Cabin type guide rail robot for offshore power station

Abstract

The utility model provides a cabin type guide rail robot for an offshore power station, which comprises an annular suspended ceiling track, a plurality of guide rails and a plurality of guide rails, the rack is provided with two groups of symmetrical wheels, each wheel is arranged in the corresponding clamping groove, and the rack is connected with symmetrical mounting rods; the mounting ring is connected with the symmetrical mounting shafts, each mounting shaft is rotationally connected with the corresponding mounting rod, the mounting ring is connected with a stepped shaft, and the stepped shaft is connected with a base; and the mechanical arm is connected with the base, and an industrial camera is installed on the mechanical arm. The utility model relates to the technical field of robots, in particular to an offshore power station cabin type guide rail robot. Aiming at the defects in the prior art, the cabin type guide rail robot for the offshore power station is developed, the mechanical arm can conveniently swing in the space, the monitoring range of the industrial camera is expanded, and when abnormal conditions are found, the mechanical arm is controlled to act, and the abnormal conditions are monitored in detail.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field especially relates to offshore power station cabin type guide rail robot. BACKGROUND

[0002] The offshore power station refers to the power station that utilizes the energy contained in the ocean to convert into electric energy, mainly including tidal power station, ocean temperature difference power station, wave energy power station, ocean current power station and sea water salt concentration difference power station. The cabin type guide rail robot is a kind of robot that can automatically travel on guide rail in offshore power station cabin. It is mainly used to carry out inspection, monitoring and maintenance to the equipment of power station, to improve the operation efficiency and safety of power station.

[0003] Prior art, for example, a guide rail fire extinguishing robot, authorized announcement number CN209286554U. Walking mechanism can quickly reach the fire extinguishing site, and realizes accurate fire extinguishing of fire extinguishing position through guide mechanism.

[0004] At present, there is still a kind of equipment that realizes hoisting on the top of cabin, facilitates swinging of mechanical arm in space, expands the monitoring range of industrial camera, controls the action of mechanical arm when abnormal condition is found, and carries out detailed monitoring to abnormal condition.

[0005] Therefore, aiming at the above problems, the offshore power station cabin type guide rail robot is proposed to solve the above problems. CONTENT OF THE UTILITY MODEL

[0006] The utility model in the light of prior art's insufficient, develop offshore power station cabin type guide rail robot, this utility model facilitates swinging of mechanical arm in space, expands the monitoring range of industrial camera, controls the action of mechanical arm when abnormal condition is found, and carries out detailed monitoring to abnormal condition.

[0007] The utility model solves technical problem's technical scheme for: the utility model provides offshore power station engine room formula guide rail robot, include: annular furred ceiling track, is provided with symmetrical clamping groove, frame, is installed two groups of symmetrical wheel, every wheel is arranged in corresponding clamping groove respectively, the frame connects symmetrical mounting rod, mounting ring, connects symmetrical mounting shaft, every mounting shaft is rotatoryly connected corresponding mounting rod respectively, the mounting ring connects ladder shaft, the ladder shaft connects base, mechanical arm, connects base, the mechanical arm is installed with industrial camera. Industrial camera has high resolution and accurate image capture ability, so that in offshore power station engine room monitoring, can clearly capture the details and operating condition of engine room internal equipment. This high-precision image capture capability provides a reliable basis for subsequent image analysis and fault diagnosis. Industrial camera moves along the direction of annular furred ceiling track and realizes swing at the same time, expands the monitoring range, when finding local problem, can operate mechanical arm, carries out further detailed monitoring.

[0008] As optimization, the wheel shafts of the two front wheels are respectively connected to circular plates, the edges of the two circular plates are respectively connected to power circular rods, the power circular rods are arranged in symmetrical straight slot, and the symmetrical straight slots are respectively connected to the corresponding mounting shafts. Through swinging of the power circular rods in the straight slot, the industrial camera is swung in the front-back direction.

[0009] As optimization, the mounting ring is fixedly connected to the ladder shaft.

[0010] As optimization, the mounting ring is bearing-connected to the ladder shaft, the mounting ring is connected to a U plate, the U plate is bearing-connected to the central shaft of a first bevel gear, the ladder shaft is connected to the central shaft of a second bevel gear, the first bevel gear is engaged with the second bevel gear, the central shaft of the first bevel gear passes through a straight slot and is connected to a pinion, one mounting rod is connected to a gear tooth, one mounting shaft passes through the center of the gear tooth, and the pinion is engaged with the gear tooth. Through gear engagement, the industrial camera is rotated in the horizontal plane.

[0011] As optimization, the frame is respectively provided with an avoiding slot corresponding to the symmetrical straight slots, so that the straight slot can be swung conveniently.

[0012] As optimization, the two ends of the frame are respectively connected to symmetrical hydraulic rods, the push rod of each hydraulic rod is respectively connected to a U seat, each U seat is respectively connected to a retaining wheel, each retaining wheel is respectively in contact with the annular furred ceiling track, the robot moves along the direction of the annular furred ceiling track, and the monitoring is facilitated.

[0013] The effects provided in the utility model content are only the effects of the embodiments, not all the effects of the utility model, and the above technical scheme has the following advantages or beneficial effects:

[0014] (1) The device realizes the movement of the robot along the direction of the annular suspended ceiling track by adopting the wheel and the retaining wheel, and facilitates monitoring.

[0015] (2) The device realizes the swinging of the straight slot and the swinging of the industrial camera in the front and back directions by setting the power round rod in the straight slot and swinging the straight slot when the wheel rotates.

[0016] (3) The device realizes the swinging of the industrial camera in the horizontal plane by adopting gear meshing and bevel gear meshing, and expands the monitoring range of the industrial camera. BRIEF DESCRIPTION OF DRAWINGS

[0017] The accompanying drawings are used to provide a further understanding of the present application, and constitute a part of the specification, and are used to explain the present application together with embodiments of the present application, and do not constitute a limitation on the present application.

[0018] Figure 1 is a schematic view of the three-dimensional structure of the present application Figure One .

[0019] Figure 2 is a schematic view of the local three-dimensional structure of the present application Figure One .

[0020] Figure 3 is a schematic view of the local three-dimensional structure of the present application Figure Two .

[0021] Figure 4 is a schematic view of the local three-dimensional structure of the present application Figure Three .

[0022] Figure 5 is a schematic view of the local three-dimensional structure of the present application Figure Four .

[0023] Figure 6 is a schematic view of the three-dimensional structure of the present application Figure Two .

[0024] In the figure: 1, annular suspended ceiling track, 2, clamping groove, 3, electric push rod, 4, U seat, 5, retaining wheel, 6, wheel, 7, rack, 8, mounting rod, 9, mechanical arm, 10, industrial camera, 11, avoiding slot, 12, straight slot, 13, power round rod, 14, round plate, 15, U plate, 16, mounting shaft, 17, second bevel gear, 18, first bevel gear, 19, small teeth, 20, large teeth, 21, stepped shaft, 22, base, 23, mounting ring. DETAILED DESCRIPTION

[0025] In order to clearly illustrate the technical features of the scheme, the utility model will be described in detail below through specific implementation, and combined with its drawings. The following disclosure provides many different embodiments or examples to realize different structures of the utility model. In order to simplify the disclosure of the utility model, the components and settings of specific examples are described below. In addition, the utility model can refer to the same number and / or letter in different examples. Such repetition is for the purpose of simplification and clarity, which itself does not indicate the relationship between the various embodiments and / or settings discussed. It should be noted that the components illustrated in the drawings are not necessarily drawn to scale. The utility model omits the description of known components and processing techniques and processes to avoid unnecessary limitations on the utility model. The orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the utility model and simplifying the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the utility model. In addition, the terms "first", "second", "third" are only for the purpose of description, and cannot be understood as indicating or implying relative importance. In the description of the utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be connected inside two elements. For those skilled in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances.

[0026] As Figures 1 to 6 shown, the offshore power station engine room type guide rail robot comprises: a ring-shaped ceiling track 1 provided with symmetrical clamping grooves 2; a rack 7 provided with two groups of symmetrical wheels 6, each wheel 6 is arranged in the corresponding clamping groove 2, the rack 7 is connected with symmetrical mounting rods 8; a mounting ring 23 connected with symmetrical mounting shafts 16, each mounting shaft 16 is rotatably connected with the corresponding mounting rod 8, the mounting ring 23 is connected with a stepped shaft 21, and the stepped shaft 21 is connected with a base 22; a mechanical arm 9 connected with the base 22, and an industrial camera 10 mounted on the mechanical arm 9. The industrial camera 10 has high resolution and accurate image capturing capability, so that in the monitoring of the offshore power station engine room, the details and running state of the equipment inside the engine room can be clearly captured. This high-precision image capturing capability provides a reliable basis for subsequent image analysis and fault diagnosis. The industrial camera 10 moves along the direction of the ring-shaped ceiling track 1 while realizing swinging, expanding the monitoring range, and when local problems are found, the mechanical arm 9 can be operated for further detailed monitoring.

[0027] The model of the industrial camera 10 is MV-CS200-10GC.

[0028] The front two wheel shafts 6 are respectively connected with round plates 14, the edges of the two round plates 14 are respectively connected with power round rods 13, the power round rods 13 are arranged in symmetrical straight mouth grooves 12, and the symmetrical straight mouth grooves 12 are respectively connected with corresponding mounting shafts 16. By swinging the power round rods 13 in the straight mouth grooves 12, the industrial camera 10 is swung in the front-back direction.

[0029] The rack 7 is respectively provided with avoiding grooves 11 corresponding to the symmetrical straight mouth grooves 12, so as to facilitate the swinging of the straight mouth grooves 12.

[0030] The two ends of the rack 7 are respectively connected with symmetrical electric push rods 3, the push rod of each electric push rod 3 is respectively connected with a U-shaped seat 4, the U-shaped seat 4 is respectively connected with a holding wheel 5, and the holding wheel 5 is respectively in contact with the annular ceiling track 1, so as to realize the movement of the robot along the annular ceiling track 1, and facilitate monitoring.

[0031] The model of the electric push rod 3 is BXTL150.

[0032] Embodiment one: the mounting ring 23 is fixedly connected with the stepped shaft 21.

[0033] The working process of the embodiment is as follows:

[0034] The two wheels 6 not connected with the round plates 14 are power wheels.

[0035] When the power wheel rotates, the wheel 6 moves in the clamping groove 2 along the annular ceiling track 1, the mechanical arm 9 and the industrial camera 10 move along the annular ceiling track 1, and the holding wheel 5 rotates.

[0036] The wheel 6 drives the round plate 14 to rotate, the round plate 14 drives the power round rod 13 to swing in the straight mouth groove 12, the power round rod 13 drives the straight mouth groove 12 to swing, the straight mouth groove 12 drives the mounting shaft 16 to rotate, the mounting shaft 16 drives the mounting ring 23, the stepped shaft 21, the base 22, the mechanical arm 9 and the industrial camera 10 to swing in the front-back direction. The industrial camera 10 realizes monitoring of the engine room.

[0037] The embodiment two is based on the embodiment one, the mounting ring 23 is connected with the stepped shaft 21, the mounting ring 23 is connected with the U-shaped plate 15, the U-shaped plate 15 is connected with the central shaft of the first bevel gear 18, the stepped shaft 21 is connected with the central shaft of the second bevel gear 17, the first bevel gear 18 is engaged with the second bevel gear 17, the central shaft of the first bevel gear 18 is connected with the pinion 19 through the straight slot 12, the mounting rod 8 is connected with the gear 20, the mounting shaft 16 is connected with the center of the gear 20, and the pinion 19 is engaged with the gear 20. By using gear engagement, the industrial camera 10 is driven to rotate in the horizontal plane.

[0038] The working process of the embodiment is as follows:

[0039] When the straight slot 12 swings, the mounting ring 23 drives the U-shaped plate 15, the first bevel gear 18 and the pinion 19 to swing, the stepped shaft 21 drives the second bevel gear 17 to swing, the pinion 19 is engaged with the gear 20 to rotate, the pinion 19 drives the first bevel gear 18 to rotate, the first bevel gear 18 drives the second bevel gear 17, the stepped shaft 21 and the base 22 to rotate by a small angle, and the base 22 drives the mechanical arm 9 and the industrial camera 10 to swing in the horizontal plane.

[0040] Although the specific embodiments of the utility model are described above with reference to the drawings, it is not a limitation on the protection scope of the utility model, and various modifications or changes made by those skilled in the art on the basis of the technical scheme of the utility model without creative labor are still within the protection scope of the utility model.

Claims

1. Offshore power plant machine room type guide rail robot, characterized by, Include: Annular ceiling track (1) is provided with symmetrical card slot (2); Frame (7) is installed with two groups of symmetrical wheels (6), each wheel (6) is arranged in the corresponding card slot (2), the frame (7) is connected with symmetrical mounting rod (8); Mounting ring (23) is connected with symmetrical mounting shaft (16), each mounting shaft (16) is rotatably connected with the corresponding mounting rod (8), the mounting ring (23) is connected with ladder shaft (21), the ladder shaft (21) is connected with base (22); Mechanical arm (9) is connected with the base (22), the mechanical arm (9) is installed with industrial camera (10).

2. Offshore power plant engine room guide rail robot according to claim 1, characterized in that: The axle of the two front wheels (6) is respectively connected with circular plate (14), the edge of the two circular plates (14) is respectively connected with power round bar (13), the power round bar (13) is arranged in symmetrical straight slot (12), and the symmetrical straight slot (12) is respectively connected with the corresponding mounting shaft (16).

3. Offshore power plant engine room guide rail robot according to claim 2, characterized in that: The mounting ring (23) is fixedly connected with the ladder shaft (21).

4. Offshore power plant engine room guide rail robot according to claim 2, characterized in that: The mounting ring (23) is connected with U plate (15), the U plate (15) is connected with the center shaft of first bevel gear (18), the ladder shaft (21) is connected with the center shaft of second bevel gear (17), the first bevel gear (18) is engaged with the second bevel gear (17), the center shaft of the first bevel gear (18) passes through one straight slot (12) and is connected with pinion (19), one mounting rod (8) is connected with gear (20), one mounting shaft (16) passes through the center of the gear (20), and the pinion (19) is engaged with the gear (20).

5. Offshore power plant engine room guide rail robot according to claim 2, characterized in that: The frame (7) is provided with avoiding slot (11) corresponding to the symmetrical straight slot (12).

6. Offshore power plant engine room guide rail robot according to claim 1, characterized in that: The two ends of the frame (7) are respectively connected with symmetrical electric push rod (3), the push rod of each electric push rod (3) is respectively connected with U seat (4), each U seat (4) is respectively connected with retaining wheel (5), and each retaining wheel (5) is respectively connected with annular ceiling track (1).

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