Robot distance measuring and positioning device

Abstract

The robot distance measuring and positioning device comprises a guide rail installed on an environment body, a robot body is arranged on the guide rail in a sliding mode, the robot body is connected with a positioning plate through a lifting assembly, the positioning plate is connected with an installation base through a rotating assembly, the installation base is connected with a camera through a pitching assembly, and a distance measuring instrument is arranged on the camera. The problems that water easily enters the existing hydropower station gallery, facilities in the closed gallery are easily affected with damp and damaged, so that a robot needs to be used for inspecting the interior of the internal hydropower station gallery, but the existing inspection robot is limited in monitoring range and cannot accurately monitor a fault occurrence part, and the maintenance cost is low are solved. The problems that the monitored distance cannot be accurately provided for workers, the overhaul and maintenance time of the gallery of the hydropower station is increased, and greater loss is easily caused are solved.

Description

Technical Field

[0001] The present application relates to the technical field of hydropower station corridor inspection, and specifically to a robot ranging and positioning device, which is applied to a closed corridor environment. Background Art

[0002] Hydropower station, or hydroelectric power plant, is a plant that converts the potential energy and kinetic energy of water into electrical energy. Its basic production process is: diverting water from high places in rivers or other reservoirs, using the pressure or flow rate of water to drive the turbine to rotate, converting the gravitational potential energy and kinetic energy into mechanical energy, and then the turbine drives the generator to rotate, converting the mechanical energy into electrical energy. A power station is generally composed of four major parts: water retaining structures (dams), flood discharge structures (spillways or gates), water diversion structures (water diversion channels or tunnels, including surge tanks), and power station buildings (including tailwater channels and booster stations). The main components are: hydraulic structures, hydraulic machinery and equipment, power generation equipment, substation equipment, power distribution equipment, power transmission equipment, and control and auxiliary equipment.

[0003] Some facilities used for hydropower generation are placed inside the closed corridor of the hydropower station. Since the existing hydropower station corridor is close to the water source, water is easily ingressed into the closed corridor of the hydropower station, and the facilities inside the closed corridor are easily damaged by moisture. Therefore, robots are needed to inspect the interior of the hydropower station corridor. However, the monitoring range of the existing inspection robots is limited, and they cannot accurately monitor the location of the fault. The monitoring distance cannot be accurately provided to the staff, which will increase the time for inspection and maintenance of the hydropower station corridor, which is likely to cause greater losses.

[0004] Therefore, the present application provides a robot ranging and positioning device applied to a closed corridor environment to solve the problems raised in the above background technology. Utility Model Content

[0005] The purpose of this application is to provide a robot distance measurement and positioning device to solve the problem that the existing inspection robot has a limited monitoring range and cannot measure the monitoring distance.

[0006] The purpose of this application is achieved through the following technical solutions:

[0007] A robot distance measurement and positioning device comprises a guide rail installed on an environment main body, a robot main body is slidably arranged on the guide rail, the robot main body is connected to a positioning plate through a lifting assembly, the positioning plate is connected to a mounting seat through a rotating assembly, the mounting seat is connected to a camera through a pitch assembly, and a rangefinder is arranged on the camera.

[0008] Furthermore, the environmental main body is the top wall of the closed corridor.

[0009] Furthermore, the lifting assembly is lifted and lowered in the vertical direction, the rotating assembly is rotated along the vertical axis, and the pitching assembly is pitched along the horizontal axis.

[0010] Furthermore, the lifting assembly includes a connecting plate and a supporting plate, the robot body is connected to the connecting plate, the mounting seat is connected to the supporting plate, and a folding lifting frame and a lifting drive component are hinged between the connecting plate and the supporting plate.

[0011] Furthermore, the folding lifting frame includes at least two groups of parallel arranged support rods, each group of support rods is a parallel four-bar linkage formed by alternately hinged support rods in sequence, one support rod at the top and the bottom are respectively hinged on the connecting plate and the supporting plate, and the other support rods at the top and the bottom are respectively slidably arranged in the sliding grooves on the connecting plate and the supporting plate.

[0012] Furthermore, the lifting drive member includes a frame rod and a first telescopic rod, the connecting plate and the supporting plate are both provided with frame rods, and the first telescopic rod is hinged between the frame rods of the connecting plate and the supporting plate.

[0013] Furthermore, the rotating assembly includes a rotating cavity and a rotating plate. The positioning plate is provided with a rotating cavity. The rotating plate is rotatably arranged in the rotating cavity. A rotating driving member is provided between the rotating plate and the positioning plate. The rotating plate is connected to the mounting seat.

[0014] Furthermore, the rotating drive member includes a rotating column and a motor, the rotating plate is connected to the rotating column, the motor is connected to the worm, and the worm is meshed with cutting teeth on the rotating column.

[0015] Furthermore, the positioning plate is provided with a protective cover for covering the rotating driving member.

[0016] Furthermore, the pitch assembly includes a second telescopic rod, the camera is hinged on the mounting seat, and the second telescopic rod is hinged between the mounting seat and the camera.

[0017] The present application solves the following problems: the existing hydropower station corridors are prone to water ingress, and the facilities inside the closed corridors are prone to moisture and damage, so it is necessary to use robots to patrol the interior of the hydropower station corridors. However, the existing patrol robots have a limited monitoring range and cannot accurately monitor the location of the fault. The monitoring distance cannot be accurately provided to the staff, which will increase the time for inspection and maintenance of the hydropower station corridors, and easily lead to greater losses.

[0018] Beneficial effects of this application:

[0019] 1. By setting a rotating component, the rotating component is installed on the positioning plate, the mounting base can rotate on the positioning plate, and the camera and the rangefinder are installed on the mounting base, so that the camera and the rangefinder can rotate to a certain angle, thereby improving the monitoring breadth of the camera and the rangefinder and avoiding blind spots in inspection.

[0020] 2. By setting the pitch assembly, the second telescopic rod is hinged between the mounting base and the camera. In this way, the telescopic rod can adjust the shooting angle of the camera. Since the rangefinder is installed together with the camera, the rangefinder can move with the camera, which is convenient for comprehensive monitoring and inspection of the equipment inside the closed corridor of the hydropower station corridor.

[0021] The aforementioned main scheme of the present application and its further options can be freely combined to form multiple schemes, all of which are schemes that can be adopted and claimed for protection in the present application; and in the present application, (non-conflicting options) can also be freely combined with each other and with other options. After understanding the present scheme, those skilled in the art can understand that there are many combinations based on the prior art and common knowledge, all of which are technical schemes to be protected by the present application, and they are not exhaustively listed here. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic diagram of the overall structure of this application Figure 1 .

[0023] Figure 2 For this application Figure 1 Enlarged view of point A in the middle.

[0024] Figure 3 This is a front perspective cross-sectional view of the present application.

[0025] Figure 4 For this application Figure 3 Enlarged view of point B in the middle.

[0026] Figure 5 This is a schematic diagram of the overall structure of this application Figure 2 .

[0027] In the figure: 1. guide rail; 2. robot body; 3. rangefinder; 4. positioning plate; 5. mounting seat; 6. camera; 7. connecting plate; 8. support plate; 9. support rod; 10. slide groove; 11. rack rod; 12. first telescopic rod; 13. rotating chamber; 14. rotating plate; 15. rotating column; 16. cutting teeth; 17. worm; 18. motor; 19. second telescopic rod; 20. protective cover. DETAILED DESCRIPTION

[0028] The present application is further described below in conjunction with specific embodiments and drawings.

[0029] refer to Figure 1 to Figure 5 As shown, a robot distance measurement and positioning device includes a guide rail 1, a robot body 2, a rangefinder 3, a positioning plate 4, a mounting seat 5, a camera 6, a lifting component, a rotating component and a pitch component.

[0030] The guide rail 1 is installed on the environment body, which is preferably the top wall of a closed corridor, providing a basis for the movement of the entire device in the corridor. Similarly, the environment body can also be other building bodies, structural bodies or equipment bodies, and the installation position can also be the top wall, side wall, bottom surface or ground.

[0031] A robot body 2 is slidably arranged on the guide rail 1, and the robot body 2 can move with other components to realize inspection on the entire layout span of the guide rail 1. There are many forms of sliding of the robot body 2 on the guide rail 1, such as self-propelled pulleys, rack and pinion meshing, or threaded screws.

[0032] The robot body 2 is connected to the positioning plate 4 through a lifting assembly, and the lifting assembly is lifted and lowered in the vertical direction. The lifting assembly is used to drive the rangefinder 3 and the camera 6 to move vertically to change the height of the monitoring point and expand the monitoring range. Similarly, due to the different environmental subjects, the movement direction of the lifting assembly can also be other directions.

[0033] The positioning plate 4 is connected to the mounting base 5 through a rotating assembly, and the rotating assembly rotates along the vertical axis, and the rotating assembly drives the rangefinder 3 and the camera 6 to rotate horizontally to change the orientation of the monitoring point and expand the monitoring range. Similarly, due to different environmental subjects, the movement direction of the rotating assembly can also be other directions.

[0034] The mounting base 5 is connected to the camera 6 through a pitch assembly, and the pitch assembly pitches along the horizontal axis. The pitch assembly is used to drive the rangefinder 3 and the camera 6 to raise or lower their heads horizontally, and is also used to change the direction of the monitoring point and expand the monitoring range. Similarly, due to different environmental subjects, the movement direction of the pitch assembly can also be other directions.

[0035] A rangefinder 3 is provided on the camera 6. The camera 6 collects images of the equipment in the corridor to determine whether the equipment is damaged. The rangefinder 3 moves synchronously with the camera 6 to measure the distance to the position it is facing, thereby analyzing the fault location in combination with the image information, the guide rail position information, etc., to facilitate the operation and maintenance personnel to quickly carry out operations after arriving at the site.

[0036] The guide rail 1 is installed inside the corridor, the robot body 2 can slide on the guide rail 1, the camera 6 and the rangefinder 3 are installed on the robot body 2, and can inspect the inside of the closed corridor, can find faults in the closed corridor, and conveniently monitor the inside of the closed corridor. The positioning plate 4 is installed below the robot body 2, the mounting seat 5 is located below the positioning plate 4, the camera 6 is installed on the mounting seat 5, and the rangefinder 3 is installed on the camera 6. The shooting angle of the camera 6 can be positioned by the pitch assembly, the lifting assembly can adjust the height of the camera 6 and the rangefinder 3, the rotating assembly can conveniently adjust the angle of the camera 6, and the camera 6 can move by the robot body 2 moving on the guide rail 1, so as to conveniently adjust the detection position.

[0037] The lifting assembly includes a connecting plate 7, a support plate 8, a lifting frame (support rod 9 and slide groove 10), and a lifting drive member (frame rod 11 and first telescopic rod 12). The robot body 2 is fixedly connected to the connecting plate 7, the mounting seat 5 is fixedly connected to the support plate 8, and a folding lifting frame and a lifting drive member are hinged between the connecting plate 7 and the support plate 8. The lifting drive member provides power for the connection plate 7 and the support plate 8 to move closer or farther away, and the lifting frame provides guidance for the relative movement between the connection plate 7 and the support plate 8 to ensure accurate and smooth movement.

[0038] The folding lifting frame comprises at least two groups of parallel arranged support rods, each group of support rods is a parallel four-bar linkage (several) formed by alternately hinged support rods 9, one of the top and bottom support rods 9 is hinged on the connecting plate 7 and the supporting plate 8 respectively, and the other top and bottom support rods 9 are respectively slidably arranged in the slide grooves 10 on the connecting plate 7 and the supporting plate 8. The connecting plate 7 and the supporting plate 8 are moved closer or farther apart by unfolding or folding the support rods.

[0039] Both the connecting plate 7 and the supporting plate 8 are provided with a rack 11, and the two racks 11 are arranged diagonally. A first telescopic rod 12 is hinged between the racks 11 of the connecting plate 7 and the supporting plate 8. The first telescopic rod 12 can be made of an oil cylinder, an air cylinder or an electric cylinder, which can be purchased directly from the market. The telescopic movement of the first telescopic rod 12 can drive multiple support rods 9 to move synchronously, thereby driving the lifting and lowering of the camera 6 for convenient inspection.

[0040] The rotating assembly includes a rotating cavity 13, a rotating plate 14 and a rotating driving member (a rotating column 15, a cutting tooth 16, a worm 17, a motor 18 and a protective cover 20). A cylindrical rotating cavity 13 is provided inside the positioning plate 4, and the rotating plate 14 is a cylindrical shape matching the rotating cavity. The rotating plate 14 is rotatably arranged in the rotating cavity 13. A rotating driving member is provided between the rotating plate 14 and the positioning plate 4. The lower end of the rotating plate 14 is fixedly connected to the mounting seat 5. The rotating driving member is used to provide power for the rotating plate 14 to rotate, thereby driving the mounting seat 5 to rotate horizontally.

[0041] The upper end of the rotating plate 14 is fixedly connected to the rotating column 15, and the motor 18 is fixedly installed on the positioning plate 4. The motor 18 can be purchased directly from the market. The motor 18 is connected to the worm 17, and the worm 17 is meshed with the cutting teeth 16 on the rotating column 15. The motor drives the worm 17 to rotate, and the worm 17 drives the rotating column 15 to rotate through the meshing transmission, thereby driving the rotating plate 14 and the mounting seat 5 to rotate, and the rangefinder 3 will also rotate with the camera 6, which is convenient for distance measurement during inspection.

[0042] A protective cover 20 for covering the rotating drive member is provided on the positioning plate 4. The protective cover 20 can seal and protect the motor 18 and the worm 17, and can prevent the motor 18 from being damaged by moisture due to the humid environment in the closed corridor of the hydropower station.

[0043] The pitch assembly includes a second telescopic rod 19, which can be a hydraulic cylinder, a pneumatic cylinder or an electric cylinder, and can be directly purchased from the market. The camera 6 is hinged on the mounting seat 5, and the second telescopic rod 19 is hinged between the mounting seat 5 and the camera 6. The second telescopic rod 19 can adjust the pitch angle of the camera 6 by telescoping, thereby increasing the monitoring range of the camera 6 and the rangefinder 3.

[0044] The workflow of this application:

[0045] When inspecting the inside of the closed corridor, the angle of the camera 6 is adjusted in advance according to the equipment in the closed corridor of the hydropower station to be monitored. After the angle positioning is completed, the robot body 2 can be moved to inspect the equipment inside the closed corridor. In the process of adjusting the angle, the first telescopic rod 12 is first extended and retracted. The first telescopic rod 12 will drive the multiple support rods 9 to move, and the height of the camera 6 can be adjusted. After the height adjustment of the camera 6 is completed, the worm 17 is driven to rotate by the motor 18. The rotation of the worm 17 can drive the rotating column 15 and the rotating plate 14 to rotate through the cutting teeth 16, thereby driving the mounting seat 5 at the bottom and the camera 6 at the bottom to rotate, and the rangefinder 3 will also rotate with the camera 6, so that the equipment that needs to be inspected can be accurately photographed and measured. The extension of the second telescopic rod 19 can adjust the pitch angle of the camera 6 and the rangefinder 3, and increase the monitoring range of the camera 6 and the rangefinder 3. After the positioning of the rangefinder 3 is completed, the robot body 2 can be moved back and forth on the guide rail 1, so that the equipment in the corridor can be inspected.

[0046] The aforementioned basic examples and their further selected examples can be freely combined to form multiple embodiments, all of which are embodiments that can be adopted and claimed for protection in this application. In the scheme of this application, each selected example can be arbitrarily combined with any other basic examples and selected examples.

[0047] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A robot distance measurement and positioning device, comprising a guide rail (1) mounted on an environment body, characterized in that: A robot body (2) is slidably arranged on the guide rail (1); the robot body (2) is connected to a positioning plate (4) via a lifting assembly; the positioning plate (4) is connected to a mounting seat (5) via a rotating assembly; the mounting seat (5) is connected to a camera (6) via a pitch assembly; and a rangefinder (3) is arranged on the camera (6).

2. The robot distance measurement and positioning device according to claim 1, characterized in that: The environment main body is the top wall of the closed corridor.

3. The robot distance measurement and positioning device according to claim 1 or 2, characterized in that: The lifting assembly is lifted and lowered along the vertical direction, the rotating assembly is rotated along the vertical axis, and the pitching assembly is pitched along the horizontal axis.

4. The robot distance measurement and positioning device according to claim 1, characterized in that: The lifting assembly comprises a connecting plate (7) and a supporting plate (8), the robot body (2) is connected to the connecting plate (7), the mounting seat (5) is connected to the supporting plate (8), and a folding lifting frame and a lifting drive component are hinged between the connecting plate (7) and the supporting plate (8).

5. The robot distance measurement and positioning device according to claim 4, characterized in that: The folding lifting frame comprises at least two groups of support rods arranged in parallel, each group of support rods is a parallel four-bar linkage formed by alternately hinged support rods (9), one of the top and bottom support rods (9) is hinged on the connecting plate (7) and the supporting plate (8) respectively, and the other of the top and bottom support rods (9) is slidably arranged in the slide grooves (10) on the connecting plate (7) and the supporting plate (8) respectively.

6. The robot distance measurement and positioning device according to claim 4 or 5, characterized in that: The lifting drive member comprises a frame rod (11) and a first telescopic rod (12); the frame rod (11) is provided on both the connecting plate (7) and the supporting plate (8); and the first telescopic rod (12) is hinged between the frame rod (11) of the connecting plate (7) and the supporting plate (8).

7. The robot distance measurement and positioning device according to claim 1, characterized in that: The rotating assembly comprises a rotating cavity (13) and a rotating plate (14); the rotating cavity (13) is provided on the positioning plate (4); the rotating plate (14) is rotatably arranged in the rotating cavity (13); a rotating driving member is provided between the rotating plate (14) and the positioning plate (4); and the rotating plate (14) is connected to the mounting seat (5).

8. The robot distance measurement and positioning device according to claim 7, characterized in that: The rotating driving member comprises a rotating column (15) and a motor (18), the rotating plate (14) is connected to the rotating column (15), the motor (18) is connected to the worm (17), and the worm (17) is meshed with the cutting teeth (16) on the rotating column (15).

9. The robot distance measurement and positioning device according to claim 7 or 8, characterized in that: The positioning plate (4) is provided with a protective cover (20) for covering the rotating driving member.

10. The robot distance measurement and positioning device according to claim 1, characterized in that: The pitch assembly comprises a second telescopic rod (19), the camera (6) is hinged on the mounting seat (5), and the second telescopic rod (19) is hinged between the mounting seat (5) and the camera (6).

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