Adsorption device for inspection robot in hydraulic corridor ladder environment

Abstract

The utility model relates to the technical field of hydraulic galleries, and particularly discloses an adsorption device for an inspection robot in a hydraulic gallery ladder environment, which comprises a base and an adsorption mechanism mounted on the base. The adsorption mechanism comprises a connecting base installed on the base, a shell arranged on the outer side of the connecting base in a sleeving mode and in sliding fit with the connecting base, a sealing plate located in the connecting base and in sliding fit with the interior of the connecting base, and a transmission assembly with one end connected with the sealing plate and the other end penetrating through the sealing plate to be connected with the shell. The top surface of the shell is connected with feet of the inspection robot; a concave cavity is formed in the side, away from the connecting base, of the base, and a mounting cavity communicating with the concave cavity is formed in the connecting base. The sealing plate is located in the mounting cavity, the transmission assembly is located in the mounting cavity, and one end of the transmission assembly penetrates through the connecting base to be connected with the shell. According to the utility model, the feet of the robot are effectively prevented from sliding, the risk of slipping of the robot is reduced, and the stability of the robot during hydraulic corridor inspection is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to water conservancy corridor technical field more particularly, relate to a kind of adsorption device for water conservancy corridor ladder environment under inspection robot. BACKGROUND

[0002] Water flow, they are often found in hydropower stations, large irrigation systems, urban water supply and drainage engineering, the design and construction of water conservancy corridor considers the speed of water flow, flow, smoothness and the stability of structure and other factors.

[0003] Inspection robot needs to be used when carrying out inspection in water conservancy corridor, the inspection robot of present stage can observe water conservancy corridor when using, but due to the different environment in water conservancy corridor, there is part ladder environment, and step surface is wet and slippery, to cause robot to slip due to ladder, cause robot unstable, the problem of robot toppling and shaking occurs.

[0004] Based on this, the utility model designs a kind of adsorption device for water conservancy corridor ladder environment under inspection robot, to solve the above problems. INVENTION CONTENTS

[0005] The technical problem to be solved by the utility model is to provide a kind of adsorption device for water conservancy corridor ladder environment under inspection robot, effectively avoid the problem of unstable standing of inspection robot due to step surface wet and slippery;

[0006] The solution adopted by the utility model to solve the technical problem is:

[0007] A kind of adsorption device for water conservancy corridor ladder environment under inspection robot, including base, adsorption mechanism installed on base;

[0008] The adsorption mechanism includes connecting seat installed on base, shell sleeved on the outer side of connecting seat and slidably matched with connecting seat, sealing plate located in connecting seat and slidably matched with connecting seat, and transmission assembly, one end of which is connected with sealing plate and the other end passes through sealing plate and is connected with shell;The top surface of the shell is connected with the foot of the inspection robot;

[0009] Cavity is provided on the side of base away from connecting seat, and mounting cavity is provided in connecting seat and communicated with cavity;The sealing plate is located in mounting cavity, and the transmission assembly is located in mounting cavity and one end passes through connecting seat and is connected with shell.

[0010] In some possible embodiments, the transmission assembly includes screw rod, one end of which is connected with sealing plate and the other end is screwed with shell through the top of connecting seat, and pull spring, which is sleeved on the outer side of screw rod and connected with the inner side of the top of connecting seat and sealing plate respectively.

[0011] In some possible implementation manners, the sealing plate is connected with the screw through a connecting bearing.

[0012] In some possible implementation manners, the screw is provided with a limiting plate at one end away from the sealing plate, the limiting plate is connected with the screw through a bearing, and the limiting plate is located above the shell.

[0013] In some possible implementation manners, a threaded ring used in cooperation with the screw is mounted on the shell; and the limiting plate is located above the threaded ring.

[0014] In some possible implementation manners, a plurality of groups of guide columns are arranged on the outer side of the base along the axis of the connecting seat, a positioning ring in sliding cooperation with the guide columns is arranged on the outer side of the shell; and a guide hole in sliding cooperation with the guide columns is arranged on the positioning ring.

[0015] In some possible implementation manners, a sealing ring used in cooperation with the base is arranged on the bottom of the base, a sealing ring is arranged in a recess cavity in the sealing ring, a through hole coaxial with the sealing ring and in communication with the inside of the sealing ring is arranged on the base; the mounting cavity is in communication with the through hole; the inner side wall of the through hole is coplanar with the inner side wall of the mounting cavity; and an exhaust hole is arranged on the sealing ring.

[0016] In some possible implementation manners, two groups of anti-skid plates arranged in parallel are arranged on the outer side of the sealing ring, the thickness of each group of the anti-skid plates is smaller than the thickness of the sealing ring; and the sealing ring is located between the two groups of anti-skid plates.

[0017] In some possible implementation manners, a sealing gasket in sealing cooperation with the connecting seat is arranged on the bottom of the sealing plate; a buffer pad is arranged on the top of the connecting seat; and anti-collision pads are respectively arranged on two groups of end faces parallel to the anti-skid plates.

[0018] In some possible implementation manners, a mounting structure connected with the feet of the inspection robot is arranged on the top surface of the shell, the mounting structure comprises a plurality of groups of support rods mounted on the top surface of the shell, and a mounting disc mounted on the support rods.

[0019] Compared with the prior art, the utility model has the beneficial effects that:

[0020] The beneficial effects of this utility model are as follows: the device can be installed on the robot's feet through the mounting plate and mounting holes. Through the cooperation of the housing, screw, and threaded ring, the screw can move downwards, pushing the sealing plate downwards. Simultaneously, the sealing ring and sealing collar contact the step. During the downward movement of the sealing plate, air inside the connecting seat is expelled. At the same time, the cooperation of the tension spring, screw, threaded ring, and connecting bearing applies tension to the sealing plate, allowing the screw to rotate. This, in turn, causes the screw and threaded ring to pull the sealing plate back to its original position, reducing the air pressure inside the connecting seat. This allows the device to adhere to the step, effectively preventing the robot's feet from slipping, reducing the risk of the robot falling, and increasing the robot's stability during hydraulic tunnel inspections. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0022] Figure 2 This is a three-dimensional structural schematic diagram of the side view of this utility model;

[0023] Figure 3 This is a three-dimensional structural schematic diagram of the orthographic section of this utility model;

[0024] Figure 4 This is a three-dimensional structural diagram of the screw of this utility model;

[0025] The components are as follows: 1. Base; 2. Adsorption mechanism; 201. Connecting seat; 202. Housing; 203. Sealing ring; 204. Threaded ring; 205. Screw; 206. Sealing plate; 207. Sealing ring; 208. Vent hole; 209. Tension spring; 210. Connecting bearing; 3. Positioning ring; 301. Guide hole; 302. Guide rod; 4. Support rod; 401. Mounting plate; 402. Mounting hole; 5. Anti-collision pad; 6. Limiting plate; 7. Anti-slip plate; 8. Buffer pad; 9. Sealing gasket. Detailed Implementation

[0026] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," "fixing," etc., 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 direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. The terms "first," "second," and similar terms used in this application do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Similarly, "a" or "one," etc., do not indicate a quantity limitation, but rather indicate the existence of at least one. In the implementation of this application, "and / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. In the description of the embodiments of this application, unless otherwise stated, "multiple" means two or more. For example, multiple positioning posts refer to two or more positioning posts. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0027] The present invention will now be described in detail.

[0028] Please see Figures 1 to 4 This utility model provides an adsorption device for an inspection robot in a hydraulic corridor climbing environment, which is connected to and installed on the foot of the inspection robot; the inspection robot is a quadruped robot.

[0029] The adsorption device includes a base 1 and an adsorption mechanism 2. The adsorption mechanism 2 is located above the base 1. The adsorption mechanism 2 includes a connecting seat 201 mounted on the base 1 and a housing 202 fitted on the outside of the connecting seat 201 and slidingly engaged with the connecting seat 201.

[0030] A threaded ring 204 is fixedly installed on the top surface of the housing 202. A screw 205 is threadedly connected to the inner wall of the threaded ring 204. A connecting bearing 210 is fixedly installed at the bottom end of the screw 205. A sealing plate 206 is fixedly installed on the bottom surface of the connecting bearing 210. A sealing ring 203 is fixedly installed on the bottom surface of the base 1. The inner side of the sealing ring 203 and the bottom surface of the base form a cavity. A sealing ring 207 is fixedly installed on the bottom surface of the base 1 and located in the cavity. Two sets of vent holes 208 are opened on the outer surface of the sealing ring 207. A through hole is provided on the base 1 to communicate with the internal cavity of the sealing ring 207. The through hole communicates with the mounting cavity provided in the connecting seat 201. The sealing plate 206 is located in the mounting cavity and is sealed to the mounting cavity. The end of the screw 205 away from the sealing plate 206 passes through the connecting seat 201 and the housing 202 and is screwed to the threaded ring 204 provided on the housing 202.

[0031] A tension spring 209 is fitted on the outer surface of the screw 205. The bottom end of the tension spring 209 is fixedly installed on the bottom surface of the sealing plate 206, and the top end of the tension spring 209 is fixedly installed on the inner side of the top wall of the connecting seat 201.

[0032] Please see Figure 1 and Figure 3 Two sets of parallel anti-slip plates 7 are fixedly installed on the bottom surface of the base 1, and the sealing ring 203 is located between the two sets of anti-slip plates 7. The thickness of each set of anti-slip plates 7 is less than the thickness of the sealing ring 203. When the device is installed on the foot of the inspection robot, when it walks to the step, it can ensure that the sealing ring 203 and sealing ring 207 at the bottom of the base 1 contact the step first, thus ensuring the sealing performance.

[0033] Please see Figure 3 The connector 201 has a sealing gasket 9 inside. The upper surface of the sealing gasket 9 is fixedly installed with the bottom surface of the sealing plate 206. The sealing gasket 9 can increase the sealing effect between the sealing plate 206 and the connector 201 and prevent air leakage.

[0034] Please see Figure 1 An installation structure is fixedly installed on the upper surface of the housing 202. The installation structure includes two sets of support rods 4. The top ends of the two sets of support rods 4 are fixedly installed with an installation plate 401. The support rods 4 can support the installation plate 401, and the installation plate 401 can connect with the foot of the inspection robot.

[0035] Please see Figure 1 The upper surface of the mounting plate 401 is provided with two sets of mounting holes 402, through which the device can be easily installed on the foot of the inspection robot.

[0036] Please see Figure 1 A positioning ring 3 is fixedly installed on the outer surface of the housing 202. The positioning ring 3 has multiple sets of guide holes 301. A guide rod 302 is slidably connected to the inner wall of each set of guide holes 301. The bottom end of each set of guide rods 302 is fixedly installed on the upper surface of the base 1. Through the cooperation of the positioning ring 3, the guide rods 302 and the guide holes 301, the housing 202 can be limited.

[0037] Please see Figure 1 A limiting plate 6 is provided on the upper part of the housing 202. The top end of the screw 205 is rotatably connected to the bottom surface of the limiting plate 6 through a bearing. The limiting plate 6 can prevent the screw 205 from separating from the threaded ring 204, ensuring normal use.

[0038] Please see Figure 3 The top surface of the connector 201 is provided with a buffer pad 8. The buffer pad 8 can prevent the connector 201 from making hard contact with the housing 202 and prevent the housing 202 from colliding with the connector 201.

[0039] Please see Figure 2 Anti-collision pads 5 are provided on the left and right end faces of the base 1. The two sets of anti-collision pads 5 are fixedly installed on the left and right sides of the base 1 respectively on the side that is close to each other. The anti-collision pads 5 can reduce the impact force when colliding with the steps and protect the device.

[0040] Please see Figure 2 The housing 202 is coaxial with the connecting seat 201, ensuring that the housing 202 can slide outside the connecting seat 201.

[0041] The implementation principle of the adsorption device for an inspection robot in a hydraulic corridor ladder environment in this embodiment is as follows:

[0042] In use, the device is installed on the feet of a quadruped inspection robot via mounting plate 401 and mounting holes 402. When the quadruped inspection robot's feet step on the step, sealing ring 203 and sealing ring 207 first contact the step. Then, housing 202 applies a pushing force to screw 205, causing screw 205 to push sealing plate 206 downward. As sealing plate 206 moves downward, tension spring 209 is in a stretched state, simultaneously expelling air from inside connecting seat 201 and on the side of sealing plate 206 away from limit plate 6. After the inspection robot's feet are stable, base 1 and housing 202 are in a stationary state. Tension spring 209, under the decrease of elastic force, pulls sealing plate 206 to reset. During the reset process of sealing plate 206, sealing plate 206 pushes screw 205 upward. Due to the housing 202's... 2. Remaining stationary, the sealing plate 206 pushes the screw 205 to rotate inside the threaded ring 204, causing the screw 205 to move upward. This reduces the air pressure below the sealing plate 206, allowing the device to adhere to the step using the cooperation of the sealing ring 203 and the sealing ring 207, preventing the robot's foot from slipping. When the robot lifts its foot, the mounting plate 401 first drives the housing 202 to move upward. At this time, the tension spring 209 has contracted, so the screw 205 moves upward. Therefore, the screw 205 can rotate in conjunction with the threaded connection of the threaded ring 204, bringing the housing 202 and the connecting seat 201 closer together. At the same time, the tilting of the robot's foot allows the negative pressure inside the connecting seat 201 to recover, causing the screw 205 to extend upward a certain distance from the housing 202, thus facilitating its re-contact with the step.

[0043] This invention is not limited to the specific embodiments described above. This invention extends to any new feature or combination disclosed in this specification, as well as any new method or process step or combination disclosed herein.

Claims

1. A kind of adsorption device for waterway corridor inspection robot in the environment of ladder, it is characterized in that, The base (1), the adsorption mechanism (2) mounted on the base (1); The adsorption mechanism (2) comprises a connecting seat (201) mounted on the base (1), a shell (202) sleeved outside the connecting seat (201) and in sliding fit with the connecting seat (201), a sealing plate (206) located in the connecting seat (201) and in sliding fit with the connecting seat (201), and a transmission assembly with one end connected with the sealing plate (206) and the other end connected with the shell (202) through the sealing plate (206); the top surface of the shell (202) is connected with the foot of the inspection robot; A concave cavity is arranged on the side of the base (1) away from the connecting seat (201), and an installation cavity in communication with the concave cavity is arranged in the connecting seat (201); the sealing plate (206) is located in the installation cavity, and the transmission assembly is located in the installation cavity and connected with the shell (202) through the connecting seat (201) at one end.

2. The adsorption device for the inspection robot in the water conservancy gallery ladder environment according to claim 1, characterized in that, The transmission assembly comprises a screw rod (205) with one end connected with the sealing plate (206) and the other end screwed with the shell (202) through the top of the connecting seat (201), and a tension spring (209) sleeved outside the screw rod (205) and connected with the inner side surface of the top of the connecting seat (201) and the sealing plate (206) respectively.

3. The adsorption device for the inspection robot in the water conservancy gallery ladder environment according to claim 2, characterized in that, The sealing plate (206) is connected with the screw rod (205) through a connecting bearing (210).

4. The adsorption device for the inspection robot in the water conservancy gallery ladder environment according to claim 2, characterized in that, The end of the screw rod (205) away from the sealing plate (206) is provided with a limiting plate (6), the limiting plate (6) is connected with the screw rod (205) through a bearing, and the limiting plate (6) is located above the shell (202).

5. The adsorption device for the inspection robot in the water conservancy gallery ladder environment according to claim 4, characterized in that, A threaded ring (204) used in cooperation with the screw rod (205) is mounted on the shell (202); the limiting plate (6) is located above the threaded ring (204).

6. The adsorption device for the inspection robot in the water conservancy gallery ladder environment according to claim 1, characterized in that, A plurality of groups of guide columns are arranged on the outside of the base (1) and along the axis of the connecting seat (201), and a positioning ring (3) in sliding fit with the guide columns is arranged on the outside of the shell (202); a guide hole (301) in sliding fit with the guide columns is arranged on the positioning ring (3).

7. The adsorption device for the inspection robot in the water conservancy gallery ladder environment according to claim 1, characterized in that, A sealing ring (203) in fit with the concave cavity of the base (1) is arranged on the bottom of the base (1), a sealing ring (207) is arranged in the concave cavity, a through hole coaxial with the sealing ring (207) and in communication with the inside of the sealing ring (207) is arranged on the base (1); the installation cavity is in communication with the through hole; the inner side wall of the through hole is coplanar with the inner side wall of the installation cavity; the sealing ring (207) is provided with an exhaust hole (208).

8. The adsorption device for the inspection robot in the water conservancy gallery ladder environment according to claim 7, characterized in that, Two groups of anti-skid plates (7) are arranged on the outside of the sealing ring (203), and the thickness of each group of anti-skid plates (7) is less than the thickness of the sealing ring (203); the sealing ring (203) is located between the two groups of anti-skid plates (7).

9. The adsorption device for the inspection robot in the water conservancy gallery ladder environment according to any one of claims 1-8, characterized in that, A sealing gasket in sealing fit with the connecting seat (201) is arranged on the bottom of the sealing plate (206); a buffer pad (8) is arranged on the top of the connecting seat (201); anti-collision pads (5) are respectively arranged on the two groups of end surfaces of the base (1) parallel to the anti-skid plates (7).

10. The adsorption device for the inspection robot in the water conservancy gallery ladder environment according to claim 9, characterized in that, A mounting structure connected with the foot of the inspection robot is arranged on the top surface of the shell (202), and the mounting structure comprises a plurality of groups of supporting rods (4) mounted on the top surface of the shell (202) and a mounting disc (401) mounted on the supporting rods (4).

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