Displacement measuring device of power plant inspection robot

Abstract

The utility model discloses a displacement measuring device of a power plant inspection robot, which comprises an I-shaped track and a motor positioned below the I-shaped track, two sides of the surface of the motor are fixedly connected with fixing plates, the bottom of the I-shaped track is provided with a sliding groove, two sides in the sliding groove are slidably connected with sliding blocks, and the sliding blocks are fixedly connected with the I-shaped track. A telescopic sleeve rod is fixedly connected between the bottom of the sliding block and the top of the fixing plate. According to the displacement measurement device of the power plant inspection robot, a fixed plate is slidably limited through a sliding block in a sliding groove, so that a motor on the fixed plate can stably move, a displacement sensor can be well driven to stably move, the fixed plate drives a rubber wheel to be tightly attached to the lower portion of an I-shaped rail through the acting force of a first spring, and the displacement measurement accuracy is improved. The displacement sensor can move more stably, the displacement sensor is effectively prevented from shaking to affect displacement measurement, and the accuracy of displacement measurement of the inspection robot is guaranteed.

Description

Technical Field

[0001] The utility model relates to the technical field of inspection robots, in particular to a displacement measuring device of an inspection robot in a power plant. Background Art

[0002] With the development of technology, robots have begun to be widely used in power plant inspections. Power plant inspection robots can move on tracks to achieve real-time measurement of the objects being inspected, which is safer and more efficient than manual work. Existing power plant inspection robots are usually equipped with displacement sensors to measure the track gauge. The displacement sensor measures the distance moved on the track, and then measures the location distance where the inspection robot detects the problem in real time.

[0003] When the inspection robot moves on the track for inspection, the displacement sensor measures the moving distance. However, the inspection robot is prone to jitter when moving on the track, causing the displacement sensor to jitter synchronously with the inspection robot. The jitter will produce a certain movement error. The long distance will cause the distance measured by the displacement sensor to deviate, affecting the accuracy of the displacement measurement. In addition, the sensor measurement requires maintenance due to long-term jitter, and disassembly is too cumbersome. Utility Model Content

[0004] In view of the deficiencies in the prior art, the utility model provides a displacement measuring device for a power plant inspection robot, which solves the problems that the displacement sensor shakes synchronously with the inspection robot, the shaking will produce a certain movement error, the long distance will cause deviation in the distance measured by the displacement sensor, and the sensor measurement shakes for a long time and requires maintenance, and the disassembly is too cumbersome.

[0005] To achieve the above purpose, the utility model is implemented through the following technical solutions: a displacement measuring device of a power plant inspection robot, comprising an I-shaped track and a motor located below the I-shaped track, both sides of the motor surface are fixedly connected with fixed plates, a slide groove is provided at the bottom of the I-shaped track, sliding blocks are slidably connected on both sides of the slide groove, a telescopic sleeve rod is fixedly connected between the bottom of the sliding block and the top of the fixed plate, a first spring is sleeved on the outer surface of the telescopic sleeve rod and located between the fixed plate and the sliding block, an arc groove is provided at the bottom of the fixed plate on the left side, a displacement sensor is arranged inside the arc groove, and the two output shafts of the motor are fixedly connected with a rotating rod through a coupling, and the outer surface of the rotating rod is fixedly connected with a rubber wheel.

[0006] Preferably, a sliding sleeve rod is fixedly connected to one side of the bottom of the fixed plate on the left side, one end of the sliding sleeve rod is fixedly connected to the mounting plate, and a second spring is sleeved on the outer surface of the sliding sleeve rod and located between the fixed plate and the mounting plate.

[0007] Preferably, a limit plate adapted to the displacement sensor is fixedly connected to one side of the mounting plate.

[0008] Preferably, a camera is fixedly mounted on the bottom of the fixing plate on the right side.

[0009] Preferably, one end of the rotating rod is fixedly connected to a connecting plate, and a side of the connecting plate close to the I-shaped track is fixedly connected to the rotating rod.

[0010] Preferably, one end of the rotating rod is located inside the I-shaped track and is rotatably connected to a guide wheel via a bearing.

[0011] Beneficial Effects

[0012] The utility model provides a displacement measuring device for a power plant inspection robot. Compared with the existing technology, it has the following beneficial effects:

[0013] (1) The utility model uses a sliding block in a slide groove to limit the sliding of a fixed plate, so that the motor on the fixed plate can move stably, thereby driving the displacement sensor to move stably. Through the action of the first spring, the fixed plate drives the rubber wheel to fit closely under the work-type track, which can make the displacement sensor move more smoothly and effectively prevent the displacement sensor from shaking and affecting the displacement measurement, thereby ensuring the accuracy of the displacement measurement of the inspection robot.

[0014] (2) The utility model pulls the mounting plate downward, and the mounting plate drives the limit plate to move downward so as to no longer squeeze the displacement sensor. The displacement sensor can be quickly removed from the arc groove, and the displacement sensor can be easily replaced and maintained. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the external structure of the utility model;

[0016] Figure 2 A bottom view of the structure of the utility model;

[0017] Figure 3 This is a schematic diagram of the structure of the motor, fixing plate, displacement sensor, rotating rod, rubber wheel and guide wheel of the utility model;

[0018] Figure 4 It is a bottom view of the structure of the fixed plate, the sliding block, the telescopic sleeve rod, the first spring, the arc groove, the sliding sleeve rod, the mounting plate, the second spring and the limit plate of the utility model.

[0019] In the figure: 1. I-shaped track; 2. Motor; 3. Fixed plate; 4. Slide groove; 5. Sliding block; 6. Telescopic sleeve; 7. First spring; 8. Arc groove; 9. Displacement sensor; 10. Rotating rod; 11. Rubber wheel; 12. Sliding sleeve; 13. Mounting plate; 14. Second spring; 15. Limiting plate; 16. Camera; 17. Connecting plate; 18. Rotating rod; 19. Guide wheel. DETAILED DESCRIPTION

[0020] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0021] See also Figure 1-4 The utility model provides a technical solution: a displacement measuring device of a power plant inspection robot, comprising an I-shaped track 1 and a motor 2 located below the I-shaped track 1, the motor 2 being a servo motor, electrically connected to a battery, and controlled by a control switch, a fixed plate 3 is fixedly connected to both sides of the surface of the motor 2, a slide groove 4 is provided at the bottom of the I-shaped track 1, a sliding block 5 is slidably connected to both sides of the inside of the slide groove 4, a telescopic sleeve rod 6 is fixedly connected between the bottom of the sliding block 5 and the top of the fixed plate 3, a first spring 7 is sleeved on the outer surface of the telescopic sleeve rod 6 and is located between the fixed plate 3 and the sliding block 5, and a first spring 7 is provided on the left side of the telescopic sleeve rod 6. An arc groove 8 is provided at the bottom of the side fixing plate 3, and a displacement sensor 9 is arranged inside the arc groove 8. The displacement sensor 9 is model T501F, which is a linear device belonging to metal sensing. The function of the sensor is to convert various measured physical quantities into electrical quantities, which is electrically connected to the battery and controlled by the control switch. The two output shafts of the motor 2 are fixedly connected to the rotating rod 10 through a coupling, and the outer surface of the rotating rod 10 is fixedly connected to the rubber wheel 11. A camera 16 is fixedly installed at the bottom of the right fixing plate 3, and the camera 16 is electrically connected to the battery and controlled by the control switch.

[0022] Furthermore, in order to facilitate the removal of the displacement sensor 9, a sliding sleeve rod 12 is fixedly connected to one side of the bottom of the left fixed plate 3, one end of the sliding sleeve rod 12 is fixedly connected to a mounting plate 13, a second spring 14 is sleeved on the outer surface of the sliding sleeve rod 12 and located between the fixed plate 3 and the mounting plate 13, and a limit plate 15 adapted to the displacement sensor 9 is fixedly connected to one side of the mounting plate 13.

[0023] Furthermore, in order to make the equipment move more stably, one end of the rotating rod 10 is fixedly connected to a connecting plate 17, and the side of the connecting plate 17 close to the I-type track 1 is fixedly connected to a rotating rod 18, and one end of the rotating rod 18 is located inside the I-type track 1 and is rotatably connected to a guide wheel 19 through a bearing.

[0024] When in use, the motor 2 is controlled to drive the two rotating rods 10 to rotate, and the two rotating rods 10 drive the two rubber wheels 11 to rotate. Through the force of the first spring 7, the telescopic sleeve rod 6 drives the fixed plate 3 to pull upward, and the fixed plate 3 is driven by the motor 2 to move upward and closely contact the bottom of the I-shaped track 1. The two rubber wheels 11 rotate to drive the motor 2 to move as a whole, and the sliding block 5 in the slide groove 4 is used to limit the sliding of the fixed plate 3, so that the motor 2 moves more smoothly.

[0025] The motor 2 drives the displacement sensor 9 and the camera 16 to move through the fixing plate 3. The camera 16 takes pictures and detects the power plant equipment, and the displacement sensor 9 measures the moving distance. If the camera 16 detects a problem, the motor 2 is controlled to stop driving the rubber wheel 11 to rotate and move, and the displacement data detected by the displacement sensor 9 is sent to the main station;

[0026] When the displacement sensor 9 needs to be disassembled for maintenance, the mounting plate 13 is pulled downward, and the mounting plate 13 drives the limit plate 15 to move downward, so that the limit plate 15 no longer squeezes the displacement sensor 9. The displacement sensor 9 is removed from the arc groove 8 for maintenance, and then a new displacement sensor 9 is placed in the arc groove 8. Through the action of the second spring 14, the mounting plate 13 squeezes and limits the displacement sensor 9 through the limit plate 15.

Claims

1. A displacement measuring device for a power plant inspection robot, comprising an I-shaped track (1) and a motor (2) located below the I-shaped track (1), characterized in that: The motor (2) has a fixed plate (3) fixedly connected to both sides of its surface, a slide groove (4) is provided at the bottom of the I-shaped track (1), a sliding block (5) is slidably connected to both sides of the slide groove (4), a telescopic sleeve (6) is fixedly connected between the bottom of the sliding block (5) and the top of the fixed plate (3), a first spring (7) is sleeved on the outer surface of the telescopic sleeve (6) and located between the fixed plate (3) and the sliding block (5), an arc groove (8) is provided at the bottom of the fixed plate (3) on the left side, a displacement sensor (9) is arranged inside the arc groove (8), two output shafts of the motor (2) are fixedly connected to a rotating rod (10) through a coupling, and a rubber wheel (11) is fixedly connected to the outer surface of the rotating rod (10).

2. The displacement measuring device of the power plant inspection robot according to claim 1, characterized in that: A sliding sleeve rod (12) is fixedly connected to one side of the bottom of the fixed plate (3) on the left side, one end of the sliding sleeve rod (12) is fixedly connected to a mounting plate (13), and a second spring (14) is sleeved on the outer surface of the sliding sleeve rod (12) and located between the fixed plate (3) and the mounting plate (13).

3. The displacement measuring device of the power plant inspection robot according to claim 2, characterized in that: A limiting plate (15) adapted to the displacement sensor (9) is fixedly connected to one side of the mounting plate (13).

4. The displacement measuring device of the power plant inspection robot according to claim 1, characterized in that: A camera (16) is fixedly mounted on the bottom of the fixing plate (3) on the right side.

5. The displacement measuring device of the power plant inspection robot according to claim 1, characterized in that: One end of the rotating rod (10) is fixedly connected to a connecting plate (17), and a side of the connecting plate (17) close to the I-shaped track (1) is fixedly connected to a rotating rod (18).

6. The displacement measuring device of the power plant inspection robot according to claim 5, characterized in that: One end of the rotating rod (18) is located inside the I-shaped track (1) and is rotatably connected to a guide wheel (19) via a bearing.

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