Device for guaranteeing stability of traction motion of intelligent flow measurement robot monitoring equipment

Abstract

The utility model discloses a device for guaranteeing stability of traction movement of intelligent flow measurement robot monitoring equipment. The device comprises a vertical movement assembly, an execution device and a sensing device. Wherein the execution device is arranged on the vertical movement assembly and moves up and down along the vertical movement assembly; the vertical movement assembly is connected with a hoisting detection device, and the hoisting detection device is provided with a connecting assembly; the sensing device is arranged at the lowermost end of the hoisting detection device and is used for detecting the state of the connecting assembly and providing a detection signal for the execution device; and the execution device holds or loosens the vertical motion assembly according to the detection signal. According to the utility model, the monitoring equipment can be normally stored in the equipment cabin when the intelligent flow measurement robot monitors large flow, so that the operation stability of the intelligent flow measurement robot is improved, and the safety of the traction movement stability of the monitoring equipment of the intelligent flow measurement robot during large flow monitoring is ensured; and the problem of equipment damage caused by misoperation of the trigger plate driven by the traction rope is avoided.

Description

Technical Field

[0001] This utility model belongs to the field of water conservancy monitoring technology, specifically relating to a device for ensuring the stable traction movement of intelligent flow measurement robot monitoring equipment. Background Technology

[0002] The statements herein provide only background information related to this invention and do not necessarily constitute prior art.

[0003] The intelligent flow measurement robot is equipped with flow velocity monitoring devices such as a rotor-type flow meter 22 and a lead weight 21, which can more accurately measure the cross-sectional area of ​​the water flow and the flow velocity at the corresponding location. Theoretically, the flow rate calculation is more accurate, which is the main reason why the intelligent flow measurement robot is superior to other measurement methods. Currently, all existing intelligent flow measurement robots use a traction rope as the connection medium to complete the deployment and retrieval of the flow velocity monitoring equipment. During retrieval, the monitoring equipment mainly drives the trigger plate 26 to trigger the limit switch 11 to ensure proper retrieval.

[0004] For example, Chinese patent document CN117621100A discloses a device for traction movement of intelligent flow measurement robot monitoring equipment. The device is equipped with a hoisting bracket, and both ends of the wheel axle are fixed in the hoisting bracket through bearing seats. A fixed pulley is set on the wheel axle, and a traction rope is set on the fixed pulley. One end of the traction rope is connected to a vertical power cabin, and the other end is connected to a flow meter and a lead weight. The monitoring equipment (flow meter and lead weight) can be deployed and retrieved by the traction motor in the vertical power cabin driving the traction rope.

[0005] However, because the traction rope is flexible, the monitoring equipment is impacted downstream after being submerged in the water, causing the rope to tilt at a certain angle, especially at higher flow velocities. This significantly reduces the accuracy of the rope's descent length. To address this issue, existing technologies compensate by adding angle sensors to calculate accurate water depth and mud level, theoretically yielding more accurate measurement data. However, due to the larger tilt angle of the traction rope at higher flow velocities, during equipment retrieval, the trigger plate 26 is moved upwards by the traction rope 27 under frictional force due to the impact of the water flow and upward traction. This prematurely triggers the limit switch 11, leading to a misjudgment that the monitoring equipment has entered the storage compartment. Consequently, the flow measurement robot performs the next action before the monitoring equipment enters the equipment compartment, potentially causing the equipment to collide with the riverbank or entry threshold, resulting in damage.

[0006] To prevent the trigger plate 26 from malfunctioning under the action of the traction rope 27, there are currently two solutions:

[0007] (1) By continuously increasing the weight of the trigger plate 26, the weight of the trigger plate 26 can overcome the friction and prevent malfunction. The disadvantage of this method is that it increases the overall mass of the flow measurement robot, increases the equipment cost, and also increases the tension of the traction rope after the flow measurement equipment is normally put into storage, thus accelerating the wear of the traction rope.

[0008] (2) Apply lubricating oil to the contact position between the traction rope 27 and the trigger plate 26. This method is effective immediately after the oil is applied and maintenance is completed. However, after several measurements, the lubricating oil will be carried away by the traction rope 27. As the lubricating oil is gradually consumed, the friction will gradually increase and problems will gradually occur. Therefore, frequent maintenance is required, which will undoubtedly increase the operation and maintenance costs. Utility Model Content

[0009] The purpose of this invention is to overcome the shortcomings of the existing technology and provide a device to ensure the stable traction movement of the intelligent flow measurement robot monitoring equipment. Especially when monitoring large flow rates, it ensures that the monitoring equipment can be normally stored in the equipment compartment, ensuring the stability of the monitoring equipment entering the storage, thereby improving the operational stability and safety of the intelligent flow measurement robot and avoiding the problem of the trigger plate moving upward under the drive of the traction rope, causing malfunctions and equipment damage.

[0010] To achieve the above objectives, this utility model is implemented through the following technical solution:

[0011] The present invention provides a device for ensuring stable traction movement of a monitoring device for an intelligent flow measurement robot, comprising: a vertical motion component, an execution device, and a sensing device; wherein, the execution device is disposed on the vertical motion component and moves up and down along the vertical motion component; the vertical motion component is connected to a hoisting detection device, and the hoisting detection device is provided with a connecting component; the sensing device is disposed at the lowermost end of the hoisting detection device, used to detect the status of the connecting component and provide a detection signal to the execution device; the execution device tightens or loosens the vertical motion component according to the detection signal.

[0012] In at least one embodiment, the actuator includes a housing, a first electromagnetic thrust coil, a first push rod, a first clamp, a second electromagnetic thrust coil, a second push rod, and a second clamp.

[0013] In at least one embodiment, the actuator further includes an electrical interface connected to the sensing device via a signal line.

[0014] In at least one embodiment, the sensing device is specifically an electromagnetic induction switch.

[0015] In at least one embodiment, the vertical motion assembly includes a vertical motion support, which consists of two columns and a crossbeam. An upper support seat and a lower support seat are respectively installed at the top and bottom of each column. A vertical motion guide rail is installed between the upper support seat and the lower support seat, and the actuator is installed on the vertical motion guide rail.

[0016] In at least one embodiment, a track slider is also provided on the vertical motion guide rail, and the track slider is fixedly connected to the actuator.

[0017] In at least one embodiment, two track sliders are respectively connected to both ends of a trigger plate, and a hoisting detection device is connected in the middle of the trigger plate.

[0018] In at least one embodiment, the connecting assembly includes a guide groove and a guide rod; the guide groove is disposed at the lowest end of the hoisting detection device, and the guide rod is disposed at the top of the monitoring device; the sensing device is disposed on the guide groove.

[0019] In at least one embodiment, a traction rope passes through the guide groove, the traction rope goes upward around the fixed pulley and is connected to the traction motor; the bottom end of the traction rope is connected to the guide cap and the monitoring device in sequence.

[0020] In at least one embodiment, the guide rod is disposed on the guide cap; the guide rod is a magnetic rod; the guide rod is pulled away from or into the guide groove by the traction of the traction rope.

[0021] The beneficial effects of the above-described technical solution of this utility model are as follows:

[0022] This utility model discloses a device for ensuring the stable traction movement of an intelligent flow measurement robot monitoring equipment. The device comprises an actuator and a sensing device. The sensing device detects whether the monitoring equipment has made contact with the bottom of the trigger plate and generates a corresponding detection signal. The actuator controls the tightening or loosening of the vertical motion guide rail based on the detection signal. This ensures that the monitoring equipment can be normally retracted into the equipment compartment during high-flow monitoring, thereby improving the operational stability of the intelligent flow measurement robot and ensuring the safety of the traction movement stability of the intelligent flow measurement robot monitoring equipment during high-flow monitoring. It also prevents the trigger plate from moving upwards under the influence of the traction rope, causing malfunctions and potentially damaging the equipment. Attached Figure Description

[0023] The accompanying drawings, which form part of this specification, are used to provide a further understanding of this utility model. The illustrative embodiments of this utility model and their descriptions are used to explain this utility model and do not constitute an improper limitation of this utility model.

[0024] Figure 1 This is a schematic diagram of the overall structure of the intelligent flow measurement robot of this utility model;

[0025] Figure 2 This is a schematic diagram of the external structure of the actuator of this utility model;

[0026] Figure 3 This is a schematic diagram of the internal structure of the actuator of this utility model.

[0027] In the diagram: 1. Horizontal power compartment; 2. Vertical power compartment; 21. Lead weight; 22. Rotary flow meter; 23. Connecting assembly; 24. Lifting detection device; 241. Sensing device; 26. Trigger plate; 27. Traction rope; 28. Fixed pulley; 3. Main frame; 4. Vertical motion support; 5. Lower support seat; 6. Vertical motion guide rail; 7. Track slider; 8. Actuator; 80. Electrical interface; 81. Housing; 82. First electromagnetic thrust coil; 83. First push rod; 84. First clamp; 85. Second clamp; 86. Second push rod; 87. Second electromagnetic thrust coil; 9. Upper support seat; 10. Lifting bracket; 11. Limit switch; 12. Position contact;

[0028] The distances or dimensions between parts have been exaggerated to show their positions; the diagram is for illustrative purposes only. Detailed Implementation

[0029] It should be noted that the following detailed description is illustrative and intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used in this invention have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0030] For ease of description, the words "up," "down," "left," and "right" appearing in this utility model only indicate that they are consistent with the up, down, left, and right directions of the accompanying drawings. They do not limit the structure and are merely for the purpose of facilitating the description of this utility model and simplifying the description. They do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0031] Terminology Explanation: The terms "installation," "connection," "linking," and "fixing" in this utility model should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal connection of two components or the interaction relationship between two components. For those skilled in the art, the specific meaning of the above terms in this utility model can be understood according to the specific circumstances.

[0032] As described in the background section, the purpose of this utility model is to overcome the shortcomings of the prior art and provide a device to ensure the stable traction movement of the intelligent flow measurement robot monitoring equipment. Especially when monitoring large flow rates, it ensures that the monitoring equipment can be normally stored in the equipment compartment, ensuring the stability of the monitoring equipment entering the warehouse, thereby improving the operational stability and safety of the intelligent flow measurement robot and avoiding the problem of the trigger plate 26 moving upward under the drive of the traction rope 27, causing malfunctions and equipment damage.

[0033] Chinese patent document CN117621100A discloses a device for realizing the traction motion of a monitoring device for an intelligent flow measurement robot. The device includes a mobile chassis, a horizontal power compartment 1, a vertical power compartment 2, and an equipment compartment between the horizontal and vertical power compartments 1 and 2. The equipment compartment mainly includes a traction motion main frame 3, a hoisting detection device 24, a rotor-type flow meter 22, and a lead weight 21. The horizontal power compartment 1 and vertical power compartment 2 are respectively located on both sides of the mobile chassis. The traction motion main frame 3 is located in the middle of the mobile chassis, and the hoisting detection device 24 is mounted on the main frame 3. The flow meter and lead weight 21 are connected to the lower side of the hoisting detection device 24. The horizontal power compartment 1 provides horizontal driving force to the mobile chassis, and the vertical power compartment 2 provides vertical driving force to the hoisting detection device 24.

[0034] Example 1

[0035] In a typical embodiment of this utility model, such as Figures 1-3 As shown, this embodiment discloses a device for ensuring the stable traction motion of a monitoring device for an intelligent flow measurement robot, comprising a vertical motion component, an execution device 8, and a sensing device 241; wherein, the execution device 8 is disposed on the vertical motion component and moves up and down along the vertical motion component; the vertical motion component is connected to a hoisting detection device 24, and the hoisting detection device 24 is provided with a connecting component 23; the sensing device 241 is disposed at the lowermost end of the hoisting detection device 24, used to detect the state of the connecting component 23 and provide a detection signal to the execution device 8; the execution device 8 tightens or loosens the vertical motion component according to the detection signal.

[0036] In this embodiment, the actuator 8 includes a housing 81, a first electromagnetic thrust coil 82, a first push rod 83, a first clamp 84, a second electromagnetic thrust coil 87, a second push rod 86, and a second clamp 85. When the first electromagnetic thrust coil 82 and the second electromagnetic thrust coil 87 are energized, they generate thrust through the principle of electromagnetic induction, which drives the first push rod 83 and the second push rod 86 to push the first clamp 84 and the second clamp 85 in opposite directions, so that the first clamp 84 and the second clamp 85 perform a clamping action on the vertical moving component. When the first electromagnetic thrust coil 82 and the second electromagnetic thrust coil 87 are de-energized, the electromagnetic force is small, and the inward thrust of the first push rod 83 and the second push rod 86 on the first clamp 84 and the second clamp 85 disappears, the clamping force on the vertical moving component disappears, and it can move up and down along the vertical moving component.

[0037] In this embodiment, the actuator 8 is also provided with an electrical interface 80, which is connected to the sensing device 241 via a signal line to receive the detection signal from the sensing device 241 and control the first electromagnetic coil and the second electromagnetic coil to be energized and de-energized according to the detection signal, thereby controlling the actuator 8 to tighten and loosen the vertical motion component.

[0038] In this embodiment, the sensing device 241 adopts an electromagnetic induction switch, which generates a switch OFF signal and a switch ON signal respectively by detecting the connection or disconnection state of the connection component 23, and transmits the signals to the actuator 8 through the signal line to control the first electromagnetic coil and the second electromagnetic coil to be energized and de-energized.

[0039] In this embodiment, the vertical motion component includes a vertical motion support 4, which serves as the main traction motion frame 3 for the monitoring device. The vertical motion support 4 consists of two columns and a crossbeam. Each column has an upper support 9 and a lower support 5 installed at its top and bottom, respectively. A vertical motion guide rail 6 is installed between each set of upper and lower support seats 9 and 5. An actuator 8 is mounted on the vertical motion guide rail 6 and can move up and down along it. Each vertical motion guide rail 6 also has a track slider 7, which is bolted to the actuator 8 and can move up and down simultaneously along the vertical motion guide rail 6. Two track sliders 7 are connected to both ends of a trigger plate 26. A hoisting detection device 24 is connected in the middle of the trigger plate 26. A connecting component 23 is installed at the lower end of the hoisting detection device 24, connecting the hoisting detection device 24 and the monitoring device. The trigger plate 26 can slide up and down along the vertical motion guide rail 6 via the track sliders 7, thereby driving the hoisting detection device 24, the connecting component 23, and the monitoring device to move up and down.

[0040] As an optional embodiment, there can be one actuator 8, which is installed on one side of the vertical motion guide rail 6; or there can be two actuators, which are installed on the vertical motion guide rails 6 on both sides respectively. The two actuators are respectively connected to the sensing device 241. Using two actuators 8 can resist greater friction and fully ensure the fixation of the trigger plate 26 during the traction movement.

[0041] In this embodiment, the connecting component 23 includes a guide groove and a guide rod. The guide groove is located at the lowest end of the hoisting and testing device 24, and the guide rod is located at the top of the monitoring device. The guide rod enters or leaves the guide groove to connect and separate the hoisting and testing device 24 from the monitoring device. Specifically, a guide cap is provided above the monitoring device, and the guide rod is located on the guide cap. The top end of the traction rope 27 of the intelligent flow measurement robot passes through the guide groove and the hoisting and testing device 24, then goes upward around the fixed pulley 28 installed on the hoisting bracket 10 and connects to the traction motor in the vertical power compartment 2. The bottom end of the traction rope 27 is connected to the guide cap and the monitoring device in sequence. The traction motor provides vertical driving force to move the monitoring device upward. The guide rod at the top of the monitoring device enters the guide groove, realizing accurate docking between the monitoring device and the hoisting and testing device 24.

[0042] In this embodiment, the guide rod is a magnetic rod, and the sensing device 241 is an electromagnetic induction switch and is installed on the guide groove. When the guide rod enters or leaves the guide groove under the traction of the traction rope 27, the electromagnetic induction switch generates a corresponding detection signal and transmits it to the execution device 8.

[0043] In this embodiment, the specific working process of a device for ensuring stable traction movement of the intelligent flow measurement robot monitoring equipment during the lowering of the monitoring equipment is as follows:

[0044] When the intelligent flow measurement robot reaches the monitoring point, the traction motor in the vertical power compartment 2 rotates in the forward direction, the traction rope 27 is lowered, and the monitoring equipment such as the rotor flow meter 22 moves downward. At the same time, the trigger plate 26 moves downward under the action of gravity. When it reaches the position of the lower support seat 5, the track sliders 7 at both ends of the trigger plate 26 are blocked by the lower support seat 5 and stop descending. At this time, the guide rod on the guide cap and the guide groove at the bottom of the hoisting detection device 24 are disengaged. The guide rod on the guide cap is a magnetic rod. The sensing device 241 on the guide groove at the bottom of the hoisting detection device 24 can sense the disengagement of the guide rod on the guide cap and generate a switch OFF signal. This signal is connected to the electrical interface 80 on the actuator 8 through the signal line and transmitted to the actuator 8.

[0045] After receiving the OFF signal from the sensing device 241, the actuator 8 energizes the first electromagnetic thrust coil 82 and the second electromagnetic thrust coil 87, generating thrust through the principle of electromagnetic induction. This thrust drives the first push rod 83 and the second push rod 86 to push the first clamp 84 and the second clamp 85 toward each other, causing the first clamp 84 and the second clamp 85 to grip the vertical motion guide rail 6, thereby ensuring that the slider and the trigger plate 26 remain stationary.

[0046] In this embodiment, the specific working process of a device for ensuring stable traction motion of the intelligent flow measurement robot monitoring equipment during equipment recovery is as follows:

[0047] After the intelligent flow measurement robot acquires data at the monitoring point, the motor in the vertical power compartment 2 rotates in the opposite direction, the traction rope 27 is retrieved, and the monitoring equipment such as the rotor flow meter 22 moves upward. When it enters the equipment hatch, the guide rod on the guide cap will enter the guide groove at the bottom of the hoisting detection device 24. The sensor 241 on the guide groove at the bottom of the hoisting detection device 24 can sense the entry of the guide rod on the guide cap and generate a switch ON signal. This signal is connected to the electrical interface 80 on the actuator 8 through the signal line and transmitted to the actuator 8.

[0048] After the actuator 8 receives the ON signal from the sensor 241, the first electromagnetic thrust coil 82 and the second electromagnetic thrust coil 87 are de-energized, the electromagnetic force disappears, and the first push rod 83 and the second push rod 86 drive the first clamp 84 and the second clamp 85 to push inward, which in turn makes the slider and the trigger plate 26 move along the vertical motion guide rail 6.

[0049] Under the tension of the traction rope 27, the trigger plate 26 moves upward until the limit switch 11's position contact 12 is activated, at which point the motor in the vertical power compartment 2 stops rotating, and the monitoring equipment safely enters the equipment compartment.

[0050] This utility model discloses a damping device for ensuring stable traction movement of an intelligent flow measurement robot monitoring equipment. The device consists of two parts: an actuator and a sensing device. The actuator is mounted on vertical motion guide rails on both sides of the trigger plate. The sensing device is located in the guide groove at the lowest end of the suspended detection device below the trigger plate. The sensing device detects when the guide rod enters the guide groove, indicating that the top of the flow measurement monitoring equipment has contacted the bottom of the trigger plate. At this point, the damping force of the actuator disappears, allowing the top of the flow measurement monitoring equipment to drive the trigger plate to normally trigger the limit switch. When the sensing device detects that the guide rod has not entered the guide groove, meaning the top of the flow measurement monitoring equipment has not yet contacted the bottom of the trigger plate, the actuator exerts a greater damping force to counteract the upward frictional force from the traction rope. This prevents the traction rope from causing the trigger plate to mistakenly trigger the limit switch, ensuring that the intelligent flow measurement robot can retract normally into the equipment compartment during high-flow monitoring. This improves the operational stability of the intelligent flow measurement robot and ensures the safety of the traction movement stability of the intelligent flow measurement robot monitoring equipment during high-flow monitoring.

[0051] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A device for ensuring the stability of the traction movement of an intelligent flow measuring robot monitoring device, characterized in that, The utility model relates to a vertical motion assembly, an execution device and a sensing device, wherein the execution device is arranged on the vertical motion assembly and moves up and down along the vertical motion assembly; the vertical motion assembly is connected with a hoisting detection device, the hoisting detection device is provided with a connecting assembly; the sensing device is arranged at the lowermost end of the hoisting detection device and is used for detecting the state of the connecting assembly and providing a detection signal for the execution device; and the execution device tightens or loosens the vertical motion assembly according to the detection signal. The execution device comprises a shell, a first electromagnetic thrust coil, a first push rod, a first clamping device, a second electromagnetic thrust coil, a second push rod and a second clamping device.

2. A device for ensuring the stability of the traction movement of an intelligent flow measuring robot monitoring device according to claim 1, characterized in that, The execution device further comprises an electrical interface connected with the sensing device through a signal line.

3. A device for securing the stability of the traction movement of an intelligent flow measuring robot monitoring device according to claim 2, characterized in that The sensing device is specifically an electromagnetic induction switch.

4. The device as claimed in claim 1, wherein the device is configured to ensure stability of the robotic monitoring equipment during towing movement. The vertical motion assembly comprises a vertical motion support, which is composed of two vertical columns and a horizontal beam, the top and bottom of each vertical column are respectively provided with an upper support seat and a lower support seat, a vertical motion guide rail is arranged between the upper support seat and the lower support seat, and the execution device is arranged on the vertical motion guide rail.

5. A device for securing the stability of the traction movement of a robotic monitoring device for intelligent flow measurement according to claim 1, characterized in that A track slider is further arranged on the vertical motion guide rail and is fixedly connected with the execution device.

6. A device for securing the stability of the traction movement of an intelligent flow measuring robot monitoring device according to claim 5, characterized in that, Two track sliders are respectively connected with two ends of a trigger plate, and the trigger plate is connected with the hoisting detection device in the middle.

7. A device for securing the stability of the traction movement of a monitoring equipment of an intelligent flow measuring robot according to claim 6, characterized in that, The connecting assembly comprises a guide groove and a guide rod, the guide groove is arranged at the lowermost end of the hoisting detection device, the guide rod is arranged at the top of the monitoring device, and the sensing device is arranged on the guide groove.

8. A device for securing the stability of the traction motion of a robotic monitoring device for intelligent flow measurement according to claim 1, characterized in that A traction rope is arranged in the guide groove, the traction rope is wound around a fixed pulley upwards and is connected with a traction motor, and the bottom end of the traction rope is sequentially connected with a guide cap and a monitoring device.

9. A device for securing the stability of the traction motion of a robotic monitoring device for intelligent flow measurement according to claim 8, characterized in that The guide rod is arranged on the guide cap, the guide rod is a magnetic rod, and the guide rod is separated from or enters the guide groove under the traction of the traction rope.

10. A device for securing the stability of the traction motion of a robotic monitoring device for intelligent flow measurement according to claim 9, characterized in that ​

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