Climbing robot for nuclear power pipeline detection and maintenance

Abstract

The utility model provides a climbing robot for nuclear power pipeline detection and maintenance, which comprises two connecting blocks which are symmetrical to each other, and a detection component is mounted on one of the connecting blocks; a climbing assembly; the climbing assembly comprises an extension block fixedly connected to the upper end face of one of the connecting blocks, the extension block is rotationally connected with a rotating cylinder, the upper end face of the rotating cylinder is in threaded connection with a threaded rod, and the end, away from the rotating cylinder, of the threaded rod is rotationally connected with a cylinder; the cylinder is fixedly connected to the lower end face of the other connecting block, the outer wall of the rotating cylinder is fixedly sleeved with a first straight tooth cylinder, and the extension block is rotationally connected with a first rotating rod. According to the pipeline detection device, the pipeline can be detected through a machine, workers are not needed, meanwhile, the detection device can be rapidly mounted and dismounted, and device inspection and recording are facilitated.

Description

TECHNICAL FIELD

[0001] The utility model relates to pipeline detection technical field especially relates to a kind of climbing robot for nuclear power pipeline detection maintenance. BACKGROUND

[0002] Pipeline is connected with the device for conveying gas, liquid or fluid with solid particles by pipe, pipe coupling and valve, usually, fluid is pressurized from pipe's high pressure to low pressure by blower, compressor, pump and boiler etc., also can use fluid's pressure or gravity to transport.

[0003] Nuclear power pipeline needs to detect its safety regularly, to prevent its leakage etc., but existing inspection needs staff to personally carry out pipeline inspection, the safety of staff cannot be guaranteed, so pipeline climbing robot needs to replace staff to carry out pipeline inspection. UTILITY MODEL CONTENT

[0004] In view of the deficiencies in the prior art, the utility model provides a kind of climbing robot for nuclear power pipeline detection maintenance.

[0005] The embodiment of the utility model provides a kind of climbing robot for nuclear power pipeline detection maintenance, comprising:

[0006] Two mutually symmetrical connecting blocks, one of which is provided with a detection assembly on the connecting block;

[0007] Climbing assembly;The climbing assembly includes an extension block fixedly connected to the upper end face of one of the connecting blocks, a rotating drum is rotatably connected to the extension block, a threaded rod is threadedly connected to the upper end face of the rotating drum, a cylindrical drum is rotatably connected to the end of the threaded rod away from the rotating drum, the cylindrical drum is fixedly connected to the lower end face of the other connecting block, a straight-toothed cylinder one is fixedly sleeved on the outer wall of the rotating drum, a rotating rod one is rotatably connected to the extension block, a straight-toothed cylinder two is fixedly installed on one end of the rotating rod one, the straight-toothed cylinder one is engaged with the straight-toothed cylinder two, an electric motor is fixedly installed on the lower end face of the extension block, the output end of the electric motor is rotatably penetrated through the extension block and fixedly connected to one end of the rotating rod one, a clamping structure is installed on both of the connecting blocks, the clamping structure includes a worm rotatably connected to the connecting block, two mutually symmetrical rotating rods two are rotatably connected to the connecting block, straight gears are fixedly connected to both of the rotating rods two, both of the straight gears are engaged with the worm, clamping jaws are fixedly connected to both of the rotating rods two, a rotary motor is fixedly installed on the outer wall of the connecting block, the motor shaft of the rotary motor is rotatably penetrated through the connecting block and fixedly connected to one end of the worm.

[0008] Furthermore, the detection assembly includes two mutually symmetrical limiting blocks fixedly connected to the upper surface of one of the connecting blocks. A detection device is placed on the upper surface of the connecting block. The detection device has two mutually symmetrical limiting ports. Each of the two limiting blocks has an opening. Each of the two openings has a limiting block slidably connected to it. The two limiting blocks are slidably connected to the two limiting ports respectively. One end of each of the two limiting blocks is fixedly connected to a sliding rod. One end of each sliding rod slides through the two limiting blocks respectively. Springs are sleeved on the outer walls of each sliding rod. The other ends of each spring are fixedly connected to the two openings respectively.

[0009] Furthermore, a friction layer is installed on the inner wall of each of the four grippers.

[0010] Furthermore, the housings of both rotary motors are made of radiation-proof materials.

[0011] Furthermore, both of the aforementioned limiting blocks are matched with the detection device.

[0012] Furthermore, a pull ring is installed at one end of each of the two slide rods.

[0013] Compared with the prior art, the present invention has the following beneficial effects:

[0014] This invention enables robots to stably climb up and down pipes using a climbing component, eliminating the need for manual inspection and reducing the risk of injury to workers. Furthermore, the easily installable and removable inspection component allows workers to easily disassemble the component for inspection and maintenance, and to view the inspection data. Attached Figure Description

[0015] Fig. 1 This is a three-dimensional structural diagram of a climbing robot for nuclear power pipeline inspection and maintenance, as described in an embodiment of this utility model.

[0016] Fig. 2 This is a three-dimensional structural diagram of the gripper of a climbing robot used for nuclear power pipeline inspection and maintenance, as described in an embodiment of this utility model.

[0017] Fig. 3 This is a three-dimensional cross-sectional view of the detection component of a climbing robot for nuclear power pipeline inspection and maintenance, as described in this embodiment of the present invention.

[0018] In the above-mentioned attached figures: 1 connecting block, 2 extension block, 3 rotating cylinder, 4 threaded rod, 5 straight tooth cylinder one, 6 rotating rod one, 7 straight tooth cylinder two, 8 electric motor, 9 worm gear, 10 rotating rod two, 11 spur gear, 12 gripper, 13 rotary motor, 14 limiting block, 15 detection device, 16 limiting port, 17 limiting block, 18 sliding rod, 19 spring. DETAILED DESCRIPTION

[0019] The technical scheme in the utility model is further explained below in combination with the drawings and examples.

[0020] As Figs. 1-3 shown in the utility model embodiment, a climbing robot for nuclear power pipeline detection and maintenance is provided, comprising:

[0021] Two mutually symmetrical connecting blocks 1, one of which is provided with a detection assembly, the detection assembly comprising two mutually symmetrical limiting blocks 14 fixedly connected to the upper end face of the connecting block 1, and a detection device 15 placed on the upper end face of the connecting block 1, the detection device 15 being a prior art that can detect faults of the pipeline, both limiting blocks 14 being matched with the detection device 15, so that the detection device 15 can be better placed between the two limiting blocks 14 and installed through the limiting block 17, the detection device 15 being provided with two mutually symmetrical limiting openings 16, both limiting blocks 14 being provided with openings, both openings being slidably connected with the limiting block 17, both limiting blocks 17 being slidably connected in the limiting openings 16, respectively, one end of both limiting blocks 17 being fixedly connected with a sliding rod 18, one end of both sliding rods 18 being slidably penetrated through the limiting blocks 14, respectively, both sliding rods 18 being provided with a pull ring at one end, and the pull ring can quickly pull the sliding rod 18, so that both limiting blocks 17 can be conveniently pulled out of the limiting openings 16;

[0022] Both sliding rods 18 are provided with a spring 19 on the outer wall, and the other end of both springs 19 is fixedly connected in the openings, respectively, the climbing assembly comprising an extension block 2 fixedly connected to the upper end face of the connecting block 1, a rotating drum 3 rotatably connected to the extension block 2, a threaded rod 4 threadedly connected to the upper end face of the rotating drum 3, a cylinder rotatably connected to the end of the threaded rod 4 away from the rotating drum 3, the cylinder being fixedly connected to the lower end face of the other connecting block 1, a straight-toothed cylinder I 5 fixedly sleeved on the outer wall of the rotating drum 3, a rotating rod I 6 rotatably connected to the extension block 2, a straight-toothed cylinder II 7 fixedly installed on one end of the rotating rod I 6, the straight-toothed cylinder I 5 being engaged with the straight-toothed cylinder II 7, the rotating of the straight-toothed cylinder II 7 and the rotating rod I 6 driving the rotating of the straight-toothed cylinder I 5, so as to rotate the rotating drum 3, an electric motor 8 fixedly installed on the lower end face of the extension block 2, the electric motor 8 being a prior art that can rotate the object connected to the output end thereof, the output end of the electric motor 8 being rotatably penetrated through the extension block 2 and fixedly connected to one end of the rotating rod I 6, and both connecting blocks 1 being provided with a clamping structure, the clamping structure comprising a worm 9 rotatably connected to the connecting block 1, and two mutually symmetrical rotating rods II 10 rotatably connected to the connecting block 1;

[0023] Two rotating rods two 10 are fixedly connected with spur gears 11, the two spur gears 11 are meshed with the worm 9, when the worm 9 rotates, the spur gears 11 meshed with the worm 9 rotate, two rotating rods two 10 are fixedly connected with clamping jaws 12, the inner walls of the four clamping jaws 12 are all installed with friction layers, through the friction of the friction layers, the device can be prevented from sliding down, the outer wall of the connecting block 1 is fixedly installed with rotating motors 13, the rotating motors 13 are prior art, can make the object connected on the motor shaft thereof rotate, the housings of the two rotating motors 13 are all made of anti-radiation material, can reduce the interference of the radiation in the nuclear power pipeline on the rotating motors 13, the motor shaft of the rotating motor 13 rotates and penetrates the connecting block 1 and is fixedly connected on one end of the worm 9.

[0024] The detailed working process of the utility model is as follows:

[0025] The staff first pulls the pull ring, pulls two limiting blocks 17 into two openings, then puts the detection device 15, and loosens the pull ring, two limiting blocks 17 enter the limiting opening 16 through the rebound of the spring 19, installation is completed, then the staff puts the device on the pipeline, opens the rotating motor 13 of the upper end connecting block 1, drives the worm 9 to rotate, makes two spur gears 11 rotate, and makes the clamping jaw 12 loosen the pipeline, and opens the electric motor 8, drives the spur cylinder two 7 and the rotating rod one 6 to rotate, so that the spur cylinder one 5 meshed with it rotates, drives the rotating drum 3 to rotate, makes the threaded rod 4 screw up, drives the upper end connecting block 1 to rise, then reversely opens the upper end rotating motor 13, makes the clamping jaw 12 re-clamp, and reversely opens the electric motor 8 and the rotating motor 13 on the lower end connecting block 1, makes the lower end clamping jaw 12 loosen, and in the reverse rotation of the threaded rod 4 drives the lower end connecting block 1 to rise, so that the climbing work is completed, and the detection is completed through the detection device 15, without manual detection of the staff, reduces the harm to the staff.

[0026] Finally, it is pointed out that the above embodiments are only used to illustrate the technical solutions of the utility model and not to limit, although the utility model has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the utility model can be modified or replaced equivalently without departing from the purpose and scope of the technical solutions of the utility model, which should be covered in the claim range of the utility model.

Claims

1. A climbing robot for nuclear power pipeline inspection and maintenance, characterized in that, The utility model relates to a kind of climbing equipment, including: Two mutually symmetrical connecting blocks (1), wherein one of the connecting blocks (1) is mounted with detection assembly; Climbing assembly;The climbing assembly includes the extension block (2) fixedly connected to the upper end face of one of the connecting blocks (1), the rotating drum (3) is rotatably connected to the extension block (2), the threaded rod (4) is threadedly connected to the upper end face of the rotating drum (3), the threaded rod (4) is rotatably connected to the cylinder away from the rotating drum (3), the cylinder is fixedly connected to the lower end face of the other connecting block (1), the outer wall of the rotating drum (3) is fixedly sleeved with the straight-toothed cylinder I (5), the rotating rod I (6) is rotatably connected to the extension block (2), the straight-toothed cylinder II (7) is fixedly installed on one end of the rotating rod I (6), the electric motor (8) is fixedly installed on the lower end face of the extension block (2), the output end of the electric motor (8) is rotatably penetrated through the extension block (2) and fixedly connected to one end of the rotating rod I (6), the clamping structure is mounted on the two connecting blocks (1), the clamping structure includes the worm (9) rotatably connected to the connecting block (1), the two mutually symmetrical rotating rod II (10) is rotatably connected to the connecting block (1), the two rotating rod II (10) is fixedly connected with the straight-toothed gear (11), the two rotating rod II (10) is fixedly connected with the clamping jaw (12), the rotating motor (13) is fixedly installed on the outer wall of the connecting block (1), the motor shaft of the rotating motor (13) is rotatably penetrated through the connecting block (1) and fixedly connected to one end of the worm (9).

2. The climbing robot for nuclear power pipeline inspection and maintenance according to claim 1, characterized in that, Wherein: The detection assembly includes two mutually symmetrical limiting blocks (14) fixedly connected to one of the connecting blocks (1), the detection device (15) is placed on the connecting block (1), the detection device (15) is provided with two mutually symmetrical limiting openings (16), the two limiting blocks (14) are provided with openings, the limiting blocks (17) are slidably connected in the two openings, the two limiting blocks (17) are slidably connected in the two limiting openings (16), the one end of the two limiting blocks (17) is fixedly connected with the slide rod (18), the one end of the two slide rods (18) is slidably penetrated through the two limiting blocks (14), the outer wall of the two slide rods (18) is sleeved with the spring (19), the other end of the two springs (19) is fixedly connected in the two openings.

3. The climbing robot for nuclear power pipeline inspection and maintenance of claim 1, wherein, Wherein: The inner wall of the four clamping jaws (12) is mounted with a friction layer.

4. The climbing robot for nuclear power pipeline inspection and maintenance of claim 1, wherein, Wherein: The shell of the two rotating motors (13) is made of anti-radiation material.

5. The climbing robot for nuclear power pipeline inspection and maintenance of claim 2, wherein, Wherein: The two limiting blocks (14) are matched with the detection device (15).

6. The climbing robot for nuclear power pipeline inspection and maintenance of claim 2, wherein, Wherein: The one end of the two slide rods (18) is mounted with a pull ring.

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