Pick-and-place device of hydropower station gallery track inspection robot

Abstract

The utility model discloses a pick-and-place device of a hydropower station gallery track inspection robot, which belongs to the technical field of hydropower station gallery equipment and comprises a frame main body, a placing component and a pick-and-place component, and the placing component and the pick-and-place component are arranged on the frame main body. The placing assembly is movably connected to the frame main body and can move in the height direction relative to the frame main body, and the placing assembly is used for placing an inspection robot; and the taking and placing assembly is used for transferring the inspection robot between the placing assembly and the track after the placing assembly moves to the position corresponding to the track. According to the pick-and-place device of the hydropower station gallery track inspection robot, the placement assembly and the pick-and-place assembly are arranged, so that the inspection robot can be installed and taken down more easily in a labor-saving mode, and the pick-and-place device has high practicability.

Description

Technical Field

[0001] The utility model relates to the technical field of corridor equipment of a hydropower station, in particular to a pick-and-place device of a corridor track inspection robot of a hydropower station. Background Art

[0002] A hydropower station corridor refers to an artificial passage built at the water inlet and outlet of a hydropower station, which is used to maintain and inspect the equipment and machinery of the hydropower station. Usually, a hydropower station corridor is built downstream of the dam of a hydropower station. It is an important passage connecting the water pipes and cables of the hydropower station. The construction of a hydropower station corridor needs to consider many factors, such as the geographical environment, water flow conditions, and the layout of hydropower station equipment. Usually, the width of the corridor should be wide enough to accommodate the work of maintenance and inspection personnel. At the same time, safety factors such as anti-slip and wind protection should also be considered. Inspection robots are usually used for the inspection and maintenance of hydropower stations.

[0003] The tracks of existing hydropower station corridor inspection robots are usually hoisted in the corridor. Due to the high height of the tracks and the inspection robots are usually installed and removed manually, the operations of removing the inspection robots from the tracks or installing the robots on the tracks are very cumbersome and laborious, which is inconvenient. Utility Model Content

[0004] In view of the above shortcomings of the prior art, the present invention provides a pick-up and place device for a hydropower station corridor track inspection robot to solve the existing problems raised in the above background technology. To achieve the above purpose, the present invention provides the following technical solutions:

[0005] The pick-and-place device of a hydropower station corridor track inspection robot comprises a frame body and a placement component and a pick-and-place component arranged on the frame body; the placement component is movably connected to the frame body and can move in the height direction relative to the frame body, and the placement component is used to place the inspection robot; the pick-and-place component is used to transfer the inspection robot between the placement component and the track after the placement component moves to a position corresponding to the track.

[0006] Furthermore, the frame body includes a base and side panels; the side panels and the upper surface of the base are fixedly connected, the outer surface of the side panels is fixedly connected to a motor, the output shaft of the motor is fixedly connected to a driving sprocket, the groove inside the side panels is rotatably connected to a driven sprocket, the outer surfaces of the driving sprocket and the driven sprocket are provided with chains, and the outer surface of the chain is fixedly connected to a placement component.

[0007] Furthermore, there are two side panels, which are symmetrically arranged on both sides of the base; and the placement component is arranged between opposite surfaces of the two side panels.

[0008] Furthermore, the placement component includes a supporting groove, a vertical plate is fixedly connected to the side of the top of the supporting groove, a horizontal frame is fixedly connected to the outer surface of the vertical plate, the horizontal frame is symmetrically arranged on both sides of the inspection robot, an inner groove is opened inside the horizontal frame, and an elastic arc plate is fixedly connected to the inner surface of the inner groove.

[0009] Furthermore, a connection block is fixedly connected to the outer surface of the transverse frame, and the chain passes through the connection block and is fixedly connected to the connection block.

[0010] Furthermore, an entrance and exit are provided on one side of the support groove, and the inner surface of the support groove is adapted to the bottom of the inspection robot.

[0011] Furthermore, the pick-and-place assembly includes a mobile frame and an adjustment drive mechanism; the inner surface of the mobile frame is adapted to the outer surface of the inspection robot; the adjustment drive mechanism is fixedly connected to the side panel, and the adjustment drive mechanism is used to drive the mobile frame to change the front and rear position and the up and down position, so that the mobile frame drives the inspection robot to transfer between the placement assembly and the track.

[0012] Furthermore, the adjustment drive mechanism includes a fixed seat, a telescopic cylinder and an extension plate, the fixed seat and the outer surface of the side plate are fixedly connected; a slide groove is provided inside the fixed seat, and a slider is slidably connected inside the slide groove; the bottom end of the telescopic cylinder is fixedly connected to the upper surface of the slider, the top end of the telescopic cylinder is fixedly connected to the extension plate, and the outer surface of the extension plate is fixedly connected to the movable frame.

[0013] Furthermore, the fixing seat is horizontally arranged on the outer side of the side plate, and the telescopic cylinder is vertically arranged on the outer side of the side plate.

[0014] Furthermore, a universal wheel is fixedly connected to the lower surface of the base, and the universal wheel is arranged at the corner of the lower surface of the base.

[0015] The beneficial effects of the utility model are:

[0016] The utility model provides a pick-and-place device for a hydropower station corridor track inspection robot. By placing components, the inspection robot can be moved up and down with the cooperation of a motor, a driving sprocket, a driven sprocket and a chain. With the cooperation of a telescopic cylinder, a moving frame, a slider and a slide groove, the moving frame can drive the inspection robot to move horizontally, thereby making it convenient to remove the inspection robot from the track and also convenient to install the inspection robot on the track, making the operation easier and more labor-saving, and having higher practicality. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0018] Figure 2 It is a structural schematic diagram of a pick-and-place device of a hydropower station corridor track inspection robot provided by the utility model;

[0019] Figure 3 It is a schematic diagram of the internal structure of the pick-and-place device of the hydropower station corridor track inspection robot provided by the utility model;

[0020] Figure 4 It is a structural schematic diagram of the placement component of the utility model.

[0021] In the attached drawings: 1. track; 2. inspection robot; 301. base; 302. side panel; 303. universal wheel; 304. motor; 305. driving sprocket; 306. driven sprocket; 307. chain; 308. placement component; 3081. support groove; 3082. vertical plate; 3083. horizontal frame; 3084. connecting block; 3085. internal groove; 3086. elastic arc plate; 3087. entrance and exit; 309. fixed seat; 310. slide groove; 311. slider; 312. telescopic cylinder; 313. extension plate; 314. mobile frame. DETAILED DESCRIPTION

[0022] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific implementation methods, but the present invention is not limited to the following embodiments.

[0023] Embodiment 1:

[0024] See attached Figures 1 to 4 . The utility model discloses a pick-and-place device for a hydropower station corridor track inspection robot, including a frame body, a placement component 308 and a pick-and-place component arranged on the frame body, and the height of the frame body is adapted to the hydropower station corridor track. The placement component 308 is movably connected to the frame body, and can move in the height direction relative to the frame body, that is, the placement component 308 can move in the up and down directions relative to the frame body, and the placement component 308 is used to place the inspection robot 2. The pick-and-place component is used to transfer the inspection robot 2 between the placement component 308 and the track 1 after the placement component 308 moves to a position corresponding to the track 1.

[0025] Taking the removal of the inspection robot 2 on the track 1 as an example, when in use, the inspection robot 2 is controlled to move to the installation end of the track 1, and the entire placement device is also moved to the installation end of the track 1, so that the placement component 308 moves upward along the frame body until the placement surface of the placement component 308 moves to the corresponding height of the track 1; by controlling the pick-and-place component, the inspection robot 2 on the track 1 is transferred to the placement component 308; and then the placement component 308 is controlled to move downward along the frame body. When the placement component 308 moves downward along the frame body, it can drive the inspection robot 2 placed on the placement component 308 to move downward, thereby removing the inspection robot 2 from the track 1.

[0026] Specifically, Figure 2 and Figure 3 As shown, the structure of the framework body is as follows:

[0027] The frame body includes a base 301 and a side plate 302. The side plate 302 is fixedly connected to the upper surface of the base 301. The outer surface of the side plate 302 is fixedly connected to a motor 304. The output shaft of the motor 304 is fixedly connected to a driving sprocket 305. The groove inside the side plate 302 is rotatably connected to a driven sprocket 306. The outer surfaces of the driving sprocket 305 and the driven sprocket 306 are provided with a chain 307. The outer surface of the chain 307 is fixedly connected to a placement component 308. Preferably, the driving sprocket 305 is arranged in the groove inside the side plate 302, and the driven sprocket 306 is arranged just above the driving sprocket 305. When working, the motor 304 is started, and the motor 304 drives the driving sprocket 305 to rotate. The chain 307 is driven with the cooperation of the driven sprocket 306, so that the placement component 308 moves upward along with the chain 307 until the placement surface of the placement component 308 is on the same horizontal line with the track 1.

[0028] Preferably, there are two side panels 302, which are symmetrically arranged on both sides of the base 301, and the placement component 308 is arranged between the opposite surfaces of the two side panels 302, that is, the side panels 302, the motor 304, the driving sprocket 305, the driven sprocket 306 and the chain 307 are all symmetrically arranged on both sides of the placement component 308.

[0029] Specifically, Figure 4 As shown, the structure of the placement component 308 is as follows:

[0030] The placement component 308 includes a support groove 3081, which is horizontally arranged and can be used to support and accommodate the inspection robot 2. A vertical plate 3082 is fixedly connected to the side of the top of the support groove 3081, and a horizontal frame 3083 is fixedly connected to the outer surface of the vertical plate 3082. The horizontal frame 3083 is horizontally arranged and extends along the length direction of the support groove 3081. The horizontal frame 3083 is symmetrically arranged on both sides of the inspection robot 2. An internal groove 3085 is opened inside the horizontal frame 3083, and an elastic arc plate 3086 is fixedly connected to the inner surface of the internal groove 3085. When the inspection robot 2 moves from the track 1 to the support groove 3081, the outer surface of the inspection robot 2 is just stuck in the internal groove 3085, and the elastic arc plate 3086 is squeezed and deformed. Under the elastic force of the two elastic arc plates 3086, the inspection robot 2 is not easy to slide out of the support groove 3081.

[0031] The outer surface of the transverse frame 3083 is fixedly connected with a connecting block 3084, and the chain 307 passes through the connecting block 3084 and is fixedly connected to the connecting block 3084. When the chain 307 is driven, the entire placement assembly 308 is driven to move up and down along with the chain 307 through the connecting block 3084.

[0032] An entrance 3087 is provided on one side of the support groove 3081, and the inner surface of the support groove 3081 is adapted to the bottom of the inspection robot 2. An entrance 3087 is provided on one side of the support groove 3081, and the entrance 3087 corresponds to the installation end of the track 1, so as to facilitate the transfer of the inspection robot 2 from the track 1 to the support groove 3081.

[0033] Embodiment 2:

[0034] See attached Figures 1 to 4 . On the basis of the first embodiment, the structure of the pick-and-place assembly of the pick-and-place device of the hydropower station corridor track inspection robot disclosed in the utility model is as follows: the pick-and-place assembly includes a mobile frame 314 and an adjustment drive mechanism, and the inner surface of the mobile frame 314 is adapted to the outer surface of the inspection robot 2. The adjustment drive mechanism is fixedly connected to the side plate 302, and the adjustment drive mechanism is used to drive the mobile frame 314 to change the front and rear position and the up and down position, so that the mobile frame 314 drives the inspection robot 2 to transfer between the placement assembly 308 and the track 1.

[0035] Specifically, Figure 2As shown, the adjustment drive mechanism includes a fixed seat 309, a telescopic cylinder 312 and an extension plate 313. The fixed seat 309 is fixedly connected to the outer surface of the side plate 302. A slide groove 310 is provided inside the fixed seat 309. A slider 311 is slidably connected inside the slide groove 310. The slider 311 can be slidably connected to the slide groove 310 through a slide rail. The bottom end of the telescopic cylinder 312 is fixedly connected to the upper surface of the slider 311. The top end of the telescopic cylinder 312 is fixedly connected to the extension plate 313. The outer surface of the extension plate 313 is fixedly connected to the moving frame 314. The extension plate 313 and the moving frame 314 are arranged above the side plate 302. Taking the transfer of the inspection robot 2 on the track 1 to the placement component 308 as an example, when in use, the telescopic cylinder 312 is manually moved to make the slider 311 slide inside the slide groove 310 until the mobile frame 314 moves to directly above the inspection robot 2, and the telescopic cylinder 312 is electrically controlled to shorten, driving the mobile frame 314 to move downward, so that the mobile frame 314 covers the top of the inspection robot 2, and then the telescopic cylinder 312 is manually moved horizontally, so that the mobile frame 314 drives the inspection robot 2 to move from the track 1 to the support groove 3081, until the inspection robot 2 is completely pushed into the support groove 3081.

[0036] Preferably, the fixing seat 309 is horizontally arranged on the outer side of the side plate 302 , and the telescopic cylinder 312 is vertically arranged on the outer side of the side plate 302 .

[0037] In this embodiment, the lower surface of the base 301 is fixedly connected with a universal wheel 303, which is arranged at the corner of the lower surface of the base 301. The universal wheel 303 can be used to drive the entire placement device to move.

[0038] The workflow of the pick-and-place device of the hydropower station corridor track inspection robot disclosed in the utility model is as follows:

[0039] When using, Figure 1As shown, the track 1 and the pick-and-place device are adapted to the inspection robot 2. When the inspection robot 2 on the track 1 needs to be removed, the inspection robot 2 is controlled to move to the installation end of the track 1, and the entire placement device is also moved to the installation end of the track 1 through the universal wheel 303, and the entrance 3087 is directed to one side of the inspection robot 2. The motor 304 is started to drive the driving sprocket 305 to rotate, and the chain 307 is driven with the cooperation of the driven sprocket 306, so that the placement component 308 moves upward with the chain 307 until the support groove 3081 The bottom of the inner surface is on the same horizontal line as the bottom of the inspection robot 2. The telescopic cylinder 312 is manually moved to make the slider 311 slide inside the slide groove 310 until the mobile frame 314 moves to the top of the inspection robot 2. The telescopic cylinder 312 is electrically controlled to shorten to drive the mobile frame 314 to move downward, so that the mobile frame 314 covers the top of the inspection robot 2. The telescopic cylinder 312 is then manually moved horizontally, so that the mobile frame 314 drives the inspection robot 2 to move from the entrance 3087 to the support groove 3081. At this time, The outer surface of the inspection robot 2 is just stuck in the inner groove 3085, and the elastic arc plate 3086 is squeezed and deformed. Under the elastic force of the two elastic arc plates 3086, the inspection robot 2 is not easy to slide out of the support groove 3081. When the inspection robot 2 is completely pushed into the support groove 3081, the inspection robot 2 just leaves the track 1, and then the motor 304 is driven to make the chain 307 drive the placement component 308 to move downward, so that the inspection robot 2 is brought down, and the operation of removing the inspection robot 2 from the track 1 is completed. When it is necessary When the inspection robot 2 is to be installed on the track 1, the inspection robot 2 is pushed horizontally into the support groove 3081 so that the two elastic arc plates 3086 fix the inspection robot 2, and then the motor 304 is driven to drive the placement component 308 to move upward until the driving wheel on the inspection robot 2 is on the same horizontal line as the top of the track 1. After using the moving frame 314 to cover the top of the inspection robot 2, the telescopic cylinder 312 is moved horizontally until the moving frame 314 drives the inspection robot 2 onto the track 1, completing the installation operation of the inspection robot 2.

[0040] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions. The sentence "includes an element defined by... does not exclude the existence of other identical elements in the process, method, article or device including the element".

[0041] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A pick-and-place device for a hydropower station corridor track inspection robot, characterized in that: The invention comprises a frame body and a placement component (308) and a pick-and-place component arranged on the frame body; the placement component (308) is movably connected to the frame body and can move in the height direction relative to the frame body, and the placement component (308) is used to place an inspection robot (2); the pick-and-place component is used to transfer the inspection robot (2) between the placement component (308) and the track (1) after the placement component (308) moves to a position corresponding to the track (1).

2. The pick-and-place device of the hydropower station corridor track inspection robot according to claim 1 is characterized in that: The frame body comprises a base (301) and a side plate (302); the side plate (302) and the upper surface of the base (301) are fixedly connected, the outer surface of the side plate (302) is fixedly connected with a motor (304), the output shaft of the motor (304) is fixedly connected with a driving sprocket (305), the groove inside the side plate (302) is rotatably connected with a driven sprocket (306), the outer surfaces of the driving sprocket (305) and the driven sprocket (306) are provided with chains (307), and the outer surface of the chain (307) is fixedly connected with a placement component (308).

3. The pick-and-place device of the hydropower station corridor track inspection robot according to claim 2 is characterized in that: There are two side panels (302), and the two side panels (302) are symmetrically arranged on both sides of the base (301); the placement component (308) is arranged between the opposite surfaces of the two side panels (302).

4. The pick-and-place device of the hydropower station corridor track inspection robot according to claim 2 is characterized in that: The placement component (308) comprises a support groove (3081), a vertical plate (3082) is fixedly connected to the side of the top of the support groove (3081), a horizontal frame (3083) is fixedly connected to the outer surface of the vertical plate (3082), the horizontal frame (3083) is symmetrically arranged on both sides of the inspection robot (2), an internal groove (3085) is opened inside the horizontal frame (3083), and an elastic arc plate (3086) is fixedly connected to the inner surface of the internal groove (3085).

5. The pick-and-place device of the hydropower station corridor track inspection robot according to claim 4 is characterized in that: The outer surface of the transverse frame (3083) is fixedly connected to a connecting block (3084), and the chain (307) passes through the connecting block (3084) and is fixedly connected to the connecting block (3084).

6. The pick-and-place device of the hydropower station corridor track inspection robot according to claim 4, characterized in that: An entrance and exit (3087) is provided on one side of the support groove (3081), and the inner surface of the support groove (3081) is adapted to the bottom of the inspection robot (2).

7. The pick-and-place device of the hydropower station corridor track inspection robot according to claim 2, characterized in that: The pick-and-place assembly comprises a moving frame (314) and an adjusting drive mechanism; the inner surface of the moving frame (314) is adapted to the outer surface of the inspection robot (2); the adjusting drive mechanism is fixedly connected to the side plate (302), and the adjusting drive mechanism is used to drive the moving frame (314) to change the front and rear position and the up and down position, so that the moving frame (314) drives the inspection robot (2) to transfer between the placement assembly (308) and the track (1).

8. The pick-and-place device of the hydropower station corridor track inspection robot according to claim 7, characterized in that: The adjustment drive mechanism comprises a fixed seat (309), a telescopic cylinder (312) and an extension plate (313); the fixed seat (309) is fixedly connected to the outer surface of the side plate (302); a slide groove (310) is provided inside the fixed seat (309); a slider (311) is slidably connected inside the slide groove (310); the bottom end of the telescopic cylinder (312) is fixedly connected to the upper surface of the slider (311), the top end of the telescopic cylinder (312) is fixedly connected to the extension plate (313), and the outer surface of the extension plate (313) is fixedly connected to the movable frame (314).

9. The pick-and-place device of the hydropower station corridor track inspection robot according to claim 8, characterized in that: The fixing seat (309) is horizontally arranged on the outer side of the side plate (302), and the telescopic cylinder (312) is vertically arranged on the outer side of the side plate (302).

10. The pick-and-place device of the hydropower station corridor track inspection robot according to claim 2, characterized in that: The lower surface of the base (301) is fixedly connected with a universal wheel (303), and the universal wheel (303) is arranged at the corner of the lower surface of the base (301).

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