Pick-and-place device for suspension type inspection robot of hydropower station

Abstract

The utility model relates to the technical field of hydropower station inspection equipment, in particular to a picking and placing device of a hydropower station suspension type inspection robot, which comprises a movable lifting platform, a positioning component and a transfer mechanism, the positioning assembly is arranged on the upper end of the inspection robot, a sleeving part is arranged at the upper end of the positioning assembly, one end of the sleeving part sleeves the upper end of the track, the end position of the track can be accurately positioned, one end of the auxiliary track is in butt joint with the end of the track to form a motion path of the inspection robot, and the transferring mechanism is arranged on the positioning assembly and used for transferring the inspection robot between the track and the auxiliary track. And the inspection robot can be safely and stably mounted and taken down. In addition, an anti-derailing mechanism composed of a guide groove and a limiting assembly is arranged at the end of the rail. The inspection robot is charged on the auxiliary rail through the wireless charging module, and the charging efficiency bottleneck problem caused by frequent taking and placing of the inspection robot in a hydropower station scene is solved.

Description

Technical Field

[0001] This utility model belongs to the technical field of hydropower station inspection equipment, specifically relating to a pick-and-place device for a hydropower station suspended inspection robot. Background Technology

[0002] After more than ten years of operation, the main and auxiliary equipment of a hydropower station begins to age and deteriorate, increasing the risk of equipment failure. In addition to ensuring the quality of maintenance and replacing old equipment in a timely manner, regular inspections of the main and auxiliary power generation equipment have become a common means of timely detection and elimination of potential faults. The corridor of a hydropower station is an important passage connecting the water pipes and cables of the hydropower station. It is mainly used for the maintenance and repair of the equipment and machinery of the hydropower station. Usually, the width of the corridor must be wide enough to accommodate the work of maintenance and repair personnel, while also taking into account safety factors such as anti-slip and wind protection.

[0003] In the daily inspection and maintenance of existing hydropower station corridors, inspection robots are usually used. The tracks of the inspection robots are usually suspended in the corridor. Due to the height of the tracks, the sensors and cameras on the inspection robots are relatively concentrated and have a certain weight. It is very cumbersome and laborious to install or retrieve them manually by using ladders, which can easily cause damage or misalignment of the sensors and cameras.

[0004] Patent application CN222450316U discloses a pick-and-place device for a hydropower station corridor track inspection robot. By setting up a placement component and a pick-and-place component, the installation and removal of the inspection robot are made easier and less labor-intensive. However, the placement component and the pick-and-place component in the above patent are movable. Before installing and removing the inspection robot, the placement component cannot quickly align itself with the track, and the inspection robot is prone to derailment when it is moved by the pick-and-place component. Utility Model Content

[0005] To address the shortcomings of existing technologies, this utility model proposes a pick-up and drop device for a suspended inspection robot in hydropower stations, which can accurately position and dock with the track to ensure the safe and secure installation and removal of the inspection robot.

[0006] To solve the above-mentioned technical problems, this utility model provides a pick-and-place device for a suspended inspection robot in a hydropower station, comprising:

[0007] Mobile lifting platform;

[0008] The positioning component includes a horizontally arranged subrail and a connecting part. The subrail is movably mounted on the mobile lifting platform and has the connecting part at its upper end. One end of the connecting part is fitted onto the upper end of the track, and one end of the subrail is connected to the end of the track to form the movement path of the inspection robot.

[0009] A transfer mechanism, located on the positioning component, is used for the inspection robot to transfer between the track and the sub-track.

[0010] Preferably, in the above scheme, the transfer mechanism includes a translation mechanism and a vertical transfer mechanism. The translation mechanism is disposed on the positioning component and can move along the extension direction of the sub-rail. The vertical transfer mechanism is disposed on the side of the translation mechanism and can move up and down. The side of the inspection robot is provided with a locking part that is movably connected to the vertical transfer mechanism. When the vertical transfer mechanism is connected to the locking part, the translation mechanism can transfer the inspection robot between the track and the sub-rail.

[0011] Preferably, in the above scheme, the translation mechanism includes a support plate, a threaded rod, and a motor. The support plate is horizontally movably mounted on the positioning assembly. The threaded rod is arranged along the extension direction of the sub-rail and is threadedly connected to the support plate. The motor is used to drive the threaded rod to rotate and drive the support plate to translate.

[0012] Preferably, in the above scheme, the vertical movement mechanism includes an electric push rod and a locking block. The upper end of the electric push rod is connected to the support plate, and the lower end is connected to the locking block. The locking block and the engaging part are mutually adapted.

[0013] Preferably, in the above solution, the track includes a guide groove and a limiting component. The limiting component includes a slider, a horizontal column, and a vertical column. The guide groove is located near the end of the track. The slider is movable up and down within the guide groove. One end of the horizontal column is connected to the slider, and the other end extends to the outside of the end of the track. One end of the vertical column is connected to the slider, and the other end extends outward from the track.

[0014] Preferably, in the above scheme, the guide groove includes an inclined surface, which is arranged along the extension direction of the track and slopes inward from the end of the track. The slider is slidably connected to the inclined surface. The other end of the horizontal column extends outward through the slot opened on the end face of the track, and the other end of the vertical column extends outward through the slot opened on the side face of the track.

[0015] Preferably, the above solution further includes a distance sensor and a control module. The distance sensor is embedded in one end of the sub-rail and is used to measure the distance between the end face of the sub-rail and the end face of the track. The control module is electrically connected to the mobile lifting platform, the transfer mechanism and the distance sensor respectively.

[0016] Preferably, in the above solution, the mobile lifting platform includes a base, casters with brakes, and a lifting mechanism. Each of the four corners of the base is provided with a caster. The lower end of the lifting mechanism is connected to the base, and the upper end is connected to the other end of the sub-rail. The lifting mechanism is electrically connected to the control module.

[0017] Preferably, the above solution further includes a wireless charging transmitter module and a wireless charging receiver module. The wireless charging transmitter module is embedded in the sub-rail and electrically connected to the control module. The wireless charging receiver module is located inside the inspection robot.

[0018] Preferably, in the above scheme, the track is configured as an I-beam structure, the sub-track has the same lower cross-sectional shape as the track, the sleeve is configured as an inverted U-shaped structure and matches the upper shape of the track, and the inspection robot is suspended from the sub-track or the lower part of the track.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] 1. A device for picking up and placing a suspended inspection robot for a hydropower station according to the present invention includes a mobile lifting platform, a positioning component, and a transfer mechanism. The positioning component includes a horizontally arranged secondary rail and a connecting part. The secondary rail is movably mounted on the mobile lifting platform and has a connecting part at its upper end. One end of the connecting part is fitted onto the upper end of the rail to accurately position the end of the rail. One end of the secondary rail is connected to the end of the rail to form the movement path of the inspection robot. The transfer mechanism is mounted on the positioning component and is used to transfer the inspection robot between the rail and the secondary rail to ensure safe and secure installation and removal of the inspection robot.

[0021] 2. The track in this utility model is set as an I-beam structure, the sub-rail has the same cross-sectional shape as the lower part of the track, the sleeve part is set as an inverted U-shaped structure and matches the upper shape of the track. The sleeve part can be sleeved on the upper end of the track from the end of the track, or it can be fastened to the upper end from above.

[0022] 3. The track in this utility model includes a guide groove and a limiting component. The guide groove includes an inclined surface, and the limiting component includes a slider, a horizontal column, and a vertical column. In the initial state, the slider naturally slides to the bottom of the inclined surface. The vertical columns on both sides of the slider can block the track movement path. When the inspection robot moves to the end of the track, its drive wheel set will be blocked by the vertical column, thus forming an anti-derailment mechanism at the end of the track. When the secondary rail connects with the end of the track, the end of the secondary rail squeezes the horizontal column, pushing the slider to the upper part of the inclined surface, so that the vertical column moves upward to the top of the drive wheel set, thereby connecting the movement path between the secondary rail and the track.

[0023] 4. In this utility model, the wireless charging transmitter module is embedded in the sub-rail, and the wireless charging receiver module is located inside the inspection robot. When the inspection robot moves to the sub-rail, it can be charged through the wireless charging transmitter module and the wireless charging receiver module, which effectively solves the charging efficiency bottleneck problem caused by the frequent picking and placing of the inspection robot in the hydropower station scenario. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the installation structure of the pick-and-place device of a suspended inspection robot for hydropower stations according to this utility model.

[0025] Figure 2 This is a schematic diagram of the retrieval structure of the retrieval and placement device of a suspended inspection robot for hydropower stations according to this utility model.

[0026] Figure 3 This utility model Figure 1 A magnified view of part A in the middle.

[0027] Figure 4 This is a schematic diagram of the transfer mechanism of this utility model.

[0028] Figure 5 This is a schematic diagram of the installation structure of the limiting component of this utility model.

[0029] Among them, 1-mobile lifting platform, 11-base, 12-universal wheel, 13-lifting mechanism, 2-positioning component, 21-subrail, 211-anti-collision block, 22-sleeve part, 3-transfer mechanism, 31-translation mechanism, 311-support plate, 312-threaded rod, 313-motor, 314-slide rod, 32-vertical movement mechanism, 321-electric push rod, 322-locking block, 4-track, 41-guide groove, 411-inclined surface, 42-limiting component, 421-slider, 422-horizontal column, 423-vertical column, 5-inspection robot, 51-locking part, 6-distance sensor, 7-wireless charging transmitter module. Detailed Implementation

[0030] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0031] In the description of this utility model, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element 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.

[0032] In the description of this utility model, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. If the terms "first," "second," and "third" are used in the description, they are for descriptive purposes and to distinguish technical features, and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the sequential relationship of the indicated technical features.

[0033] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "setting" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; 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; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances. The embodiments of this utility model will now be described based on its overall structure.

[0034] like Figures 1 to 5As shown, this utility model discloses a device for loading and unloading a suspended inspection robot for a hydropower station, including a mobile lifting platform 1, a positioning component 2, and a transfer mechanism 3. The positioning component 2 includes a horizontally arranged sub-rail 21 and a connecting part 22. The sub-rail 21 is movably mounted on the mobile lifting platform 1 and has a connecting part 22 at its upper end. One end of the connecting part 22 is fitted onto the upper end of the track 4, which can accurately position the end position of the track 4. One end of the sub-rail 21 is connected to the end of the track 4 to form the movement path of the inspection robot 5. The transfer mechanism 3 is mounted on the positioning component 2 and is used to transfer the inspection robot 5 between the track 4 and the sub-rail 21 to ensure safe and secure installation and removal of the inspection robot 5. Understandably, in this embodiment, the height of the secondary rail 21 is adjusted by moving the lifting platform 1 so that one end of the sleeve 22 can be sleeved on the upper end of the rail 4. Then, the external force pushes the lifting platform 1 to connect one end of the secondary rail 21 with the end of the rail 4. The inspection robot 5 is moved onto the rail 4 by the transfer mechanism 3 to complete the installation operation. The suspended inspection robot 5 is moved onto the secondary rail 21 to perform the removal operation.

[0035] Specifically, the track 4 is set as an I-beam structure, the sub-track 21 has the same cross-sectional shape as the lower part of the track 4, the sleeve part 22 is set as an inverted U-shaped structure and matches the upper shape of the track 4. The sleeve part 22 can be sleeved on the upper end of the track 4 from the end, or it can be fastened to the upper end from above. The inspection robot 5 is suspended on the lower part of the sub-track 21 or the track 4.

[0036] Continue to refer to Figure 3 , Figure 4 In this embodiment, the transfer mechanism 3 includes a translation mechanism 31 and a vertical transfer mechanism 32. The translation mechanism 31 is mounted on the positioning component 2 and can move along the extension direction of the sub-rail 21. The vertical transfer mechanism 32 is mounted on the side of the translation mechanism 31 and can move up and down. The side of the inspection robot 5 is provided with a locking part 51 that is movably connected to the vertical transfer mechanism 32. When the vertical transfer mechanism 32 is connected to the locking part 51, the translation mechanism 31 can transfer the inspection robot 5 between the track 4 and the sub-rail 21. Specifically, the translation mechanism 31 includes a support plate 311, a threaded rod 312, and a motor 313. The support plate 311 is horizontally movable on the positioning assembly 2. The threaded rod 312 is arranged along the extension direction of the sub-rail 21 and is threadedly connected to the support plate 311. A sliding rod 314 parallel to the threaded rod 312 is also provided on the outer side of the threaded rod 312. The sliding rod 314 passes through the support plate 311 and is slidably connected to the support plate 311. The lower surface of the support plate 311 is slidably connected to the top of the sub-rail 21. The output end of the motor 313 is connected to the threaded rod 312 and is used to drive the threaded rod 312 to rotate and drive the support plate 311 to translate on the top of the sub-rail 21.

[0037] Furthermore, the vertical movement mechanism 32 includes an electric push rod 321 and a locking block 322. The upper end of the electric push rod 321 is connected to the support plate 311, and the lower end is connected to the locking block 322. The locking block 322 and the engaging part 51 are mutually adapted. It is worth noting that in this embodiment, the inspection robot 5 is suspended and installed on the lower part of the track 4. The inspection robot 5 has two support legs and drive wheel sets on each side. The gap between the two support legs on the same side forms the engaging part 51. The electric push rod 321 is installed on both sides of the support plate 311. The electric push rod 321 is initially in a retracted state. The height of the locking block 322 is greater than the height of the support legs of the inspection robot 5. The locking block 322 is preferably a rubber block, which is not easy to damage the support legs of the inspection robot 5. In addition, the inspection robot 5 usually also includes a telescopic mechanism for adjusting the height, a rotating mechanism for adjusting the rotation angle, a camera for taking pictures, an obstacle avoidance sensor, and a battery.

[0038] Understandably, when removing the inspection robot 5, first control the inspection robot 5 to stop near the end of the track 4, then connect the secondary rail 21 to the end of the track 4, and then move the support plate 311 above the engaging part 51 through the translation mechanism 31. A position sensor can be set to more accurately locate the position of the engaging part 51. Then, control the electric push rod 321 to push the locking block 322 into the engaging part 51 from above, and then control the translation mechanism 31 to move the support plate 311 to the other end of the secondary rail 21. With the cooperation of the locking block 322 and the engaging part 51, the inspection robot 5 can be moved onto the secondary rail 21. Then, control the moving lifting platform 1 to move and disconnect the connection between the secondary rail 21 and the track 4, and control the secondary rail 21 to lower to a suitable height. The entire device and the inspection robot 5 can then be transferred together, or the inspection robot 5 can be removed from the secondary rail 21 and transferred separately by controlling the electric push rod 321. In addition, a rubber anti-collision block 211 is provided at the other end of the sub-rail 21, which can play a role in shock absorption and cushioning.

[0039] When installing the inspection robot 5, first suspend the inspection robot 5 on the secondary rail 21, and control the electric push rod 321 to push the locking block 322 into the locking part 51 from above. Then, adjust the height of the secondary rail 21 by moving the lifting platform 1 so that one end of the sleeve part 22 can be sleeved on the upper end of the track 4, and push the lifting platform 1 to make the secondary rail 21 align with the end of the track 4. Then, move the support plate 311 to the top of the track 4 by the translation mechanism 31. At this time, the inspection robot 5 is moved synchronously onto the track 4. Then, control the electric push rod 321 to retract back to the initial state to complete the installation operation of the inspection robot 5.

[0040] Continue to refer to Figure 3 , Figure 5In this embodiment, the track 4 includes a guide groove 41 and a limiting component 42. The limiting component 42 includes a slider 421, a horizontal column 422, and a vertical column 423. The guide groove 41 is located near the end of the track 4. The slider 421 is movably disposed within the guide groove 41. One end of the horizontal column 422 is connected to the slider 421, and the other end extends to the outside of the end of the track 4. One end of the vertical column 423 is connected to the slider 421, and the other end extends outward from the track 4. Specifically, the guide groove 41 includes an inclined surface 411, which is arranged along the extension direction of the track 4 and slopes inward from the end of the track 4. The slider 421 is slidably connected to the inclined surface 411. The other end of the horizontal column 422 extends outward through a slot opened on the end face of the track 4, and the other end of the vertical column 423 extends outward through a slot opened on the side face of the track 4. Understandably, in the initial state, slider 421 naturally slides down to the bottom of inclined plane 411. The vertical columns 423 on both sides of slider 421 can block the movement path of track 4. When the inspection robot 5 moves to the end of track 4, its drive wheel set will be blocked by the vertical columns 423, which can prevent the inspection robot 5 from accidentally derailing. When the secondary rail 21 connects with the end of track 4, the end of the secondary rail 21 squeezes the horizontal column 422, pushing slider 421 to the upper part of inclined plane 411, so that the vertical column 423 moves upward to the top of the drive wheel set, thereby connecting the movement path between secondary rail 21 and track 4.

[0041] Specifically, this embodiment also includes a distance sensor 6 and a control module. The distance sensor 6 is embedded in one end of the sub-rail 21 and is used to measure the distance between the end face of the sub-rail 21 and the end face of the track 4. The control module is electrically connected to the mobile lifting platform 1, the transfer mechanism 3, and the distance sensor 6. When the distance between the end face of the sub-rail 21 and the end face of the track 4 is greater than a threshold, the translation mechanism 31 of the transfer mechanism 3 is stopped, which can prevent the inspection robot 5 from derailing during transfer. Furthermore, the mobile lifting platform 1 includes a base 11, universal wheels 12 with brakes, and a lifting mechanism 13. A universal wheel 12 is provided at each of the four corners of the base 11 to facilitate quick fixation of the position of the base 11. The lower end of the lifting mechanism 13 is connected to the base 11, and the upper end is connected to the other end of the sub-rail 21. The lifting mechanism 13 is electrically connected to the control module. The lifting mechanism 13 can be set as a hydraulic jack or a servo electric cylinder.

[0042] Furthermore, it also includes a wireless charging transmitter module 7 and a wireless charging receiver module. The wireless charging transmitter module 7 is embedded in the secondary rail 21 and electrically connected to the control module. The wireless charging receiver module is located inside the inspection robot 5. When the inspection robot 5 moves onto the secondary rail 21, it can be charged through the wireless charging transmitter module 7 and the wireless charging receiver module. Specifically, the wireless charging transmitter module 7 can generate an alternating magnetic field through electromagnetic induction or magnetic coupling resonance principles, converting electrical energy into electromagnetic wave energy that can be wirelessly transmitted. It maintains a charging efficiency of over 85% within a transmission distance of 10-30cm. By embedding it at the bottom of the secondary rail 21, it achieves seamless integration of the charging device with the rail 4. By converting electrical energy into electromagnetic waves to charge the battery of the inspection robot 5, it effectively solves the charging efficiency bottleneck problem caused by the frequent loading and unloading of the inspection robot 5 in the hydropower station scenario.

[0043] The foregoing description of specific exemplary embodiments of the present invention is for illustrative and explanatory purposes. These descriptions are not intended to limit the present invention to the precise forms disclosed, and it will be apparent that many changes and variations can be made in accordance with the foregoing teachings. The exemplary embodiments were chosen and described in order to explain the specific principles of the present invention and its practical application, thereby enabling those skilled in the art to implement and utilize various different exemplary embodiments of the present invention, as well as various different choices and variations. The scope of the present invention is intended to be defined by the claims and their equivalents.

Claims

1. A pick-and-place device for a suspended inspection robot in a hydropower station, characterized in that, include: Mobile lifting platform; The positioning component includes a horizontally arranged subrail and a connecting part. The subrail is movably mounted on the mobile lifting platform and has the connecting part at its upper end. One end of the connecting part is fitted onto the upper end of the track, and one end of the subrail is connected to the end of the track to form the movement path of the inspection robot. A transfer mechanism, located on the positioning component, is used for the inspection robot to transfer between the track and the sub-track.

2. The pick-and-place device for a suspended inspection robot for a hydropower station according to claim 1, characterized in that, The transfer mechanism includes a translation mechanism and a vertical transfer mechanism. The translation mechanism is mounted on the positioning component and can move along the extension direction of the sub-rail. The vertical transfer mechanism is movably mounted on the side of the translation mechanism. The side of the inspection robot is provided with a locking part that is movably connected to the vertical transfer mechanism. When the vertical transfer mechanism is connected to the locking part, the translation mechanism can transfer the inspection robot between the track and the sub-rail.

3. The pick-and-place device for a suspended inspection robot in a hydropower station according to claim 2, characterized in that, The translation mechanism includes a support plate, a threaded rod, and a motor. The support plate is horizontally movably mounted on the positioning assembly. The threaded rod is arranged along the extension direction of the sub-rail and is threadedly connected to the support plate. The motor is used to drive the threaded rod to rotate and drive the support plate to translate.

4. The pick-and-place device for a suspended inspection robot for a hydropower station according to claim 3, characterized in that, The vertical movement mechanism includes an electric push rod and a locking block. The upper end of the electric push rod is connected to the support plate, and the lower end is connected to the locking block. The locking block and the locking part are mutually adapted.

5. The pick-and-place device for a suspended inspection robot for a hydropower station according to claim 1, characterized in that, The track includes a guide groove and a limiting component. The limiting component includes a slider, a horizontal column, and a vertical column. The guide groove is located near the end of the track. The slider is movable up and down within the guide groove. One end of the horizontal column is connected to the slider, and the other end extends to the outside of the end of the track. One end of the vertical column is connected to the slider, and the other end extends outward from the track.

6. The pick-and-place device for a suspended inspection robot in a hydropower station according to claim 5, characterized in that, The guide groove includes an inclined surface, which is arranged along the extension direction of the track and slopes inward from the end of the track. The slider is slidably connected to the inclined surface. The other end of the horizontal column extends outward through a slot opened on the end face of the track, and the other end of the vertical column extends outward through a slot opened on the side face of the track.

7. The pick-and-place device for a suspended inspection robot for a hydropower station according to claim 1, characterized in that, It also includes a distance sensor and a control module. The distance sensor is embedded in one end of the sub-rail and is used to measure the distance between the end face of the sub-rail and the end face of the track. The control module is electrically connected to the mobile lifting platform, the transfer mechanism and the distance sensor respectively.

8. The pick-and-place device for a suspended inspection robot for a hydropower station according to claim 7, characterized in that, The mobile lifting platform includes a base, casters with brakes, and a lifting mechanism. Each of the four corners of the base is provided with a caster. The lower end of the lifting mechanism is connected to the base, and the upper end is connected to the other end of the sub-rail. The lifting mechanism is electrically connected to the control module.

9. The pick-and-place device for a suspended inspection robot for a hydropower station according to claim 8, characterized in that, It also includes a wireless charging transmitter module and a wireless charging receiver module. The wireless charging transmitter module is embedded in the sub-rail and electrically connected to the control module. The wireless charging receiver module is located inside the inspection robot.

10. The pick-and-place device for a suspended inspection robot for a hydropower station according to claim 1, characterized in that, The track is configured as an I-beam structure, the sub-track has the same lower cross-sectional shape as the track, the sleeve is configured as an inverted U-shaped structure and matches the upper shape of the track, and the inspection robot is suspended from the sub-track or the lower part of the track.

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