Rotary turnout for water and electricity junction corridor inspection robot

Abstract

The utility model relates to the technical field of hydropower hub corridor inspection, in particular to a rotary turnout for a hydropower hub corridor inspection robot, which comprises a first track, a second track and a rotary track component. The first track and the second track are both fixedly connected with the top of the gallery, the first track and the second track are arranged in a crossed mode, and the first track and the second track are disconnected at the crossed position and form gaps with the same length; the rotating track assembly is located at the intersection breakpoint of the first track and the second track and comprises a driving assembly and a rotating track body, the driving assembly is fixedly connected with the top of the corridor, and a power output shaft is arranged at the bottom of the driving assembly and connected with the center of the rotating track body. The rotating track body, the first track and the second track are located on the same horizontal plane. The utility model has the advantage that the inspection robot can steer towards any direction at the crossroad.

Description

Technical Field

[0001] The utility model relates to the technical field of hydropower hub corridor inspection, in particular to a rotary turnout for a hydropower hub corridor inspection robot. Background Art

[0002] There are many items that need to be inspected regularly in hydropower corridors, such as "whether there are cracks in the corridor wall and bottom plate, the opening and closing of expansion joints, whether the concrete is peeling off, the displacement between adjacent dam sections, and whether the deformation of the dam is normal". Manual inspections have the problems of high labor intensity, poor working environment, unstable inspection results, and are prone to missed inspections. Therefore, robots are used instead of manual inspections.

[0003] In the hydropower hub corridor, the space is small, the height is about 1.7m, and the interior of the corridor is complex with many crossroads and three-way intersections. The inspection robot needs to be able to turn in multiple directions in a very small space to complete the inspection task.

[0004] In order to solve the turning problem at the ramp, the traditional inspection robot uses an arc track for transition and turning, which requires a large turning space. When the turning space is small, the machine is easily stuck. The water conservancy corridor has a small space and a complex environment, so the inspection robot needs to be able to turn in multiple directions at the fork. The traditional inspection robot can only move in one direction through the preset track. Utility Model Content

[0005] The purpose of the utility model is to overcome the shortcomings of the prior art and provide a rotary turnout for a hydropower hub corridor inspection robot to solve at least one of the above-mentioned technical problems.

[0006] The purpose of the utility model is achieved through the following technical solutions: a rotating turnout for a hydropower hub corridor inspection robot, comprising a first track, a second track and a rotating track assembly; the first track and the second track are both fixedly connected to the top of the corridor, the first track and the second track are cross-arranged, the first track and the second track are both disconnected at the position where the two intersect each other and form gaps of the same length; the rotating track assembly is located at the intersection breakpoint of the first track and the second track, and includes a drive assembly and a rotating track body, the drive assembly is fixedly connected to the top of the corridor, the bottom of the drive assembly has a power output shaft, the power output shaft is connected to the center of the rotating track body, and the rotating track body and the first track and the second track are located in the same horizontal plane.

[0007] The utility model sets a rotating track component and utilizes the drive of the driving component to enable the rotating track body to be aligned with the first track or the second track through rotation, so that when the robot reaches the rotating track body, it can turn and switch the track in any direction to travel.

[0008] In some embodiments, the driving assembly includes a mounting frame, a power component and a controller disposed on the mounting frame, the mounting frame is connected to the top of the corridor, the power component is electrically connected to the controller, and the power output shaft is disposed on the power component. The controller controls the power component so as to rotate the rotating track body at an appropriate time.

[0009] In some embodiments, the mounting frame includes a top mounting plate and a bottom mounting plate, the power component and the controller are both arranged on the bottom mounting plate, the bottom mounting plate is connected to the top mounting plate via a connecting rod, and the top mounting plate is connected to the top of the corridor. By arranging the power component and the controller on the bottom mounting plate, it is convenient to disassemble and maintain the rotating track assembly.

[0010] In some embodiments, the power component includes a motor group and a power output shaft, the power output shaft is rotatably connected to the mounting frame, the motor group is fixedly connected to the mounting frame, the motor group and the power output shaft are connected via a belt transmission, and the motor group is electrically connected to the controller. The motor group and the power output shaft are connected via a belt transmission to avoid a hard connection between the motor group and the power output shaft, thereby protecting the motor group.

[0011] In some embodiments, the first track, the second track and the rotating track body each include two parallel monorails and a plurality of support frames arranged between the two monorails for fixing the monorails, and the power output shaft is connected to the support frame at the center of the rotating track body. The support frame in the utility model is used to keep the two monorails parallel and to suspend the two monorails in the corridor. Through the two monorails, both sides of the robot have hanging points to make the robot more stable during operation.

[0012] In some embodiments, an alignment detection component is also included, the alignment detection component includes a contact block and a pressure sensor, the support frames near the intersection breakpoint position on the first track and the second track are both provided with a pressure sensor, the support frames at both ends of the rotating track body are both provided with a contact block corresponding to the pressure sensor, the contact block is used to touch the pressure sensor, and the pressure sensor is electrically connected to the controller. Through the pressure sensor, the controller determines whether the rotating track body is aligned with the first track or the second track to ensure that the first track or the second track is aligned with the rotating track body.

[0013] In some embodiments, a robot detection component is further included, the robot detection component includes at least three groups of through-beam photoelectric sensors, the through-beam photoelectric sensors are arranged on the support frame at both ends and the middle position of the rotating track body, the transmitting end and the receiving end of the through-beam photoelectric sensor are respectively arranged on the support frame near the two ends of the two monorails, and the through-beam photoelectric sensor is electrically connected to the controller. Through the detection of at least three through-beam photoelectric sensors, it is ensured that the robot is completely located on the rotating track body when the controller controls the rotating track body to rotate, so as to avoid damage to the robot.

[0014] In some embodiments, a robot limiting assembly is further included, wherein two robot limiting assemblies are respectively arranged on the support frames at both ends of the rotating track body, and the robot limiting assembly includes a telescopic rod and a limiting arm, wherein the telescopic rod is vertically arranged on the support frame, and the limiting arm is vertically arranged and connected to the movable end of the telescopic rod. Through the robot limiting assembly, when the robot is located on the rotating track body and the driving assembly drives the rotating track body to start rotating, the robot is prevented from sliding out of the rotating track body.

[0015] In some embodiments, the end of the single rail of the rotating track body has a circular profile in a horizontal section. The end of the single rail of the rotating track body is set to be circular to avoid interference with the first track or the second track during the rotation of the rotating track body.

[0016] In some embodiments, the two ends of the monorail of the rotating track body are provided with notches, and the ends of the monorails of the first track and the second track are provided with extensions corresponding to the notches at the ends located at the intersection breakpoints. The notches and the extensions allow the monorail of the rotating track body and the monorail of the first track or the second track to partially overlap, thereby avoiding the formation of a gap and thus preventing the robot from getting stuck during the movement.

[0017] The utility model has the following advantages:

[0018] The utility model sets a rotating track component at the intersection breakpoint of the first track and the second track, and uses the driving component in the rotating track component to drive the rotating track body to rotate. According to the needs of the robot inspection route, when the robot moves onto the rotating track body, the rotating track body rotates and aligns with the first track or the second track, so that the robot can turn. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a structural schematic diagram of a rotary turnout for a hydropower hub corridor inspection robot of the utility model;

[0020] Figure 2 for Figure 1 Enlarged view of point A in the middle;

[0021] Figure 3 It is a cross-sectional schematic diagram of the drive assembly of the utility model;

[0022] In the figure: 1. first track; 2. second track; 3. drive assembly; 311. top mounting plate; 312. bottom mounting plate; 313. connecting rod; 32. controller; 3310. motor seat; 3311. motor; 3312. first bearing seat; 3313. driving shaft; 332. power output shaft; 3321. second bearing seat; 3322. controller mounting seat; 333. first pulley; 334. second pulley; 335. transmission belt; 4. rotating track body; 41. support frame; 42. monorail; 421. notch; 422. extension; 51. contact block; 52. pressure sensor; 6. through-beam photoelectric sensor; 71. telescopic rod mounting frame; 71. telescopic rod; 73. limit arm. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical scheme and advantages of the utility model clearer, the utility model is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the utility model and are not used to limit the utility model, that is, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. The components of the embodiments of the utility model described and shown in the drawings can be arranged and designed in various different configurations.

[0024] The present invention is further described below in conjunction with the accompanying drawings, but the protection scope of the present invention is not limited to the following description.

[0025] like Figure 1-Figure 3 As shown, a rotary turnout for a hydropower hub corridor inspection robot includes a first track 1, a second track 2 and a rotary track assembly; the first track 1 and the second track 2 are both fixedly connected to the top of the corridor, the first track 1 and the second track 2 are cross-arranged, the first track 1 and the second track 2 are both disconnected at the position where they intersect each other and form gaps of the same length; the rotary track assembly is located at the intersection breakpoint of the first track 1 and the second track 2, and includes a drive assembly 3 and a rotary track body 4, the drive assembly 3 is fixedly connected to the top of the corridor, the drive assembly 3 has a power output shaft 332 at the bottom, the power output shaft 332 is connected to the center of the rotary track body 4, and the rotary track body 4 is located on the same horizontal plane as the first track 1 and the second track 2.

[0026] Specifically, in this embodiment, the first track 1 and the second track 2 are arranged in a cross shape, and the first track 1 and the second track 2 are both disconnected at the intersection to form a gap, the gap width is greater than the width of the first track 1 and the second track 2 themselves, and the length of the rotating track body 4 is slightly smaller than the width of the above gap, so that the rotating track body 4 can rotate smoothly without interference. During the operation of this embodiment, when the inspection robot needs to turn at the intersection of the first track 1 and the second track 2, the inspection robot first moves from the first track 1 or the second track 2 to the rotating track body 4, and then drives the rotating track body 4 to rotate through the driving component 3, so that the rotating track body 4 is aligned with the first track 1 or the second track 2 in the target direction. After alignment, the robot continues to move, detaches from the rotating track component, enters the first track 1 or the second track 2, and completes the turn.

[0027] Preferably, the driving assembly 3 includes a mounting frame and a power component and a controller 32 arranged on the mounting frame, the mounting frame is connected to the top of the corridor, the power component is electrically connected to the controller 32, and the power output shaft 332 is arranged on the power component.

[0028] Preferably, the mounting frame includes a top mounting plate 311 and a bottom mounting plate 312, the power component and the controller 32 are both arranged on the bottom mounting plate 312, the bottom mounting plate 312 is connected to the top mounting plate 311 through a connecting rod 313, and the top mounting plate 311 is connected to the top of the corridor. In this embodiment, the top mounting plate 311 is fixedly connected to the top of the corridor, and the bottom mounting plate 312 is bolted to the top mounting plate 311 through a connecting rod 313. By arranging the power component and the controller 32 on the bottom mounting plate 312, it is more convenient to install or disassemble the rotating track assembly for maintenance.

[0029] Preferably, the power component includes a motor group and a power output shaft 332, the power output shaft 332 is rotatably connected to the mounting frame, the motor group is fixedly connected to the mounting frame, the motor group and the power output shaft 332 are connected via a belt drive, and the motor group is electrically connected to the controller 32.

[0030] Specifically, in this embodiment, the motor group includes a motor seat 3310, a motor 3311, a driving shaft 3313 and a first bearing seat 3312. The motor seat 3310 is arranged on the upper surface of the bottom mounting plate 312. A first cavity is formed between the motor seat 3310 and the bottom mounting plate 312. The first bearing seat 3312 is bolted to the upper surface of the bottom mounting plate 312 and is located in the first cavity. The driving shaft 3313 passes through the bottom of the bottom mounting plate 312 into the first cavity and is rotatably connected to the first bearing seat 3312 through a bearing. The motor 3311 is arranged on the top of the motor seat 3310. The output shaft of the motor 3311 is located in the first cavity and is transmission-connected to the driving shaft 3313 through a coupling. A first pulley 333 is provided at the bottom of the driving shaft 3313.

[0031] A second bearing seat 3321 is arranged on one side of the first bearing seat 3312 on the upper surface of the bottom mounting plate 312, the power output shaft 332 passes through the bottom of the bottom mounting plate 312 to the second bearing seat 3321 and is rotatably connected to the second bearing seat 3321 through a bearing, and a second pulley 334 is arranged at the bottom of the power output shaft 332, and the second pulley 334 is transmission-connected to the first pulley 333 through a transmission belt 335.

[0032] A controller mounting seat 3322 is also provided on the upper surface of the bottom mounting plate 312. A second cavity is formed between the controller mounting seat 3322 and the bottom mounting plate 312. The second bearing seat 3321 is located in the second cavity. The controller 32 is arranged on the top of the controller mounting seat 3322. The controller mounting seat 3322 protects the second bearing seat 3321 while providing a mounting position for the controller 32. In this embodiment, the controller 32 may be a PLC, a single-chip microcomputer, an industrial computer, or the like.

[0033] Preferably, the first track 1, the second track 2 and the rotating track body 4 each include two parallel monorails 42 and a plurality of support frames 41 disposed between the two monorails 42 for fixing the monorails 42, and the power output shaft 332 is connected to the support frame 41 at the center position of the rotating track body 4. Specifically, in the present embodiment, the cross section of the monorail 42 is circular, the cross section of the support frame 41 is a C-shaped structure with an opening facing downward, and both ends of the support frame 41 are bolted to the monorail 42. In the present embodiment, a total of three support frames 41 are disposed on the rotating track body 4.

[0034] Preferably, an alignment detection component is also included, and the alignment detection component includes a contact block 51 and a pressure sensor 52. The pressure sensor 52 is provided on the support frame 41 near the intersection breakpoint position on the first track 1 and the second track 2, and the support frames 41 at both ends of the rotating track body 4 are provided with contact blocks 51 corresponding to the pressure sensors 52. The contact blocks 51 are used to touch the pressure sensors 52, and the pressure sensors 52 are electrically connected to the controller 32. Specifically, in this embodiment, the end of the contact block 51 is spherical. When the rotating track body 4 rotates to be aligned with the first track 1 or the second track 2, the spherical end of the contact block 51 contacts the pressure sensor 52. When the rotating track body 4 is aligned with the first track 1 or the second track 2, the pressure on the pressure sensor 52 reaches the maximum. When the controller 32 detects that the pressure on the pressure sensor 52 reaches the maximum, the driving component 3 is controlled to stop rotating the rotating track body 4.

[0035] Preferably, a robot detection component is also included, and the robot detection component includes at least three groups of opposite-beam photoelectric sensors 6, which are arranged on the support frames 41 at the two ends and the middle position of the rotating track body 4, and the transmitting end and the receiving end of the opposite-beam photoelectric sensor 6 are respectively arranged on the support frame 41 at the two ends near the two monorails 42, and the opposite-beam photoelectric sensor 6 is electrically connected to the controller 32. Specifically, in this embodiment, a group of opposite-beam photoelectric sensors 6 are respectively arranged on the three support frames 41 of the rotating track body 4, and the transmitting end and the receiving end of the opposite-beam photoelectric sensor 6 are respectively arranged at the two ends of the support frame 41 and are bolted to the support frame 41. When the robot moves into the rotating track body 4, the optical path of the opposite-beam photoelectric sensor 6 is cut off by the robot, and the controller 32 determines that the robot enters the rotating track body 4. When the three groups of opposite-beam photoelectric sensors 6 all sense the robot, the controller 32 determines that the robot has completely entered the rotating track body 4, and at this time, the controller 32 controls the driving component 3 to drive the rotating track component to rotate.

[0036] Preferably, a robot limiting assembly is further included, and two robot limiting assemblies are respectively arranged on the support frames 41 at both ends of the rotating track body 4, and the robot limiting assembly includes a telescopic rod 71 and a limiting arm 73, wherein the telescopic rod 71 is vertically arranged on the support frame 41, and the limiting arm 73 is vertically arranged and connected to the movable end of the telescopic rod 71. Specifically, in the embodiment, the telescopic rod 71 is a single-axis robot, which is a common component for those skilled in the art, and its structure is not described in detail here. In some other embodiments, the telescopic rod 71 can also be a hydraulic cylinder or an electric cylinder.

[0037] In this embodiment, telescopic rod mounting frames 71 are provided on the two support frames 41 at both ends of the rotating track body 4, the single-axis robot is vertically arranged and bolted to the telescopic rod mounting frames 71, and a limit arm 73 is vertically arranged on the movable end of the single-axis robot. In this embodiment, when the robot completely enters the rotating track body 4, in order to prevent the robot from being separated from the rotating track body 4 during the process of rotating the rotating track body 4, before rotating the rotating track body 4, the controller 32 controls the movable end of the single-axis robot to descend, driving the limit arm 73 to descend, so that the limit arm 73 blocks the robot to ensure that the robot does not slip off, and when the rotating track body 4 rotates and is aligned with the first track 1 or the second track 2, the controller 32 controls the movable end of the single-axis robot to rise, so that the limit arm 73 rises, so that the robot can continue to move.

[0038] Preferably, the end of the single rail 42 of the rotating rail body 4 has a circular profile in a horizontal cross section.

[0039] The end of the horizontal cross section of the single rail 42 on the rotating track body 4 is provided with a round shape to avoid the rotating track body 4 rotating.

[0040] Preferably, notches 421 are provided at both ends of the single rail 42 of the rotating rail body 4, and extensions 422 corresponding to the notches 421 are provided at the ends of the single rails 42 of the first rail 1 and the second rail 2 at the intersection breakpoints.

[0041] Since the length of the rotating track body 4 is slightly smaller than the width of the gap between the first track 1 or the second track 2 at the intersection breakpoint, in order to ensure that no gap is generated between the rotating track body 4 and the first track 1 or the second track 2 when aligned, a notch portion 421 is provided at the upper half of the end of the single rail 42 of the rotating track body 4, and an extension portion 422 is provided at the upper half of the end of the single rail 42 of the first track 1 and the second track 2, to ensure that the rotating track body 4 always has an overlapping portion when aligned with the first track 1 or the second track 2, so as to ensure that the robot can pass through the end docking point between the rotating track body 4 and the first track 1 or the second track 2.

[0042] The above is only a preferred embodiment of the utility model, and does not limit the utility model in any form. Any technician familiar with the field can make many possible changes and modifications to the technical solution of the utility model by using the above-mentioned technical content without departing from the scope of the technical solution of the utility model, or modify it into an equivalent embodiment of equivalent changes. Therefore, any changes, modifications, equivalent changes and modifications made to the above embodiments based on the technology of the utility model without departing from the content of the technical solution of the utility model shall fall within the protection scope of the technical solution of the utility model.

Claims

1. A rotary turnout for a hydropower hub corridor inspection robot, characterized in that: include: A first track (1) and a second track (2), wherein the first track (1) and the second track (2) are both fixedly connected to the top of the corridor, the first track (1) and the second track (2) are arranged crosswise, and the first track (1) and the second track (2) are both disconnected at the position where they intersect each other and form gaps of the same length; a rotating track component, wherein the rotating track component is located at the intersection breakpoint of the first track (1) and the second track (2), and comprises a driving component (3) and a rotating track body (4), wherein the driving component (3) is fixedly connected to the top of the corridor, and the bottom of the driving component (3) has a power output shaft (332), wherein the power output shaft (332) is connected to the center of the rotating track body (4), and the rotating track body (4) is located on the same horizontal plane as the first track (1) and the second track (2).

2. A rotary turnout for a hydropower hub corridor inspection robot according to claim 1, characterized in that: The driving assembly (3) comprises a mounting frame, a power component and a controller (32) arranged on the mounting frame, the mounting frame is connected to the top of the corridor, the power component is electrically connected to the controller (32), and the power output shaft (332) is arranged on the power component.

3. A rotary turnout for a hydropower hub corridor inspection robot according to claim 2, characterized in that: The mounting frame comprises a top mounting plate (311) and a bottom mounting plate (312), the power component and the controller (32) are both arranged on the bottom mounting plate (312), the bottom mounting plate (312) is connected to the top mounting plate (311) via a connecting rod (313), and the top mounting plate (311) is connected to the top of the corridor.

4. A rotary turnout for a hydropower hub corridor inspection robot according to claim 2, characterized in that: The power component comprises a motor group and a power output shaft (332), wherein the power output shaft (332) is rotatably connected to the mounting frame, the motor group is fixedly connected to the mounting frame, the motor group and the power output shaft (332) are connected via a belt drive, and the motor group is electrically connected to the controller (32).

5. The rotary turnout for a hydropower hub corridor inspection robot according to claim 2, characterized in that: The first track (1), the second track (2) and the rotating track body (4) all include two parallel monorails (42) and a plurality of support frames (41) arranged between the two monorails (42) for fixing the monorails (42), and the power output shaft (332) is connected to the support frame (41) at the center position of the rotating track body (4).

6. A rotary turnout for a hydropower hub corridor inspection robot according to claim 5, characterized in that: The invention also comprises an alignment detection component, wherein the alignment detection component comprises a contact block (51) and a pressure sensor (52); the pressure sensor (52) is arranged on the support frame (41) near the intersection breakpoint position on the first track (1) and the second track (2); the contact blocks (51) corresponding to the pressure sensor (52) are arranged on the support frames (41) at both ends of the rotating track body (4); the contact blocks (51) are used to touch the pressure sensor (52); and the pressure sensor (52) is electrically connected to the controller (32).

7. The rotary turnout for a hydropower hub corridor inspection robot according to claim 5, characterized in that: The invention also comprises a robot detection component, wherein the robot detection component comprises at least three groups of opposing photoelectric sensors (6), wherein the opposing photoelectric sensors (6) are arranged on a support frame (41) at both ends and in the middle of the rotating track body (4), wherein a transmitting end and a receiving end of the opposing photoelectric sensor (6) are respectively arranged on the support frame (41) at both ends close to the two monorails (42), and the opposing photoelectric sensor (6) is electrically connected to the controller (32).

8. The rotary turnout for a hydropower hub corridor inspection robot according to claim 5, characterized in that: It also includes a robot limiting assembly, wherein two robot limiting assemblies are respectively arranged on the support frames (41) at both ends of the rotating track body (4), and the robot limiting assembly includes a telescopic rod (71) and a limiting arm (73), the telescopic rod (71) is vertically arranged on the support frame (41), and the limiting arm (73) is vertically arranged and connected to the movable end of the telescopic rod (71).

9. The rotary turnout for a hydropower hub corridor inspection robot according to claim 5, characterized in that: The end of the single rail (42) of the rotating track body (4) has a circular profile in a horizontal cross section.

10. The rotary turnout for a hydropower hub corridor inspection robot according to claim 5, characterized in that: Both ends of the single rail (42) of the rotating rail body (4) are provided with notch portions (421); and the single rails (42) of the first rail (1) and the second rail (2) are provided with extension portions (422) corresponding to the notch portions (421) at the ends located at the intersection breakpoints.

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