Transmission mechanism of underwater inspection and cleaning robot for trash holding net

Abstract

The transmission mechanism of the trash holding net underwater checking and cleaning robot comprises a driving assembly, two transmission assemblies and a rolling assembly, the two transmission assemblies are symmetrically arranged, the length extending direction of the driving assembly is parallel to the length extending direction of the rolling assembly, and the driving assembly and the rolling assembly are located between the two transmission assemblies; one end of the driving assembly is connected with one end of one transmission assembly, the other end of the driving assembly is connected with one end of the other transmission assembly, one end of the rolling assembly is connected with the end, away from the driving assembly, of one transmission assembly, and the other end of the rolling assembly is connected with the end, away from the driving assembly, of the other transmission assembly. According to the transmission mechanism, the driving assembly, the transmission assembly and the rolling assembly are matched with one another, so that the robot can easily climb on a soft net, the applicability of the robot in underwater inspection and cleaning operation is improved, the operation efficiency is improved, and therefore it is guaranteed that equipment stably operates in a complex underwater environment.

Description

Technical Field

[0001] The utility model belongs to the technical field of underwater inspection and cleaning robots, and in particular relates to a transmission mechanism of an underwater inspection and cleaning robot for a pollution-blocking net. Background Art

[0002] As an important equipment for cleaning the pollution net of Binhai Nuclear Power Plant, the underwater inspection and cleaning robot of the pollution net plays a vital role in ensuring the safety of the cold source of the nuclear power plant. At present, most underwater inspection and cleaning robots move underwater through propellers. However, due to the complexity of the deployment environment of the pollution net of the nuclear power plant and the soft material of the pollution net itself, this transmission method is not suitable. At the same time, due to the influence of wind and waves and high flow rate on site, the propeller transmission method is also difficult to maintain a stable posture underwater, affecting the safety and efficiency of the operation. Utility Model Content

[0003] In view of this, in order to overcome the defects of the prior art, the purpose of the utility model is to provide a transmission mechanism for an underwater inspection and cleaning robot for a trash net, which can ensure the stable operation of the equipment in a complex underwater environment, and at the same time is more suitable for the soft material of the trash net, which is beneficial to ensuring the cold source safety of the nuclear power plant and improving operating efficiency.

[0004] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0005] A transmission mechanism of an underwater inspection and cleaning robot for a pollution-blocking net comprises a driving assembly, a transmission assembly and a rolling assembly, wherein two transmission assemblies are symmetrically arranged, the length extension direction of the driving assembly is parallel to the length extension direction of the rolling assembly, and the driving assembly and the rolling assembly are located between the two transmission assemblies; one end of the driving assembly is connected to one end of one transmission assembly, the other end of the driving assembly is connected to one end of another transmission assembly, one end of the rolling assembly is connected to one end of one transmission assembly away from the driving assembly, and the other end of the rolling assembly is connected to one end of another transmission assembly away from the driving assembly, and the driving assembly is used to drive the rolling assembly to roll through the transmission assembly. The rotation of the driving assembly drives the transmission assembly to rotate, and then the transmission assembly drives the rolling assembly connected thereto to rotate accordingly, thereby ensuring the stable operation of the robot in a complex underwater environment.

[0006] According to some preferred implementation aspects of the utility model, the driving assembly includes a first roller bracket, two driving parts respectively fixedly connected to the two sides of the first roller bracket, and a first roller respectively connected to one end of the driving part, and the two driving parts are symmetrically arranged. Considering that there are a large number of soft trash nets at the cold source protection work site of the nuclear power plant, the two first rollers are arranged to enable the robot to easily climb up on the softer trash nets, and even to be suitable for ropes and other obstacles, which greatly improves its applicability in underwater inspection and cleaning operations. In addition, in some embodiments of the utility model, the driving mode of the robot is rear-wheel drive, that is, during the movement of the robot, the rolling assembly is located at the front and the driving assembly is located at the rear, and the driving of the rear driving assembly causes the rolling assembly to roll forward.

[0007] According to some preferred implementation aspects of the utility model, the driving unit includes a driver, a driving hub mounted on the outside of the driver and fixedly connected to the outer shell of the driver, and a driving wheel rotatably connected to the driving hub, the rotating shaft of the driver extends outward from one end of the driving hub, the rotating shaft of the driver is fixedly connected to the driving wheel, and one side of the driving hub of the driving unit is fixedly connected to the first roller bracket.

[0008] According to some preferred implementation aspects of the utility model, the transmission assembly includes a crawler, a transmission part located at both ends of the crawler, a cover plate support part located inside the crawler and between the two transmission parts, a cover plate located on the side of the crawler away from the drive assembly, and a fixing plate located on the side of the crawler close to the drive assembly. In some embodiments of the utility model, crawlers of different materials are used for a variety of soft and hard mesh types to increase their adaptability to "crawling" on the mesh body. For looser and softer meshes (such as nylon meshes, etc.), the crawler adopts a design of softer black rubber plus rubber nails; for harder and tighter meshes (such as copper alloy meshes, etc.), the crawler adopts a design of harder yellow rubber plus metal nails. The setting of the crawler is conducive to realizing the "crawling" action of the robot on the pollution-blocking net. During the cleaning process, the operator only needs to focus on controlling the four directions of front, back, left and right, which reduces the difficulty of operation and improves the cleaning efficiency.

[0009] According to some preferred implementation aspects of the utility model, the cover plate support portion includes a support bar and a plurality of support frames located below the support bar and fixedly connected to the support bar, the top surface of the support bar fits the inner wall of the track, the sum of the heights of the support frame and the support bar is equal to the distance between the lower surface of the top of the track and the upper surface of the bottom, and the two sides of the plurality of support frames are fixedly connected to the cover plate and the fixing plate respectively. The setting of the cover plate support portion can support the inside of the track and prevent collapse in the middle part of the track when the track is long.

[0010] According to some preferred implementation aspects of the utility model, the transmission part includes a transmission hub, a transmission hub shaft is fixedly provided on one side of the transmission hub, a transmission wheel is fixedly provided on the other side of the transmission hub, the track is arranged on the outer periphery of the transmission wheel, and the side of the transmission hub shaft away from the transmission wheel is fixedly connected to one end of the first roller.

[0011] According to some preferred implementation aspects of the utility model, the rolling assembly includes a second roller bracket, a roller and a second roller, one roller is fixedly arranged on each side of the second roller bracket, and one end of the roller away from the second roller bracket is fixedly connected to the second roller. Similarly, considering that there are a large number of soft trash nets at the cold source protection work site of the nuclear power plant, two second rollers are arranged on the basis of the two first rollers, which is conducive to allowing the robot to easily climb up on the relatively soft trash net, and even suitable for ropes and other obstacles, greatly improving its applicability in underwater inspection and cleaning operations.

[0012] According to some preferred implementation aspects of the utility model, a plurality of protrusions are evenly spaced at both ends of each of the first roller and the second roller, a plurality of first grooves are evenly spaced along the circumference of the outer wall of the driving wheel, a plurality of second grooves are evenly spaced along the circumference of the transmission hub shaft, a plurality of third grooves are evenly spaced along the circumference of the outer wall of the roller, and the first groove, the second groove and the third groove are all used to accommodate the protrusions, and the shapes of the first groove, the second groove and the third groove match the shape of the protrusions. By inserting the protrusions into the corresponding first grooves, the second grooves or the third grooves respectively, the driving part and the first roller, the roller and the second roller, and the transmission part and the first roller and the second roller are fixedly connected, ensuring that the driving component can drive the transmission component and the rolling component to rotate.

[0013] According to some preferred implementation aspects of the utility model, the protrusion at one end of the first roller close to the driving part is arranged in a one-to-one correspondence with the first groove on one of the driving wheels, and the protrusion at one end of the first roller close to the transmission part is arranged in a one-to-one correspondence with the second groove on one of the transmission hub shafts; the protrusion at one end of the second roller close to the roller is arranged in a one-to-one correspondence with the third groove on one of the rollers, and the protrusion at one end of the second roller close to the transmission part is arranged in a one-to-one correspondence with the second groove on another of the transmission hub shafts.

[0014] According to some preferred implementation aspects of the utility model, the driver is a hydraulic motor. The utility model adopts hydraulic drive to replace the existing electric drive, thereby solving the problem that the electric drive is difficult to bear the high power consumption of the trash net cleaning operation, and is more suitable for underwater inspection and cleaning of the trash net.

[0015] Due to the adoption of the above technical scheme, compared with the prior art, the benefits of the utility model are: the transmission mechanism of the underwater inspection and cleaning robot of the garbage net of the utility model, through the mutual cooperation between the driving component, the transmission component and the rolling component, enables the robot to easily climb on a relatively soft net, greatly improving its applicability in underwater inspection and cleaning operations, and improving operating efficiency, thereby ensuring the stable operation of the equipment in a complex underwater environment, which is beneficial to ensuring the safety of the cold source of the nuclear power plant. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0017] Figure 1 It is a three-dimensional structural schematic diagram of the transmission mechanism in the preferred embodiment of the utility model;

[0018] Figure 2 It is an exploded view of the transmission assembly of the transmission mechanism in the preferred embodiment of the utility model;

[0019] Figure 3 It is an exploded view of the driving part of the transmission mechanism in the preferred embodiment of the utility model;

[0020] Among them, the figure markings are: driving assembly-1, first roller bracket-11, driving part-12, driver-121, driving hub-122, driving wheel-123, first groove-C1, bearing-124, support plate-125, hub insert-126, gasket-127, screw-128, first roller-13, transmission assembly-2, track-21, transmission part-22, transmission hub-221, transmission hub shaft-222, second groove-C2, transmission wheel-223, cover plate-23, fixing plate-24, support bar-25, support frame-26, connecting frame-27, track tensioning assembly-28, rolling assembly-3, second roller bracket-31, roller-32, third groove-C3, second roller-33, protrusion-4. DETAILED DESCRIPTION

[0021] In order to enable those skilled in the art to better understand the technical solution of the present invention, the following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solution in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0022] like Figures 1 to 3 As shown, the transmission mechanism of this embodiment includes a driving assembly 1, a transmission assembly 2 and a rolling assembly 3, wherein two transmission assemblies 2 are symmetrically arranged. The length extension direction of the driving assembly 1 is parallel to the length extension direction of the rolling assembly 3, and the driving assembly 1 and the rolling assembly 3 are located between the two transmission assemblies 2; one end of the driving assembly 1 is connected to one end of one transmission assembly 2, the other end of the driving assembly 1 is connected to one end of another transmission assembly 2, one end of the rolling assembly 3 is connected to one end of one transmission assembly 2 away from the driving assembly 1, and the other end of the rolling assembly 3 is connected to one end of another transmission assembly 2 away from the driving assembly 1.

[0023] Furthermore, the driving assembly 1 includes a first roller support 11, a driving unit 12 and a first roller 13. There are two driving units 12 and two first rollers 13, and the two driving units 12 are symmetrically arranged. One driving unit 12 is fixedly connected to both sides of the first roller support 11, and one end of each driving unit 12 away from the first roller support 11 is fixedly connected to one end of a first roller 13, and a plurality of protrusions 4 are evenly spaced at both ends of each first roller 13.

[0024] Specifically, each driving part 12 includes a driver 121, a driving hub 122 and a driving wheel 123. The driving hub 122 is sleeved on the outside of the driver 121. A support plate 125 is provided at one end of the driving hub 122. The support plate 125 is fixedly connected to the outer shell of one end of the driver 121 by countersunk screws. A bearing 124 is provided between the driving hub 122 and the driving wheel 123, and the driving wheel 123 is rotatably connected to the driving hub 122 through the bearing 124, so that the driving wheel 123 can rotate relative to the driving hub 122; the rotating shaft of the driver 121 extends outward from the end of the driving hub 122 provided with the support plate 125 and passes through the interior of the driving wheel 123, and the end of the driving wheel 123 away from the driving hub 122 is provided with a hub insert 126 and a gasket 127, and the screw 128 is passed through the hub insert 126 and the gasket 127 and then connected to the rotating shaft of the driver 121, so that the rotating shaft of the driver 121 is fixedly connected to the driving wheel 123, so that the driving wheel 123 can rotate with the rotation of the rotating shaft of the driver 121. In this embodiment, the driver 121 is a hydraulic motor, and by adopting a hydraulic drive instead of an existing electric drive, the problem that the electric drive is difficult to bear the high power consumption of the cleaning operation of the pollution control net is solved, and it is more suitable for the underwater inspection and cleaning of the pollution control net.

[0025] The outer wall of the driving wheel 123 is provided with a plurality of first grooves C1 for accommodating the protrusions 4 at evenly spaced intervals along its circumference. The plurality of protrusions 4 on one end of each first roller 13 close to the driving portion 12 are arranged in one-to-one correspondence with the plurality of first grooves C1 on a driving wheel 123, and the shape of the first groove C1 is consistent with the shape of the protrusion 4. By inserting the protrusion 4 into the corresponding first groove C1, the driving portion 12 and the first roller 13 are fixedly connected.

[0026] Further, the rolling assembly 3 includes a second roller support 31, a roller 32 and a second roller 33, wherein two rollers 32 and two second rollers 33 are also provided, and one roller 32 is fixedly connected to both sides of the second roller support 31, and one end of each roller 32 away from the second roller support 31 is fixedly connected to one end of a second roller 33. A plurality of protrusions 4 are also evenly spaced at both ends of each second roller 33. In addition, a plurality of third grooves C3 for accommodating the protrusions 4 are evenly spaced along the circumference of the outer wall of the roller 32, and the plurality of protrusions 4 on one end of each second roller 33 close to the roller 32 are arranged one by one correspondingly to the plurality of third grooves C3 on one roller 32, and the shape of the third groove C3 matches the shape of the protrusion 4, and the roller 32 and the second roller 33 are fixedly connected by inserting the protrusion 4 into the corresponding third groove C3. In this embodiment, considering that there are a large number of soft trash nets at the cold source protection work site of the nuclear power plant, two first rollers 13 and two second rollers 33 are provided, which is conducive to allowing the robot to easily climb up on the relatively soft trash nets, even for ropes and other obstacles, greatly improving its applicability in underwater inspection and cleaning operations.

[0027] Furthermore, the transmission assembly 2 includes a crawler 21, a transmission part 22 located at both ends of the crawler 21, a cover plate support part located inside the crawler 21 and between the two transmission parts 22, a cover plate 23 located on the side of the crawler 21 away from the drive assembly 1, a fixing plate 24 located on the side of the crawler 21 close to the drive assembly 1, a connecting frame 27 fixedly arranged at one end of the fixing plate 24, and a crawler tensioning assembly 28 fixedly arranged on the outer wall of the fixing plate 24. Among them, the material of the crawler 21 is different for different soft and hard net types, so as to ensure that the robot can better "crawl" on the trash net, and by adjusting the crawler tensioning assembly 28, the tension of the crawler 21 can be controlled to adapt to different working conditions.

[0028] Specifically, the transmission part 22 includes a transmission hub 221, a transmission hub shaft 222 is fixedly provided on one side of the transmission hub 221, a transmission wheel 223 is fixedly provided on the other side of the transmission hub 221, and the track 21 is sleeved on the outer periphery of the transmission wheel 223. In this embodiment, the structures of the transmission hubs 221 in the two transmission parts 22 are different, which is to better ensure the smoothness of the connection between the fixed plate 24 and the two transmission parts 22, so that the connection between the various components in the transmission assembly 2 remains stable and does not interfere with each other. The connecting frame 27 is fixedly provided at one end of the fixed plate 24 close to the drive assembly 1, and the shape of the connecting frame 27 is arc-shaped. When the connecting frame 27 is fixedly connected to one end of the fixed plate 24, the transmission hub 221 of one of the transmission parts 22 is located at the inner periphery of the connecting frame 27, which can limit the transmission part 22 as a whole.

[0029] The cover plate support portion includes a support bar 25 and a plurality of support frames 26. In this embodiment, two support bars 25 are provided and three support frames 26 are provided. The three support frames 26 are all located below the two support bars 25 and are fixedly connected to the two support bars 25. The top surfaces of the two support bars 25 are both in contact with the inner wall of the track 21, and the sum of the heights of the support frames 26 and the support bars 25 is equal to the distance between the lower surface of the top of the track 21 and the upper surface of the bottom thereof, so as to support the inside of the track 21 and prevent the track 21 from collapsing in the middle part when the track 21 is long. One side of each support frame 26 is fixedly connected to the cover plate 23, and the other side of each support frame 26 is fixedly connected to the fixing plate 24. The track 21 is located between the cover plate 23 and the fixing plate 24. The connection between the cover plate support portion and the cover plate 23 and the fixing plate 24 can limit and fix the track 21.

[0030] The outer wall of the transmission hub shaft 222 is provided with a plurality of second grooves C2 for accommodating the protrusions 4 at evenly spaced intervals along its circumference. The plurality of protrusions 4 at one end of each first roller 13 close to the transmission part 22 are arranged in a one-to-one correspondence with the plurality of second grooves C2 on one transmission hub shaft 222. The plurality of protrusions 4 at one end of each second roller 33 close to the transmission part 22 are also arranged in a one-to-one correspondence with the plurality of second grooves C2 on another transmission hub shaft 222. The shape of the second groove C2 is consistent with the shape of the protrusion 4. By inserting the protrusion 4 into the corresponding second groove C2, the transmission hub shaft 222 of the transmission part 22 is fixedly connected to the first roller 13 and the second roller 33.

[0031] In this embodiment, the driver 121 of the driving component 1 drives its rotating shaft to rotate, and the first roller 13 drives the transmission hub shaft 222 of the transmission component 2 to rotate, and then the second roller 33 and the roller 32 of the rolling component 3 are driven to rotate through the transmission wheel 223 and the track 21, thereby ensuring the stable operation of the robot in a complex underwater environment.

[0032] The above embodiments are only for illustrating the technical concept and features of the utility model, and their purpose is to enable people familiar with the technology to understand the content of the utility model and implement it accordingly, and they cannot be used to limit the protection scope of the utility model. Any equivalent changes or modifications made according to the spirit of the utility model should be included in the protection scope of the utility model.

Claims

1. A transmission mechanism for an underwater inspection and cleaning robot for a waste interception net, characterized in that: It includes a driving component, a transmission component and a rolling component, wherein two transmission components are symmetrically arranged, the length extension direction of the driving component is parallel to the length extension direction of the rolling component, and the driving component and the rolling component are located between the two transmission components; one end of the driving component is connected to one end of one transmission component, the other end of the driving component is connected to one end of another transmission component, one end of the rolling component is connected to one end of one transmission component away from the driving component, and the other end of the rolling component is connected to one end of another transmission component away from the driving component, and the driving component is used to drive the rolling component to roll through the transmission component.

2. The transmission mechanism according to claim 1, characterized in that: The driving assembly includes a first roller bracket, two driving parts respectively fixedly connected to two sides of the first roller bracket, and a first roller respectively connected to one end of the driving part, and the two driving parts are symmetrically arranged.

3. The transmission mechanism according to claim 2, characterized in that: The driving part includes a driver, a driving hub mounted outside the driver and fixedly connected to the outer shell of the driver, and a driving wheel rotatably connected to the driving hub. The rotating shaft of the driver extends outward from one end of the driving hub, the rotating shaft of the driver is fixedly connected to the driving wheel, and one side of the driving hub of the driving part is fixedly connected to the first roller bracket.

4. The transmission mechanism according to claim 3, characterized in that: The transmission assembly includes a crawler track, transmission parts located at both ends of the crawler track, a cover plate support part located inside the crawler track and between the two transmission parts, a cover plate located on the side of the crawler track away from the drive assembly, and a fixing plate located on the side of the crawler track close to the drive assembly.

5. The transmission mechanism according to claim 4, characterized in that: The cover plate support portion includes a support bar and a plurality of support frames located below the support bar and fixedly connected to the support bar, the top surface of the support bar is in contact with the inner wall of the track, the sum of the heights of the support frame and the support bar is equal to the distance between the lower surface of the top of the track and the upper surface of the bottom thereof, and the two sides of the plurality of support frames are fixedly connected to the cover plate and the fixing plate respectively.

6. The transmission mechanism according to claim 5, characterized in that: The transmission part includes a transmission hub, a transmission hub shaft is fixedly provided on one side of the transmission hub, a transmission wheel is fixedly provided on the other side of the transmission hub, the track is arranged on the outer circumference of the transmission wheel, and the side of the transmission hub shaft away from the transmission wheel is fixedly connected to one end of the first roller.

7. The transmission mechanism according to claim 6, characterized in that: The rolling assembly comprises a second roller bracket, a roller and a second roller. A roller is fixedly arranged on each of two sides of the second roller bracket, and one end of the roller away from the second roller bracket is fixedly connected to the second roller.

8. The transmission mechanism according to claim 7, characterized in that: A plurality of protrusions are evenly spaced at both ends of each of the first roller and the second roller, a plurality of first grooves are evenly spaced along the circumference of the driving wheel on the outer wall, a plurality of second grooves are evenly spaced along the circumference of the transmission hub shaft on the outer wall, a plurality of third grooves are evenly spaced along the circumference of the roller on the outer wall, the first groove, the second groove and the third groove are all used to accommodate the protrusions, and the shapes of the first groove, the second groove and the third groove are consistent with the shapes of the protrusions.

9. The transmission mechanism according to claim 8, characterized in that: The protrusion at one end of the first roller close to the driving part is arranged in a one-to-one correspondence with the first groove on the driving wheel, and the protrusion at one end of the first roller close to the transmission part is arranged in a one-to-one correspondence with the second groove on the transmission hub shaft; the protrusion at one end of the second roller close to the roller is arranged in a one-to-one correspondence with the third groove on the roller, and the protrusion at one end of the second roller close to the transmission part is arranged in a one-to-one correspondence with the second groove on the other transmission hub shaft.

10. The transmission mechanism according to claim 3, characterized in that: The driver is a hydraulic motor.

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