Detection robot interactive display platform special for hydropower station pressure pipeline and volute

Abstract

The utility model relates to the technical field of detection robots, in particular to a special detection robot interactive display platform for a pressure pipeline and a volute of a hydropower station, which comprises a C-shaped main body, a movable platform, a rotary connecting piece, a supporting part and a driving mechanism, the movable platform comprises an arc-shaped supporting plate and a frame connected with the arc-shaped supporting plate through a telescopic mechanism and a rotating mechanism, a containing groove matched with the frame is formed in the middle of the C-shaped body, the frame is connected with the C-shaped body through a rotating connecting piece and connected with the output end of the driving mechanism, and the driving mechanism is used for driving the movable platform to rotate along the linear edge of the containing groove. And the movable platform is closed in the accommodating groove or turned into the concave surface of the C-shaped main body from the inside and the outside of the accommodating groove. The interactive display platform integrates the demonstration, display and interaction functions of the detection robot, and the open structure of the C-shaped main body can more clearly and vividly demonstrate the working scene of the special detection robot in a pressure pipeline and a volute.

Description

Technical Field

[0001] The utility model relates to the technical field of inspection robots, and in particular, to an interactive display platform for a special inspection robot for a hydropower station pressure pipeline and a volute. Background Technique

[0002] Hydropower stations usually have pressure pipelines for water diversion. The diameters of the pressure pipelines of large or giant hydropower stations usually exceed 5 meters or even larger. Maintenance personnel need to spend a large amount of time cost to set up ladders or scaffolds to inspect the inner wall surface and weld seams of the cylindrical and huge steel penstocks. The special inspection robot for pressure pipelines and volutes with the function of walking in complex environments and carrying a high-definition camera can greatly facilitate the maintenance personnel to complete this work.

[0003] The robot teaching demonstration platform is one of the common devices in robot teaching. At present, the special inspection robot demonstration platform for pressure pipelines and volutes is formed by welding multiple arc-shaped plates into a cylindrical structure; to strengthen the strength and deflection of the cylinder, one side of the cylinder will be blocked with a circular plate, and the lower part of the cylinder is supported on the base through simple channel steel or angle steel brackets. However, the above special inspection robot demonstration platform for pressure pipelines and volutes still has the following defects: (1) The overall demonstration platform is closed, and the display surface of the cylinder is small, and it is impossible to truly and vividly simulate and display the working scenario of the robot in the pressure pipeline or volute; (2) It can only be used as a platform for demonstrating the operation of the inspection robot and does not have the function of displaying the inspection robot.

[0004] Based on this, there is an urgent need to provide an interactive display platform for a special inspection robot for a hydropower station pressure pipeline and a volute, which integrates the functions of inspection robot demonstration, display, and interaction. Content of the Utility Model

[0005] The purpose of the utility model is to provide an interactive display platform for a special inspection robot for a hydropower station pressure pipeline and a volute. The movable platform can be turned outwards to the concave surface of the "C"-shaped main body through a driving mechanism. At the same time, the arc-shaped support plate can be separated from the arc-shaped frame through a telescopic mechanism and driven to rotate by a rotating mechanism to serve as a platform for displaying the inspection robot. The "C"-shaped main body can also close the movable platform in the accommodation groove through a driving mechanism to be used as a part of the "C"-shaped main body, so as to use the whole as a platform for demonstrating the inspection robot, so as to solve the problems pointed out in the background technique.

[0006] An embodiment of the utility model is realized through the following technical solutions: An interactive display platform for a special inspection robot for a hydropower station pressure pipeline and a volute, comprising a base, a "C"-shaped main body, a movable platform, a rotating connecting piece, a supporting part, and a driving mechanism;

[0007] The described "C"-shaped main body is arranged on the base through a support part connected to its convex surface, and the straight edge of the "C"-shaped main body is parallel to the upper surface of the base;

[0008] The movable platform is composed of an external arc-shaped frame and an internal arc-shaped support plate. A receiving cavity is provided on the convex surface of the arc-shaped frame. A telescopic mechanism is provided in the receiving cavity. The output end of the telescopic mechanism is provided with a rotating mechanism. The arc-shaped support plate is connected to the output end of the rotating mechanism. The telescopic mechanism is used to drive the arc-shaped support plate to move linearly, close the arc-shaped support plate within the arc-shaped frame or move the arc-shaped support plate from within the arc-shaped frame to the concave surface of the arc-shaped frame. The rotating mechanism is used to drive the arc-shaped support plate to rotate;

[0009] A receiving groove adapted to the outer shape of the arc-shaped frame is provided in the middle of the "C"-shaped main body. The movable end of the rotating connecting piece is fixedly connected to the arc-shaped frame, and the fixed end of the rotating connecting piece is fixed on the "C"-shaped main body. The output end of the driving mechanism is connected to the back surface of the receiving cavity. The driving mechanism is used to drive the movable platform to rotate along the straight edge of the receiving groove, close the arc-shaped frame within the receiving groove or turn the arc-shaped frame out of the receiving groove to the concave surface of the "C"-shaped main body.

[0010] According to a preferred embodiment, the receiving cavity is a rectangular cavity integrally formed with the arc-shaped frame;

[0011] The telescopic mechanism is composed of a telescopic rod, a scissors frame, a hinge seat, a chute and a cylinder. The chute is arranged on both sides inside the rectangular cavity and on both sides of the back surface of the rotating mechanism. The hinge seat includes an upper hinge seat and a lower hinge seat. The lower hinge seat is adapted to the chute arranged in the rectangular cavity, and the upper hinge seat is adapted to the chute arranged on the back surface of the rotating mechanism. The top end of the scissors frame is hinged to the upper hinge seat, and the bottom end of the scissors frame is hinged to the lower hinge seat. The cylinder is arranged in the middle of the rectangular cavity, the output end of the cylinder is connected to the first end of the telescopic rod, and the second end of the telescopic rod is connected to the back surface of the rotating mechanism.

[0012] According to a preferred embodiment, the driving mechanism is composed of a linear driving mechanism body, a power supply, a remote control switch and a remote controller. The linear driving mechanism body, the power supply and the remote control switch are arranged on the base. The power supply is electrically connected to the linear driving mechanism body, the remote control switch is electrically connected to the power supply, the remote controller is communicatively connected to the remote control switch, and the output end of the linear driving mechanism body is rotationally connected to the convex surface of the movable platform through a shaft pin.

[0013] According to a preferred embodiment, a tensioning rope is further included. One end of the tensioning rope is connected to the convex surface of the "C"-shaped main body, and the other end is connected to the base;

[0014] The tensioning rope is a steel wire rope or a nylon rope.

[0015] According to a preferred embodiment, the convex surface of the "C"-shaped body is further provided with reinforcing ribs.

[0016] According to a preferred embodiment, the reinforcing ribs are arranged along the arc edge of the convex surface of the "C"-shaped body or are arranged in a "field" shape on the convex surface of the "C"-shaped body.

[0017] According to a preferred embodiment, the convex surface of the "C"-shaped body is further provided with a handle.

[0018] According to a preferred embodiment, the rotating connecting member includes, but is not limited to, a special-shaped hinge or a door closer.

[0019] According to a preferred embodiment, a counterweight block is provided on the base.

[0020] According to a preferred embodiment, universal wheels are provided at the bottom of the base.

[0021] The technical solution of an interactive display platform for a special inspection robot for a hydropower station penstock and spiral case according to an embodiment of the present invention has at least the following advantages and beneficial effects: This interactive display platform can be turned outwards to the concave surface of the "C"-shaped body through a driving mechanism. At the same time, the arc-shaped support plate can be separated from the arc-shaped frame through a telescopic mechanism and the arc-shaped support plate can be driven to rotate through a rotating mechanism as a platform for displaying inspection robots. The "C"-shaped body can also close the movable platform in the accommodating groove through a driving mechanism as a part of the "C"-shaped body, thereby using the whole as a platform for demonstrating inspection robots, simulating the penstock or spiral case, and using the whole as a platform for demonstrating inspection robots. Moreover, the open structure of the "C"-shaped body can more clearly and vividly demonstrate the working scenarios of the special inspection robot in the penstock and spiral case. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a side view of an interactive display platform for a special inspection robot for a hydropower station penstock and spiral case provided in Embodiment 1 of the present invention;

[0023] Figure 2 It is a side view of the movable platform provided in Embodiment 1 of the present invention;

[0024] Icon: 1 - "C"-shaped main body, 2 - hanging ear, 3 - tensioning rope, 4 - handle, 5 - special-shaped hinge, 6 - support part, 7 - linear drive mechanism body, 8 - hanging ear bracket, 9 - movable platform, 901 - arc-shaped frame, 902 - arc-shaped support plate, 903 - accommodation cavity, 10 - accommodation groove, 11 - base, 12 - angle iron, 13 - directional wheel, 14 - universal wheel, 15 - counterweight, 16 - turnbuckle, 17 - battery compartment, 18 - telescopic mechanism, 1801 - telescopic rod, 1802 - scissors frame, 1803 - hinge seat, 1804 - chute, 1805 - cylinder, 19 - rotating mechanism. Detailed implementation manner

[0025] To make the objectives, technical solutions and advantages of the embodiments of the present utility model clearer, the technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are some, but not all, of the embodiments of the present utility model. Usually, the components of the embodiments of the present utility model described and illustrated herein can be arranged and designed in various different configurations.

[0026] Embodiment 1

[0027] See Figure 1 as shown Figure 1 is a side view of an interactive display platform for a special inspection robot for a hydropower station pressure pipeline and volute provided in this embodiment. Specifically, an interactive display platform for a special inspection robot for a hydropower station pressure pipeline and volute provided in this embodiment includes a base 11, a "C"-shaped main body 1, a movable platform 9, a rotating connection member, a support part 6, and a drive mechanism.

[0028] Furthermore, the "C"-shaped main body 1 is arranged on the base 11 through a support part 6 connected to its convex surface, and the straight edge of the "C"-shaped main body 1 is parallel to the upper surface of the base 11. In an implementation manner of this embodiment, the "C"-shaped main body 1 is rolled from a Q345 steel plate with dimensions of 2670*750*5 mm and has a radian of 180° to simulate the cylindrical inner wall of the pressure pipeline and volute. In addition, the "C"-shaped main body 1 can also adopt a welding solution, which will not be elaborated here; the support part 6 adopts a rectangular pipe, and the "C"-shaped main body 1 is supported on the base 11 by two rectangular pipes. One straight edge of the "C"-shaped main body 1 is fixed to the front end of the base 11 through an angle iron.

[0029] Furthermore, the movable platform 9 is composed of an external arc-shaped frame 901 and an internal arc-shaped support plate 902, and the arc-shaped support plate 902 is adapted to the arc-shaped frame 901;

[0030] The convex surface of the arc-shaped frame 901 is provided with a receiving cavity 903. In an implementation manner of this embodiment, the receiving cavity 903 is a rectangular cavity integrally formed with the arc-shaped frame 901; a telescopic mechanism 18 is arranged in the receiving cavity 903, a rotating mechanism 19 is arranged at the output end of the telescopic mechanism 18, the arc-shaped support plate 902 is connected to the output end of the rotating mechanism 19, and the telescopic mechanism 18 is used to drive the rotating mechanism 19 to move linearly while driving the arc-shaped support plate 902 to move linearly, so as to close the arc-shaped support plate 902 in the arc-shaped frame 901 or move the arc-shaped support plate 902 from the inside of the arc-shaped frame 901 to the concave surface of the arc-shaped frame 901 to separate from the arc-shaped frame 901, so that the arc-shaped support plate 902 can rotate independently, and the rotating mechanism 19 is used to drive the arc-shaped support plate 902 to rotate.

[0031] Further, as shown in Figure 2 shown, a receiving groove 10 adapted to the outer shape of the arc-shaped frame 901 is opened in the middle of the "C"-shaped main body 1. In an implementation manner of this embodiment, the parameters of the receiving groove 10 are 300*447 mm; the movable end of the rotating connecting piece is fixedly connected to the arc-shaped frame 901, the fixed end of the rotating connecting piece is fixed on the "C"-shaped main body 1, and the movable platform 9 is connected through the rotating connecting piece. Further, the movable platform 9 is connected to the output end of the driving mechanism, and the driving mechanism is used to drive the movable platform 9 to rotate along the straight edge of the receiving groove 10, so as to close the movable platform 9 in the receiving groove 10 or turn the movable platform 9 out of the receiving groove 10 to the concave surface of the "C"-shaped main body 1.

[0032] Regarding the telescopic mechanism 18, the telescopic mechanism 18 is composed of a telescopic rod 1801, a scissors frame 1802, a hinge seat 1803, a chute 1804 and a cylinder 1805. The chute 1804 is arranged on both sides inside the rectangular cavity and on both sides of the back of the rotating mechanism 19. The hinge seat 1803 includes an upper hinge seat 1803 and a lower hinge seat 1803. The lower hinge seat 1803 is adapted to the chute 1804 arranged in the rectangular cavity, and the upper hinge seat 1803 is adapted to the chute 1804 arranged on the back of the rotating mechanism 19. The top end of the scissors frame 1802 is hinged to the upper hinge seat 1803, the bottom end of the scissors frame 1802 is hinged to the lower hinge seat 1803, the cylinder 1805 is arranged in the middle of the rectangular cavity, the output end of the cylinder 1805 is connected to the first end of the telescopic rod 1801, and the second end of the telescopic rod 1801 is connected to the back of the rotating mechanism 19; when the telescopic rod 1801 expands and contracts under the drive of the cylinder 1805, the rotating mechanism 19 drives the upper hinge seat 1803 to move synchronously, and the upper and lower hinge seats 1803 pull the scissors frame 1802 to realize compression or extension while sliding along the corresponding chute 1804.

[0033] Regarding the driving mechanism, in one implementation of this embodiment, the driving mechanism is composed of a linear driving mechanism body 7, a power source, a remote control switch, and a remote controller. The linear driving mechanism body 7, the power source, and the remote control switch are arranged on the base 11. The output end of the linear driving mechanism body 7 is rotatably connected to the convex surface of the movable platform 9 through a shaft pin. Preferably, the linear driving mechanism body 7 is a piston rod; the power source is electrically connected to the linear driving mechanism body 7 for supplying power to the piston rod. In one implementation of this embodiment, a battery compartment 17 is further provided on the base 11, and the power source is arranged in the battery compartment 17; the remote control switch is electrically connected to the power source, and the remote controller is communicatively connected to the remote control switch, and the remote control of the state of the movable platform 9 is realized through the remote controller.

[0034] To strengthen the strength and deflection of the "C"-shaped main body 1, refer to Figure 2 As shown, in one implementation of this embodiment, a tension rope 3 is further included. The tension rope 3 is a steel wire rope or a nylon rope; one end of the tension rope 3 is connected to the convex surface of the "C"-shaped main body 1 through a single-sided hanging ear 2, and the other end is connected to the base 11 through a hanging ear 2 bracket. In addition, in this embodiment, reinforcing ribs are further provided on the convex surface of the "C"-shaped main body 1. The reinforcing ribs are arranged along the arc edge of the convex surface of the "C"-shaped main body 1 or are arranged in a "field" shape on the convex surface of the "C"-shaped main body 1. There is no specific limitation here. Preferably, the width of the reinforcing ribs is 15 mm. The reinforcing ribs on the convex surface of the "C"-shaped main body and the tension rope 3 on the convex surface not only enhance the strength and deflection of the "C"-shaped main body, but also minimize the increase in the mass of the display platform.

[0035] Regarding the rotating connector, in one implementation of this embodiment, the rotating connector includes but is not limited to a special-shaped hinge 5, a door closer, or a hinge; preferably, in this embodiment, a reverse special-shaped hinge 5 is used to connect the movable platform 9 and the "C"-shaped main body 1 to reduce the gap between the movable platform 9 and the receiving groove 10 after closing, and at the same time, a smaller torque is also beneficial to the extension and shortening of the piston rod.

[0036] Furthermore, in this embodiment, the parameters of the base 11 are 1200*750 mm, and it is composed of rectangular tubes and 4-mm Q235 steel plates. To facilitate the movement of the entire display platform, two universal wheels 14 and two fixed wheels 13 are arranged at the four corners of the bottom of the base 11. A handle 4 is further provided on the convex surface of the "C"-shaped main body 1, and the universal wheels 14 are arranged at the rear side of the display platform. In addition, to lower the center of gravity of the entire display platform, a counterweight 15 is further provided at the rear side of the base 11, so that the center of gravity of the entire display platform is located at the center position of the base 11. The size design of the "C"-shaped main body and the base 11 and the counterweight 15 scheme control and adjust the center of gravity of the display platform at the front and rear center position of the base 11 and at a relatively low level, which can ensure that the display platform has high stability.

[0037] The principle of an interactive display platform for a special inspection robot for a hydropower station penstock and volute provided by the present invention is described as follows:

[0038] In the display stage, the piston rod drives the movable platform 9 to turn outwards until the whole movable platform 9 approaches to be parallel to the upper surface of the base 11. At the same time, the arc-shaped support plate 902 is separated from the arc-shaped frame 901 through the telescopic mechanism 18 and drives the arc-shaped support plate 902 to rotate through the rotating mechanism 19. Placing the inspection robot on the arc-shaped support plate 902 can be used as a platform for displaying the inspection robot; in the demonstration stage, the telescopic mechanism 18 drives the arc-shaped support plate 902 to close with the arc-shaped frame 901, and the piston rod drives the movable platform 9 to close in the accommodating groove 10 to be used as a part of the "C"-shaped main body 1, simulating the penstock or volute, and thus the whole is used as a platform for demonstrating the inspection robot; since the "C"-shaped main body 1 in this embodiment is made of the same material as the penstock and volute, the inspection robot with special magnets attached to the crawler can move on the concave surface of the "C"-shaped main body 1; benefiting from the open structure of the "C"-shaped main body 1, the working scenario of the special inspection robot in the penstock and volute can be demonstrated more clearly and vividly.

[0039] The above are only the preferred embodiments of the present utility model and are not intended to limit the present utility model. For those skilled in the art, the present utility model can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model shall be included within the protection scope of the present utility model.

Claims

1. An interactive display platform for a special inspection robot for pressure pipes and volutes of a hydropower station, characterized in that: It comprises a base (11), a "C"-shaped body (1), a movable platform (9), a rotating connecting piece, a supporting part (6) and a driving mechanism; The "C"-shaped body (1) is arranged on a base (11) via a support portion (6) connected to its convex surface, and the straight edge of the "C"-shaped body (1) is parallel to the upper surface of the base (11); The movable platform (9) is composed of an external arc-shaped frame (901) and an internal arc-shaped support plate (902); a convex surface of the arc-shaped frame (901) is provided with a receiving cavity (903); a telescopic mechanism (18) is provided in the receiving cavity (903); an output end of the telescopic mechanism (18) is provided with a rotating mechanism (19); the arc-shaped support plate (902) is connected to the output end of the rotating mechanism (19); the telescopic mechanism (18) is used to drive the arc-shaped support plate (902) to move linearly, close the arc-shaped support plate (902) in the arc-shaped frame (901) or move the arc-shaped support plate (902) from the arc-shaped frame (901) to the concave surface of the arc-shaped frame (901); and the rotating mechanism (19) is used to drive the arc-shaped support plate (902) to rotate; The middle part of the "C"-shaped body (1) is provided with a receiving groove (10) adapted to the shape of the arc-shaped frame (901); the movable end of the rotating connecting member is fixedly connected to the arc-shaped frame (901); the fixed end of the rotating connecting member is fixed to the "C"-shaped body (1); the output end of the driving mechanism is connected to the back side of the receiving cavity (903); the driving mechanism is used to drive the movable platform (9) to rotate along the straight edge of the receiving groove (10) to close the arc-shaped frame (901) in the receiving groove (10) or to turn the arc-shaped frame (901) from the inside out of the receiving groove (10) to the concave surface of the "C"-shaped body (1).

2. The interactive display platform for a special detection robot for pressure pipes and volutes of a hydropower station as claimed in claim 1, characterized in that: The accommodating cavity (903) is a rectangular cavity integrally formed with the arc-shaped frame (901); The telescopic mechanism (18) is composed of a telescopic rod (1801), a scissor frame (1802), an articulated seat (1803), a slide groove (1804) and a cylinder (1805). The slide groove (1804) is arranged on both sides of the inside of the rectangular cavity and on both sides of the back of the rotating mechanism (19). The articulated seat (1803) includes an upper articulated seat (1803) and a lower articulated seat (1803). The lower articulated seat (1803) is adapted to the slide groove (1804) arranged in the rectangular cavity. The upper The hinge seat (1803) is adapted to a slide groove (1804) arranged on the back of the rotating mechanism (19); the top end of the scissors frame (1802) is hinged to the upper hinge seat (1803); the bottom end of the scissors frame (1802) is hinged to the lower hinge seat (1803); the cylinder (1805) is arranged in the middle of the rectangular cavity; the output end of the cylinder (1805) is connected to the first end of the telescopic rod (1801); and the second end of the telescopic rod (1801) is connected to the back of the rotating mechanism (19).

3. The interactive display platform for a special detection robot for a hydropower station pressure pipe and volute as claimed in claim 1, characterized in that: The driving mechanism consists of a linear driving mechanism body (7), a power source, a remote control switch, and a remote controller. The linear driving mechanism body (7), the power source, and the remote control switch are arranged on a base (11). The power source is electrically connected to the linear driving mechanism body (7), the remote control switch is electrically connected to the power source, the remote controller is communicatively connected to the remote control switch, and the output end of the linear driving mechanism body (7) is rotatably connected to the convex surface of the movable platform (9) through a pin.

4. The interactive display platform for a special detection robot for pressure pipes and volutes of a hydropower station as claimed in claim 1, characterized in that: It further includes a tensioning rope (3). One end of the tensioning rope (3) is connected to the convex surface of the "C"-shaped body (1), and the other end is connected to the base (11). The tensioning rope (3) is a steel wire rope or a nylon rope.

5. The interactive display platform for a special detection robot for pressure pipes and volutes of a hydropower station as claimed in claim 1, characterized in that: The convex surface of the "C"-shaped body (1) is further provided with reinforcing ribs.

6. The interactive display platform for a special detection robot for pressure pipes and volutes of a hydropower station as claimed in claim 5, characterized in that: The reinforcing ribs are arranged along the arc edge of the convex surface of the "C"-shaped body (1) or are arranged in a "field" shape on the convex surface of the "C"-shaped body (1).

7. The interactive display platform for a special detection robot for a hydropower station pressure pipe and volute as claimed in claim 1, characterized in that: The convex surface of the "C"-shaped body (1) is further provided with a handle (4).

8. The interactive display platform for a special detection robot for pressure pipes and volutes of a hydropower station as claimed in claim 1, characterized in that: The rotating connector includes, but is not limited to, a special-shaped hinge (5) or a door closer.

9. The interactive display platform for a special detection robot for pressure pipes and volutes of a hydropower station as claimed in claim 1, characterized in that: A counterweight (15) is provided on the base (11).

10. The hydropower station pressure pipe and volute special inspection robot interactive display platform as claimed in claim 1, characterized in that: Universal wheels (14) are provided at the bottom of the base (11).

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