Double-channel mechanical arm

Abstract

The utility model provides a double-channel mechanical arm which comprises a mechanical arm body, the mechanical arm body comprises an outer pipe and an inner pipe, the outer pipe and the inner pipe are of a pipe-in-pipe structure, and the outer pipe and the inner pipe are respectively communicated from the head end of the mechanical arm body to the tail end of the mechanical arm body; the mechanical arm body is provided with a rotating connector, the two ends of the rotating connector rotate relatively so that the outer pipe and the inner pipe which are connected to the two ends of the rotating connector correspondingly rotate relatively, and the rotating connector is used for enabling the tail end of the mechanical arm body to move relative to the head end of the mechanical arm body. The double-channel mechanical arm can be matched with equipment at the tail end of the mechanical arm to complete flushing and suction functions at the same time, sundries can be prevented from blocking cleaned objects to a certain extent, and the double-channel mechanical arm serves as a rigid mechanical arm with a rotating connector. And the rotary joint can rotate along with the movement of equipment such as a cleaner arranged at the tail end of the mechanical arm, so that the equipment at the tail end of the mechanical arm has a relatively large action range.

Description

Technical Field

[0001] This utility model relates to a rotatable dual-channel conveying pipeline, specifically, to a dual-channel robotic arm. Background Technology

[0002] Condenser is one of the important cold-end equipment in thermal power plants. After a period of operation, sludge and microorganisms will adhere to the heat exchange tubes, leading to shellfish growth and scale buildup. Especially in environments with poor condenser circulating water quality, a large amount of aquatic plants, algae, straw, plastics, and other debris in the condenser circulating water will accumulate on the condenser tube sheet, clogging the heat exchange tubes. This results in a decrease in the condenser cleanliness coefficient, a deterioration in heat exchange efficiency, an increase in turbine heat consumption, and an increase in circulating water resistance. Therefore, cleaning the condenser to improve and maintain its cleanliness is crucial for the safe and economical operation of the generator unit.

[0003] In recent years, a technology using biomimetic robotics to clean the tube sheets and heat exchange tubes of condensers or other similar heat exchange equipment has been applied. This technology utilizes a robotic arm and a cleaner with a flushing function. Based on the equilateral triangle distribution pattern of the condenser heat exchange tubes, the cleaner employs a double-row staggered hole-aligning technique to cleverly achieve precise alignment between the nozzle row and the heat exchange tubes, enabling row-by-row and comprehensive flushing of the condenser. Examples include the integrated water chamber structure of an online cleaning robot disclosed in Chinese Utility Model Patent CN202120928913.5, and the integrated water chamber of an online cleaning robot for tubular heat exchangers disclosed in Chinese Utility Model Patent CN201621223619.X. In this technology, the robotic arm supplying the cleaning fluid to the cleaner is generally a rigid robotic arm with a rotary joint. The robotic arm rotates with the movement of the cleaner, and the robotic arm continuously provides the cleaning medium to the cleaner during linear movement.

[0004] However, these technologies generally use cleaners with only rinsing functions, so the robotic arm that accompanies the cleaner only has one rinsing channel for passing the cleaning medium. With the development of technology, cleaners with only rinsing functions can no longer meet the cleaning needs. In order to improve cleaning efficiency and cleaning effect, cleaners have gradually developed into cleaners with rinsing and suction functions. Although two independent single-channel robotic arms can be used to provide cleaning medium and suction negative pressure respectively, two independent robotic arms will also cause interference risks and limit the movement path of the cleaner. Therefore, a dual-channel robotic arm is needed to provide cleaning medium and suction negative pressure for cleaners with rinsing and suction functions respectively, so as to avoid the interference risks and restrictions on the movement path of the cleaner that may be caused by two independent robotic arms.

[0005] In order to solve the above problems, people have been seeking an ideal technological solution. Utility Model Content

[0006] The purpose of this invention is to address the shortcomings of existing technologies and to avoid the interference risks and restrictions on the movement path of the cleaner that may be caused by two independent robotic arms. This invention provides a dual-channel robotic arm that can provide cleaning medium and suction negative pressure for a cleaner with rinsing and suction functions, respectively.

[0007] To achieve the above objectives, the technical solution adopted by this utility model is as follows: It includes a robotic arm body, comprising an outer tube and an inner tube, the outer tube and the inner tube forming a tube-within-a-tube structure, each connecting from the first end to the last end of the robotic arm body; the robotic arm body is provided with a rotary joint, which divides the outer tube and the inner tube into multiple parts, the two ends of the rotary joint rotating relative to each other so that a portion of the outer tube and the inner tube connected to each end rotates relative to each other, and the rotary joint is used to allow the last end of the robotic arm body to move relative to the first end.

[0008] Based on the above, a portion of the outer tube and the inner tube form a dual-channel conduit. The rotary joint includes the dual-channel conduit and the dual-channel end cap. The dual-channel conduit and the dual-channel end cap are rotatably connected. The ends of the dual-channel conduit and the dual-channel end cap that are far apart from each other are each connected to a portion of the outer tube and the inner tube.

[0009] Based on the above, the dual-channel end cap includes an outer ring and an inner ring, which are fixedly connected by an end cap support block, and the outer ring and the inner ring are coaxially arranged.

[0010] Based on the above, the outer wall of the dual-channel conduit is fitted with a bearing cylinder, the dual-channel conduit and the bearing cylinder are rotatably connected by a bearing and are sealed together, the two ends of the outer ring are fixedly connected to the bearing cylinder and a portion of the outer tube respectively, and the two ends of the inner ring are sealedly connected to the inner tube of the dual-channel conduit and another portion of the inner tube respectively.

[0011] Based on the above, it also includes a bearing end cap, which is disposed at both ends of the bearing cylinder, and the bearing end cap is sealed to the dual-channel conduit.

[0012] Based on the above, the robotic arm body is provided with three or more mutually parallel rotary joints.

[0013] Based on the above, a portion of the outer pipe and the inner pipe constitute a conveying pipeline, which is located between the two rotary joints, and both ends of the conveying pipeline are bends.

[0014] Based on the above, the axis of the rotary joint is perpendicular to the axis of the main body of the conveying pipe between the bends at both ends of the conveying pipe.

[0015] Based on the above, the ports of the bends at both ends of the conveying pipeline are either oriented in the same direction or in opposite directions.

[0016] Based on the above, the outer pipe and the inner pipe are fixedly connected by a pipe support block, and the outer pipe and the inner pipe are coaxially arranged.

[0017] This utility model has substantial features and advancements compared to the prior art. Specifically, the dual-channel robotic arm of this utility model has the following advantages: when the end of the robotic arm body moves relative to its head (i.e., when the cleaner moves), the rotary joint will rotate relative to the two ends; moreover, the robotic arm body of the dual-channel robotic arm, which is composed of an outer tube and an inner tube in a tube-in-tube structure, has two independent passages, which can provide cleaning medium and suction negative pressure to the cleaner with rinsing and suction functions respectively, thus avoiding the use of two independent robotic arms and preventing the interference risks and restrictions on the movement path of the cleaner that may be caused by two independent robotic arms. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0019] Figure 2 This is a radial cross-sectional view of the conveying pipeline of this utility model;

[0020] Figure 3 This is an axial cross-sectional view of the conveying pipeline of this utility model;

[0021] Figure 4 This is an axial cross-sectional view of the rotary joint of this utility model;

[0022] In the figure, the attached figures are labeled as follows:

[0023] Robotic arm body 100; outer tube 101; inner tube 102; pipe support block 103;

[0024] Rotary joint 10; dual-channel conduit 11; dual-channel end cap 12, outer ring 121, inner ring 122, end cap support block 123; bearing cylinder 13; bearing end cap 14; conveying pipe 20; double pipe joint 30; cleaner connecting pipe 40. Detailed Implementation

[0025] The technical solution of this utility model will be further described in detail below through specific embodiments.

[0026] Example 1

[0027] like Figures 1-4 As shown, the dual-channel robotic arm of this embodiment includes a robotic arm body 100, which includes an outer tube 101 and an inner tube 102. The outer tube 101 and the inner tube 102 have a tube-in-tube structure. The diameter of the outer tube 101 is larger than the diameter of the inner tube 102. The outer tube 101 and the inner tube 102 are connected from the first end to the end of the robotic arm body 100. Overall, the cavity between the outer tube 101 and the inner tube 102 forms the first channel of the robotic arm body 100, and the inner cavity of the inner tube 102 forms the second channel of the robotic arm body 100. For example, the first channel can be configured as a rinsing channel, and the second channel can be configured as a suction channel.

[0028] The outer pipe 101 and the inner pipe 102 are fixedly connected by a pipe support block 103. The pipe support block 103 is located in the cavity between the outer pipe 101 and the inner pipe 102, and is welded to the inner wall of the outer pipe 101 and the outer wall of the inner pipe 102. Preferably, the outer pipe 101 and the inner pipe 102 are coaxially arranged.

[0029] The rotary joint 10 divides the outer tube 101 and the inner tube 102 into multiple parts. For example, a portion of the outer tube 101 and the inner tube 102 between two rotary joints 10 forms the delivery pipe 20, and another portion of the outer tube 101 and the inner tube 102 can be part of the double-pipe joint 30 and the cleaner connection pipe 40 mentioned below. In addition, a portion of the outer tube 101 and the inner tube 102 forms part of the structure of the rotary joint 10.

[0030] The robotic arm body 100 is equipped with a rotary joint 10. The two ends of the rotary joint 10 rotate relative to each other to allow the outer tube 101 and the inner tube 102, which are respectively connected to both ends, to rotate relative to each other. While rotating, the outer tube 101 and the inner tube 102 are connected to each other, thus ensuring the passage of the dual channels (rinsing channel and suction channel) during rotation. Preferably, the axis of the rotary joint 10 coincides with its own axis of rotation.

[0031] The rotary joint 10 is used to allow the end of the robotic arm body 100 to move relative to its head end, thereby expanding the working range of the robotic arm body 100. For example, when the position of the double-pipe joint 30 at the head end of the robotic arm body 100 is fixed and only one rotary joint 10 is provided on the robotic arm body 100, the cleaner on the cleaner connecting pipe 40 at the end of the robotic arm body 100 rotates around the axis of the rotary joint 10, and the rotation process expands the cleaning range. For example, based on the above, when two or more rotary joints 10 are provided on the robotic arm body 100, the cleaner can rotate around the axes of multiple rotary joints 10, thereby enabling complex line movements and further expanding the working range (i.e., cleaning range) of the robotic arm body 100.

[0032] For ease of understanding, the possible applicable scenarios for the robotic arm body 100 are shown, such as... Figure 1 As shown, the front and rear ends of the robotic arm body 100 are respectively connected to a double-pipe connector 30 and a cleaner connecting pipe 40. One of the two pipe connectors of the double-pipe connector 30 provides a flushing medium to the flushing channel, and the other is connected to a suction device to provide suction negative pressure to the suction channel. The cleaner connecting pipe 40 is also a dual-channel pipe. The cleaner connecting pipe 40 is used to connect a cleaner with flushing and suction functions, providing suction power and flushing medium to the cleaner respectively.

[0033] In this embodiment, when the end of the robotic arm body 100 moves relative to its head (i.e., when the cleaner moves), the rotary joint 10 will rotate relative to its two ends; moreover, the robotic arm body 100 of the dual-channel robotic arm, which is composed of the outer tube 101 and the inner tube 102 in a tube-in-tube structure, has two independent passages, which can provide cleaning medium and suction negative pressure to the cleaner with rinsing and suction functions respectively, thus avoiding the use of two independent robotic arms and preventing the interference risk and restriction on the movement path of the cleaner that may be caused by two independent robotic arms.

[0034] Example 2

[0035] Based on Embodiment 1, a portion of the outer tube 101 and the inner tube 102 form a dual-channel conduit 11. The rotary joint 10 includes the dual-channel conduit 11, a dual-channel end cap 12, a bearing cylinder 13, and a bearing end cap 14. The dual-channel end cap 12, the bearing cylinder 13, and the bearing end cap 14 rotate relative to the dual-channel conduit 11 as a whole. Specifically, the outer wall of the dual-channel conduit 11 is fitted with the bearing cylinder 13. The bearing end cap 14 and the dual-channel end cap 12 are respectively located at both ends of the bearing cylinder 13, and both the bearing end cap 14 and the dual-channel end cap 12 are fixedly connected to the bearing cylinder 13. The dual-channel conduit 11 and the bearing cylinder 13 are rotatably connected by a bearing and are sealed together. The dual-channel conduit 11 and the bearing end cap 14 are sealed together. The sealing connection can be achieved by means such as a sealing ring. The sealing connection can prevent the medium inside the outer tube 101 from leaking to the outside or into the bearing cavity.

[0036] The dual-channel end cap 12 includes an outer ring 121 and an inner ring 122, which are fixedly connected by an end cap support block 123. The outer ring 121 and the inner ring 122 are coaxially arranged. The two ends of the outer ring 121 are fixedly connected to the bearing housing 13 and a portion of the outer tube 101 (such as the outer tube 101 on the conveying pipe 20, the double pipe joint 30, or the cleaning device connecting pipe 40), respectively. For example, the outer ring 121 and the bearing housing 13 can be fixedly connected by bolts, and the outer ring 121 and the outer tube 101 can be fixedly connected by welding. The two ends of the inner ring 122 are rotatably and sealingly connected to the inner tube 102 of the dual-channel conduit 11 and another portion of the inner tube 102, respectively. For example, the inner ring 122 is sleeved on the ends of the two inner tubes 102 that need to be connected, and the inner ring 122 and the inner tube 102 are sealed together by a sealing ring.

[0037] The ends of the dual-channel conduit 11 and the dual-channel end cap 12 that are far apart from each other are each connected to a portion of the outer tube 101 and the inner tube 102. For example, when the outer tube 101 and the inner tube 102 on the dual-channel conduit 11 need to be connected to the outer tube 101 and the inner tube 102 on the delivery pipe 20, the dual-pipe connector 30, or the cleaner connecting pipe 40, the outer tube 101 and the inner tube 101 can be welded separately. For example, when the dual-channel end cap 12 needs to be connected to the outer tube 101 and the inner tube 102 on the delivery pipe 20, the dual-pipe connector 30, or the cleaner connecting pipe 40, the outer ring 121 can be welded to the outer tube 101, and the inner ring 122 can be nested and sealed to the inner tube 102.

[0038] Example 3

[0039] Based on Embodiment 2, in this embodiment, the robotic arm body 100 is provided with three parallel rotary joints 10, which can be respectively configured as a head rotary joint, a middle rotary joint and an end rotary joint on the robotic arm body 100.

[0040] Based on the above, when the intermediate rotary joint rotates, the first and last rotary joints will move closer to or further away from each other. Since the axes of the first and last rotary joints also rotate around the axis of the intermediate rotary joint, their axes do not coincide with the axis of the intermediate rotary joint. In this embodiment, while ensuring the passage of the dual channels (such as the flushing channel and the suction channel), the rotation of the intermediate rotary joint ensures that the robotic arm body 100 itself has a certain range of extension.

[0041] For example, the first rotary joint is connected to a double-pipe connector 30, and the last rotary joint is connected to a cleaner connecting pipe 40. When the first and last rotary joints rotate, the double-pipe connector 30 and the cleaner connecting pipe 40 can be kept at a certain angle. The robotic arm body 100 as a whole is a rigid robotic arm. The axis position of the first rotary joint is fixed, so that the double-pipe connector 30 can effectively provide suction pressure and flushing medium. The axis of the last rotary joint moves in a straight line, so that the cleaner with flushing and suction functions can effectively complete the flushing and suction work on the tube sheet. During the movement of the cleaner, all three rotary joints 10 will be in a rotating state, and the first and last rotary joints will be close to or far away from each other.

[0042] Based on the above, a portion of the outer pipe 101 and the inner pipe 102 constitute the conveying pipe 20. The conveying pipe 20 is located between the two rotary joints 10, and a total of two conveying pipes 20 are provided.

[0043] Based on the above, at both ends of the first rotary joint, one end is connected to the outer pipe 101 and inner pipe 102 of the double pipe joint 30, and the other end is connected to the outer pipe 101 and inner pipe 102 of the conveying pipe 20; at both ends of the middle rotary joint, one end is connected to the outer pipe 101 and inner pipe 102 of one of the conveying pipes 20, and the other end is connected to the outer pipe 101 and inner pipe 102 of the other conveying pipe 20; at both ends of the end rotary joint, one end is connected to the outer pipe 101 and inner pipe 102 of the cleaner connecting pipe 40, and the other end is connected to the outer pipe 101 and inner pipe 102 of the conveying pipe 20.

[0044] Both ends of the conveying pipe 20 are set as bends, so the axis of the rotary joint 10 intersects the axis of the conveying pipe 20. Thus, when the intermediate rotary joint rotates, the first and last rotary joints move closer to or further away from each other. Preferably, the bends are set as 90-degree bends, and the axis of the rotary joint 10 is perpendicular to the axis of the main body of the conveying pipe 20 (the conveying pipe 20 between the bends at both ends).

[0045] Based on the above, the ports of the bends at both ends of the conveying pipe 20 are either oriented in the same direction or in opposite directions, that is, the conveying pipe 20 is U-shaped or S-shaped.

[0046] Preferably, the ends of the bends in the conveying pipe 20 near the head of the robotic arm 100 are oriented in the same direction, i.e., the conveying pipe 20 near the head is U-shaped; the ends of the bends in the conveying pipe 20 near the tail of the robotic arm 100 are oriented in opposite directions, i.e., the conveying pipe 20 near the tail is S-shaped. In this way, the head and tail of the robotic arm 100 will face the same direction, and the tail will be closer to the object to be cleaned (such as tube sheets and heat exchange tubes) than the head, which is beneficial for improving the final cleaning effect.

[0047] Based on the application scenario of the dual-channel robotic arm in Example 3, one can refer to the application scenarios of robotic arm online cleaning robots shown in relevant documents such as the integrated water chamber structure of an online cleaning robot disclosed in Chinese Utility Model Patent CN202120928913.5, and the integrated water chamber of an online cleaning robot for a tubular heat exchanger disclosed in Chinese Utility Model Patent CN201621223619.X.

[0048] Example 4

[0049] Based on Embodiment 3, this embodiment is similar to Embodiment 3, but differs from Embodiment 3 in that, in this embodiment, the robotic arm body 100 is provided with three or more parallel rotary joints 10, which are respectively configured as a head rotary joint, an end rotary joint, and several intermediate rotary joints between the head rotary joint and the end rotary joint; in this embodiment, the total number of conveying pipes 20 between the rotary joints 10 is set to three or more.

[0050] In conjunction with the above embodiments, the dual-channel robotic arm of this utility model, by setting an outer tube 101 and an inner tube 102, enables the robotic arm to have dual channels. It can work with a cleaner that has cleaning and suction functions to simultaneously complete functions such as rinsing and suction. As a rigid robotic arm with a rotary joint 10, the rotary joint 10 rotates as the device such as the cleaner at the end of the robotic arm moves, so that the device at the end of the robotic arm (such as the cleaner) has a large range of action. It can provide cleaning medium and suction negative pressure for the cleaner with rinsing and suction functions respectively, which can avoid the use of two independent robotic arms and prevent the interference risk and restriction on the movement path of the cleaner that may be caused by two independent robotic arms.

[0051] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of this utility model and not to limit it; although the utility model has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications can still be made to the specific implementation of this utility model or equivalent substitutions can be made to some technical features without departing from the spirit of the technical solution of this utility model, and all such modifications and substitutions should be covered within the scope of the technical solution claimed by this utility model.

Claims

1. A dual-channel robotic arm, characterized by, The mechanical arm body (100) comprises an outer tube (101) and an inner tube (102), which are in a pipe-in-pipe structure, and each of the outer tube (101) and the inner tube (102) is communicated from a head end to a tail end of the mechanical arm body (100); a rotary joint (10) is arranged on the mechanical arm body (100), the rotary joint (10) separates the outer tube (101) and the inner tube (102) into multiple parts, and the two ends of the rotary joint (10) are relatively rotated to relatively rotate the outer tube (101) and the inner tube (102) connected by the two ends of the rotary joint (10), respectively, and the rotary joint (10) is used for enabling the tail end of the mechanical arm body (100) to move relative to the head end.

2. The dual lane robotic arm of claim 1, wherein, A part of the outer tube (101) and the inner tube (102) form a double-channel conduit (11), the rotary joint (10) comprises the double-channel conduit (11) and a double-channel end cover (12), the double-channel conduit (11) and the double-channel end cover (12) are rotationally connected, and the two ends of the double-channel conduit (11) and the double-channel end cover (12) away from each other are connected with a part of the outer tube (101) and the inner tube (102), respectively.

3. The dual lane robotic arm of claim 2, wherein, The double-channel end cover (12) comprises an outer ring (121) and an inner ring (122), the outer ring (121) and the inner ring (122) are fixedly connected through an end cover support block (123), and the outer ring (121) and the inner ring (122) are coaxially arranged.

4. The dual lane robotic arm of claim 3, wherein, An outer wall of the double-channel conduit (11) is sleeved with a bearing cylinder (13), the double-channel conduit (11) and the bearing cylinder (13) are rotationally connected and sealingly connected, the two ends of the outer ring (121) are fixedly connected with the bearing cylinder (13) and a part of the outer tube (101), respectively, and the two ends of the inner ring (122) are sealingly connected with the inner tube (102) of the double-channel conduit (11) and another part of the inner tube (102), respectively.

5. The dual lane robotic arm of claim 4, wherein, A bearing end cover (14) is further arranged, the bearing end cover (14) is arranged at the two ends of the bearing cylinder (13) separately from the double-channel end cover (12), and the bearing end cover (14) is sealingly connected with the double-channel conduit (11).

6. The dual lane robotic arm of any one of claims 1-5, wherein, Three or more rotary joints (10) are arranged on the mechanical arm body (100) and are parallel to each other.

7. The dual lane robotic arm of claim 6, wherein, A part of the outer tube (101) and the inner tube (102) form a conveying pipeline (20), the conveying pipeline (20) is arranged between two rotary joints (10), and the two ends of the conveying pipeline (20) are both provided as elbow pipes.

8. The dual lane robotic arm of claim 7, wherein, The axis of the rotary joint (10) is perpendicular to the axis of the main body of the conveying pipeline (20) between the two elbow pipes at the two ends of the conveying pipeline (20).

9. The dual lane robotic arm of claim 7 or 8, wherein, The ports of the two elbow pipes at the two ends of the conveying pipeline (20) are arranged in the same direction or in opposite directions.

10. The dual lane robotic arm of any one of claims 1-5, wherein, The outer tube (101) and the inner tube (102) are fixedly connected through a pipe supporting block (103), and the outer tube (101) and the inner tube (102) are coaxially arranged.

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