0014] In order to more clearly illustrate the structural features and effects of the present invention, the present invention is described in detail below with reference to the accompanying drawings and specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention; Figure 2 for Figure 1 Schematic diagram of the top view structure; Figure 3 for Figure 1 A side structural diagram of Figure 4 Schematic diagram of the structure of the rope drive mechanism and the wire pressing mechanism in the present invention; Figure 5 Schematic diagram of the rope drive mechanism structure in the present invention; Figure 6 for Figure 5 A side structural diagram of Figure 7 Schematic diagram of the wire pressing mechanism structure in the present invention; Figure 8 Schematic diagram of the structure of the outlet wheel in the present invention; Figure 9 It is a structural diagram of the host computer, network controller and integrated network servo motor in the present invention; Figure 10 It is a schematic diagram of the motion structure of the present invention; Reference numerals: Base; 2. Rope drive mechanism; 3. Wire pressing mechanism; 4. Wire outlet wheel; 5. Strip hole; 6. Network controller; 8. Host computer; 9. Support plate; 10. Bracket; 11. Reducer; 12. Ferrari disk; 13. Integrated network servo motor; 14. External hexagonal transmission rod; 15. Rope turntable; 16. First through hole; 17. Fixed-point mounting plate; 18. Perforated cylindrical screw; 19. External thread; 20. Second through hole; 21. Nut; 22. Inner concave wire groove; 23. Mounting block; 24. Connecting rod; 25. Pressure roller shaft; 26. Wire pressing roller; 27. Connecting piece; 28. Reset spring; 29. ​​Anti-jump wire component. DETAILED DESCRIPTION

[0016] Unless otherwise defined, all technical and scientific terms used herein have the same meanings as commonly understood by those skilled in the art to which this application belongs. The terms used in the specification of the application are only for the purpose of describing specific embodiments and are not intended to limit this application. The terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned drawings are intended to cover non-exclusive inclusions. The terms "first", "second", etc. in the specification and claims of this application or the above-mentioned drawings are used to distinguish different objects, not to describe a specific order.

[0017] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0018] To achieve the above objectives, the present invention provides a four-axis rope-driven parallel robot for power plant maintenance. Figure 1-10 As shown, it includes a base 1, a rope drive mechanism 2, a wire pressing mechanism 3, and a wire outlet wheel 4. The base 1 is provided with strip holes 5 at all four sides. The base 1 is provided with a rope drive mechanism 2 above each strip hole 5. The base 1 is provided with an elastically movable wire pressing mechanism 3 below each strip hole 5. The base 1 is provided with a wire outlet wheel 4 fixedly provided at the side front end of each strip hole 5. The rope drive mechanism 2 is wrapped with a connecting rope, and one end of each connecting rope passes through the wire outlet wheel 4 at the corresponding position and is set in the external surrounding direction. The top of the wire pressing mechanism 3 elastically presses against the bottom of the rope drive mechanism 2 through the strip hole 5 to compact the connecting rope. A network controller 6 is provided on the base 1, and the network controller 6 is electrically connected to the rope drive mechanism 2. The rope drive mechanism 2 performs horizontal non-tilting movement of winding the rope relative to the fixed wire outlet wheel 4 position.

[0019] In this embodiment, reference Figure 9-10As shown, the network controller 6 adopts a new fiber optic controller of the ZP-208 model, which is connected to the host computer 8 through the TCP / IP protocol. The parameter setting of the host computer 8 is output to the network controller 6, and then transmitted to control the rope drive mechanism 2 to perform the retraction and extension operation of the connecting rope. For example, the parameter setting input includes the coordinates of point A and point B. The coordinates of point A serve as the current zero coordinate position of X and Y, and the coordinates of point B serve as the new coordinate position to move to the specified position, that is, moving from the coordinates of point A to the coordinates of point B. The lengths of the connecting ropes of the four rope drive mechanisms 2 on the surrounding area that need to be retracted and extended are controlled to control the length of the connecting rope to achieve movement to the specified position. Based on this, it is particularly important to accurately control the length of the connecting rope. Specifically, the outlet wheel 4 is fixedly designed on the four sides of the base 1, and the rope drive mechanism 2 moves left and right relative to the outlet wheel 4. This ensures that the outlet direction of different position points on the rope drive mechanism 2 and the output direction of the outlet wheel 4 always maintain horizontal output and the connecting rope will not be offset left and right, forming a straight line output between two points. There is no need to set multiple rollers and pulleys in the middle, which greatly solves the rope wear and length loss caused by traditional multi-roller and multi-section connection, improves the positioning operation accuracy, and adds a wire pressing mechanism 3 that elastically presses against the bottom of the rope drive mechanism 2, which can further compact the retraction and release of the connecting rope, ensuring effective control of the length of the connecting rope.

[0020] For further reference, Figure 4-6 As shown, a support plate 9 and a bracket 10 are connected to the base 1, and the support plate 9 and the bracket 10 are located on both sides of the strip hole 5. The two ends of the rope drive mechanism 2 are respectively installed on the support plate 9 and the bracket 10, wherein the rope drive mechanism 2 includes a reducer 11, a Farah disk 12, an integrated network servo motor 13, an external hexagonal transmission rod 14, and a rope turntable 15. The support plate 9 is provided with a first through hole 16. The reducer 11 is fastened to one side of the support plate 9, and the Farah disk 12 is connected to one side of the reducer 11 through the first through hole 16. The integrated network servo motor 13 is connected to the other side of the reducer 11. The center of the Farah disk 12 is connected to the external hexagonal transmission rod 14. A fixed-point mounting disk 17 is provided on the bracket 10. A rope turntable 15 with an internal hexagonal hole in the center is provided between the support plate 9 and the bracket 10. One end of the external hexagonal transmission rod 14 is installed on the fixed-point mounting disk 17 through the internal hexagonal hole. The integrated network servo motor 13 is electrically connected to the network controller 6.

[0021] In this embodiment, the integrated network servo motor 13, a novel servo motor, is an advanced motion control device that integrates a servo motor, driver, encoder, and network communication functions into a compact unit. This simplifies the motion control system architecture, improves system reliability and response speed, and distinguishes it from traditional split-type servo motor systems. When used in conjunction with the new ZP-208 fiber optic controller, it efficiently controls the rotational output of the integrated network servo motor 13, effectively controlling the length and retraction of the connecting rope. The reducer 11 reduces rotational speed and increases torque. The Ferrule 12 connects to the reducer, acting as a locking mechanism. The external hexagonal drive rod 14, connected to the Ferrule 12, is driven by the integrated network servo motor 13, acting as a transmission mechanism. This drives the rope turntable 15 in clockwise and counterclockwise rotation.

[0022] For further reference, Figure 5-6 As shown, a perforated cylindrical screw 18 is fastened to the center position of one side of the rope turntable 15, and an external thread 19 is provided on the outer side of the perforated cylindrical screw 18. A second through hole 20 is provided on the bracket 10. The second through hole 20 is on the same axis as the fixed mounting plate 17 and the first through hole 16. The bracket 10 is provided with a nut 21 on the second through hole 20. The external hexagonal transmission rod 14 is movable through the perforated cylindrical screw 18, and the external thread 19 of the perforated cylindrical screw 18 is threadedly connected with the nut 21 to drive the rope turntable 15 to move left and right, wherein the inner diameter of the perforated cylindrical screw 18 is larger than the outer dimension of the external hexagonal transmission rod 14.

[0023] In this embodiment, in order to ensure the output mode of two points and one line, a perforated cylindrical screw 18 is designed, and its two ends are respectively connected to a side surface of the rope turntable 15 and the nut 21. When the rope turntable 15 rotates to output the connecting rope outward, the perforated cylindrical screw 18 is screwed into the nut 21, and the output direction of the rope drive mechanism 2 and the output direction of the output wheel 4 always maintain a horizontal and inclined output. When the rope turntable 15 rotates inward to retract the connecting rope, the perforated cylindrical screw 18 rotates out from the nut 21, and the wire pressing mechanism 3 is always used to compact the connecting rope. Specifically, the rope turntable 15 is provided with a number of concave wire grooves 22 for winding the connecting rope. The connecting rope is arranged outward along the bottom through the output wheel 4, and the connecting rope is output from the rope turntable 15 to the output wheel 4 in a horizontal and non-tilted state.

[0024] For further reference, Figure 7As shown, the wire pressing mechanism 3 includes a mounting block 23, a connecting rod 24, a pressure roller shaft 25, a pressure roller 26, a connecting piece 27, and a return spring 28. The bottom surface of the base 1 is located on both sides of the strip hole 5 and a mounting block 23 is provided. The two mounting blocks 23 are connected by a connecting rod 24. A pressure roller shaft 25 is provided on the outside of the connecting rod 24. Both ends of the connecting rod 24 and the two ends of the pressure roller shaft 25 are connected with connecting pieces 27. The connecting rod 24 is provided with a return spring 28, and the two ends of the return spring 28 are respectively correspondingly clamped to the connecting piece 27 and the bottom surface of the base 1, so that the pressure roller shaft 25 is pressed against the rope turntable 15. The pressure roller shaft 25 is provided with a movable pressure roller 26, which presses and contacts the rope turntable 15 to compact the connecting rope.

[0025] In this embodiment, the wire pressing roller 26 is kept pressed against the bottom of the rope turntable 15 by the reset spring 28. During the process of retracting and releasing the connecting rope, the connecting rope is always kept in the concave wire groove 22 at different positions, ensuring that the connecting rope is tightened and tightened each time during the operation, and the connecting rope will not jump out of the outside of the concave wire groove 22.

[0026] Furthermore, an anti-jump wire component 29 is provided on the outside of the outlet wheel 4 to prevent the connecting rope from jumping out of the outlet wheel 4, thereby ensuring safe use.

[0027] In power plant applications, the operator can input specific coordinates into the host computer 8, so that the rope-driven parallel robot can reach the specified position quickly and stably. By simply installing the corresponding power plant maintenance mechanism on the rope-driven parallel robot, it can assist in efficient maintenance work, such as equipment inspection, meter reading, temperature and humidity measurement, etc. It can replace manual labor to go to dangerous areas to assist in maintenance. At the same time, it can also carry heavier objects during maintenance tasks, greatly saving maintenance time and ensuring the health and safety of personnel.

[0028] In summary, the present invention provides a four-axis rope-driven parallel robot for power plant maintenance, with the outlet wheel 4 as the fixed position of the outlet direction, and the rope turntable 15 maintains the horizontal non-tilting movement of the connecting rope output relative to the outlet wheel 4. The two-point-one-line connection design reduces the rope loss of the traditional multi-pulley long-distance coordination, reduces costs and improves quality; through the wire pressing mechanism 3, the connecting rope is correspondingly retracted and placed in the concave wire groove 22, and the connecting rope is compacted from the rope turntable 15, ensuring the actual length of the connecting rope output by the integrated network servo motor 13, assisting in replacing the risk of manual maintenance and improving the maintenance positioning accuracy, and having good motion stability.

[0029] The technical principles of the present invention have been described above in conjunction with specific embodiments, which are merely preferred embodiments of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions based on the principles of the present invention fall within the scope of protection of the present invention. Those skilled in the art will be able to conceive of other specific embodiments of the present invention without inventive effort and will fall within the scope of protection of the present invention.

Claims

1. A four-axis rope-driven parallel robot for power plant maintenance, characterized in that: The invention comprises a base, a rope drive mechanism, a wire pressing mechanism and a wire outlet wheel, wherein the base is provided with strip holes at four sides, the base is provided with a rope drive mechanism installed above each strip hole, the base is provided with an elastically movable wire pressing mechanism installed below each strip hole, the base is provided with a wire outlet wheel fixedly provided at the side front end of each strip hole, the rope drive mechanism is wrapped with a connecting rope, one end of each connecting rope passes through the wire outlet wheel at the corresponding position and is set in the external four directions, the top of the wire pressing mechanism elastically presses against the bottom of the rope drive mechanism through the strip hole to compact the connecting rope, the base is provided with a network controller, the network controller is electrically connected to the rope drive mechanism, and the rope drive mechanism performs horizontal non-tilting movement of winding rope drive relative to the fixed wire outlet wheel position.

2. The four-axis rope-driven parallel robot for power plant maintenance according to claim 1, characterized in that: A support plate and a bracket are connected to the base. The support plate and the bracket are located on both sides of the strip hole. Two ends of the rope drive mechanism are respectively installed on the support plate and the bracket.

3. The four-axis rope-driven parallel robot for power plant maintenance according to claim 2, characterized in that: The rope drive mechanism includes a reducer, a Ferrari disk, an integrated network servo motor, an external hexagonal transmission rod, and a rope turntable. The support plate is provided with a first through hole, and the reducer is fastened to one side of the support plate. One side of the reducer is connected to a Ferrari disk through the first through hole, and the other side of the reducer is connected to an integrated network servo motor. The center of the Ferrari disk is connected to an external hexagonal transmission rod, and the bracket is provided with a fixed-point mounting plate. A rope turntable with an internal hexagonal hole in the center is provided between the support plate and the bracket, and one end of the external hexagonal transmission rod is installed on the fixed-point mounting plate through the internal hexagonal hole, and the integrated network servo motor is electrically connected to the network controller.

4. The four-axis rope-driven parallel robot for power plant maintenance according to claim 3, characterized in that: A perforated cylindrical screw is fastened to the center of one side of the rope turntable, and an external thread is provided on the outer side of the perforated cylindrical screw. A second through hole is provided on the bracket, and the second through hole is on the same axis as the fixed mounting plate and the first through hole. A nut is provided on the second through hole of the bracket, and the external hexagonal transmission rod passes through the perforated cylindrical screw, and the external thread of the perforated cylindrical screw is screwed to the nut thread to drive the rope turntable to move left and right, wherein the inner diameter of the perforated cylindrical screw is larger than the outer dimension of the external hexagonal transmission rod.

5. The four-axis rope-driven parallel robot for power plant maintenance according to claim 4, characterized in that: The rope turntable is provided with a plurality of concave grooves for winding the connecting rope. The connecting rope passes through the outlet wheel along the bottom and is arranged outward. The connecting rope is output from the rope turntable to the outlet wheel in a horizontal and non-inclined state.

6. The four-axis rope-driven parallel robot for power plant maintenance according to claim 5, characterized in that: The wire pressing mechanism includes a mounting block, a connecting rod, a pressure roller shaft, a pressure roller, a connecting piece, and a return spring. The bottom surface of the base is provided with mounting blocks on both sides of the strip hole. The two mounting blocks are connected by a connecting rod. A pressure roller shaft is provided on the outside of the connecting rod. Both ends of the connecting rod and the two ends of the pressure roller shaft are connected with connecting pieces. The connecting rod sleeve is provided with a return spring, and the two ends of the return spring are respectively correspondingly clamped with the connecting piece and the bottom surface of the base to make the pressure roller shaft press against the rope turntable. The pressure roller shaft sleeve is provided with a movable pressure roller, and the pressure roller presses and contacts the rope turntable to compact the connecting rope.

7. The four-axis rope-driven parallel robot for power plant maintenance according to claim 1, characterized in that: An anti-jump wire component is provided on the outside of the line-outlet wheel to prevent the connecting rope from jumping out of the line-outlet wheel.

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