A flexible hinge

Abstract

This utility model relates to a flexible hinge that solves the technical problems of improving the flexibility, adaptability to irregular curved surfaces, stability, and reliability of wall-climbing robots. It includes a first connecting seat, a second connecting seat, a flat spring, a first rod end joint bearing, and a second rod end joint bearing. The first and second rod end joint bearings are connected. The first connecting seat has a first connecting shaft, and the second connecting seat has a second connecting shaft. The inner ring of the first joint bearing of the first rod end joint bearing is connected to the second connecting shaft, and the inner ring of the second joint bearing of the second rod end joint bearing is connected to the first connecting shaft. The flat spring connects the first and second connecting seats and surrounds the first and second rod end joint bearings. This utility model is applicable to wall-climbing robots, especially small wall-climbing robots capable of operating on irregular curved surfaces.

Description

Technical Field

[0001] This utility model relates to the field of wall-climbing robot technology, and more specifically, to a flexible hinge. Background Technology

[0002] In the field of industrial equipment, the safety and operational reliability of core equipment such as steam turbine valves are crucial for ensuring continuous and stable industrial processes. These devices operate under high temperature, high pressure, and complex stress conditions for extended periods, leading to wear, deformation, cracking, corrosion, and cumulative deterioration over time. To ensure safe operation and prevent production interruptions or even accidents caused by sudden failures, regular condition monitoring and maintenance are indispensable. Currently, the common method is to perform large-scale disassembly of the equipment during planned shutdowns for maintenance. After disassembly, professionals rely on visual inspection to examine and evaluate exposed components, and then perform necessary repairs or replacements. This method is labor-intensive, time-consuming, and cannot determine the internal condition of the equipment before disassembly, leading to unnecessary disassembly and maintenance work and the risk of over-maintenance.

[0003] Using robots to enter the cavity of equipment to perform in-situ testing is an important development direction. Currently, a few automatic testing robots are already in use, such as the chain-type magnetic adsorption wall-climbing robot that can automatically adapt to complex curved surfaces, as disclosed in the invention patent application with publication number CN116480877A.

[0004] However, due to the narrow inlet, small internal space, and irregular curved inner wall of equipment such as steam turbine valves, how to achieve miniaturization of wall-climbing robots, improve their flexibility, adaptability to irregular curved surfaces, and enhance their stability and reliability are technical problems that urgently need to be solved by those skilled in the art. Summary of the Invention

[0005] This application aims to solve the technical problem of how to improve the flexibility, adaptability to irregular curved surfaces, stability, and reliability of wall-climbing robots, and provides a flexible hinge that can improve the flexibility, adaptability to irregular curved surfaces, stability, and reliability of wall-climbing robots.

[0006] This disclosure provides a flexible hinge, including a first connecting seat, a second connecting seat, a flat spring, a first rod end spherical bearing, and a second rod end spherical bearing. The first rod end spherical bearing has a first rod portion and a first spherical bearing, and the second rod end spherical bearing has a second rod portion and a second spherical bearing. The first rod portion of the first rod end spherical bearing has an internal threaded hole, and the second rod portion of the second rod end spherical bearing has an external thread. The second rod portion of the second rod end spherical bearing is inserted into the first rod portion of the first rod end spherical bearing and connected by a threaded structure. The first connecting seat has a first connecting shaft, and the second connecting seat has a second connecting shaft. The inner ring of the first spherical bearing of the first rod end spherical bearing is connected to the second connecting shaft, and the inner ring of the second spherical bearing of the second rod end spherical bearing is connected to the first connecting shaft. One end of the flat spring is connected to the first connecting seat, and the other end is connected to the second connecting seat. The flat spring surrounds the first rod end spherical bearing and the second rod end spherical bearing.

[0007] Preferably, the flexible hinge further includes a rubber corrugated sleeve, which is fitted onto the flat spring. One end of the rubber corrugated sleeve is connected to a first connecting seat, and the other end is connected to a second connecting seat.

[0008] The beneficial effects of this disclosure are: enabling the wall-climbing robot to adapt to irregular and complex curved surfaces, maintain flexible movement, and have high stability and reliability.

[0009] It helps improve the adaptability of wall-climbing robots in confined spaces and enables them to pass through complex curved surfaces.

[0010] This will help improve the detection efficiency of wall-climbing robots.

[0011] The joint bearings in the flexible hinge provide a wide range of motion adjustment freedom, while the elastic restoring torque generated by the flat spring effectively ensures that the robot returns to its original shape and maintains posture stability; the rubber corrugated sleeve provides protection and obstacle-crossing capability.

[0012] Further features and aspects of this invention will be clearly described in the following detailed description with reference to the accompanying drawings. Attached Figure Description

[0013] Figure 1 It is an isometric drawing of a small magnetically adsorbed wall-climbing robot that can adapt to various curved surfaces;

[0014] Figure 2 yes Figure 1 The image shows a front view of a small magnetically attached wall-climbing robot that can adapt to various curved surfaces.

[0015] Figure 3 yes Figure 1 The image shows a top view of a small magnetically attached wall-climbing robot that can adapt to various curved surfaces.

[0016] Figure 4This is an exploded view of the left-side magnetic wheel drive assembly;

[0017] Figure 5 This is a structural diagram of the central passive module;

[0018] Figure 6 This is a schematic diagram of the first flexible hinge;

[0019] Figure 7 yes Figure 6 The diagram shows the pitch state of the first flexible hinge.

[0020] Figure 8 yes Figure 6 The diagram shows the yaw state of the first flexible hinge.

[0021] Figure 9 yes Figure 6 The diagram shows the first flexible hinge in its roll state.

[0022] Figure 10 This is a structural diagram of the camera assembly.

[0023] Figure 11 This is a schematic diagram of the robot's yaw motion;

[0024] Figure 12 This is a schematic diagram of the robot's pitch motion;

[0025] Figure 13 This is a schematic diagram of a robot's rolling motion;

[0026] Figure 14 It is an axonometric drawing of a flat spring;

[0027] Figure 15 yes Figure 14 The front view of the flat spring shown;

[0028] Figure 16 yes Figure 14 The side view of the flat spring shown.

[0029] Explanation of symbols in the diagram:

[0030] 100. Head active module; 101. Base; 102. Left magnetic wheel drive assembly; 102-1. Drive motor; 102-2. Motor bracket; 102-3. Hub; 102-4. Permanent magnet ring; 102-5. Rubber tire; 102-6. Magnetic ring baffle; 103. Right magnetic wheel drive assembly; 200. First flexible hinge; 201. Connecting seat one; 201-1. Connecting shaft one; 202. Connecting seat two; 202-1. Connecting shaft two; 203. Flat spring; 204. First rod end joint bearing; 205. Second rod end joint bearing; 206. Rubber corrugated sleeve; 300. Middle passive module; 301. Housing; 302. Left magnetic wheel assembly; 302-1. Hub; 30 2-2. Bearing housing; 302-3. Rotating shaft; 302-4. Bearing; 302-5. Bearing; 302-6. Rubber tire; 302-7. Magnetic ring baffle; 303. Right magnetic wheel assembly; 400. Second flexible hinge; 500. Tail active module; 501. Base; 502. Left magnetic wheel drive assembly; 503. Right magnetic wheel drive assembly; 600. Detection camera assembly; 601. Camera; 602. LED light; 603. Camera connecting housing; 604. Rotation drive motor; 605. Motor fixing cylinder; 606. Pitch drive motor; 607. Pitch drive motor mounting base; 608. Dust cover; 700. Forward-facing camera; 800. Control circuit board; 900. Interface. Detailed Implementation

[0031] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0032] The specific embodiments described below are merely preferred embodiments of this application, and the scope of protection of this application is not limited thereto. Those skilled in the art can make modifications or variations based on the principles, concepts, and spirit of this application, and the resulting technical solutions should all be covered within the scope of protection of this application.

[0033] like Figure 1-3 As shown, a small magnetically attached wall-climbing robot adaptable to various curved surfaces includes a head active module 100, a first flexible hinge 200, a middle passive module 300, a second flexible hinge 400, a tail active module 500, and a detection camera assembly 600. The head active module 100 and the middle passive module 300 are connected by the first flexible hinge 200, and the tail active module 500 and the middle passive module 300 are connected by the second flexible hinge 400. The detection camera assembly 600 is mounted on the head active module 100.

[0034] The head active module 100 includes a base 101, a left magnetic drive assembly 102, and a right magnetic drive assembly 103. The left magnetic drive assembly 102 is connected to the left side of the base 101, and the right magnetic drive assembly 103 is connected to the right side of the base 101. The tail active module 500 includes a base 501, a left magnetic drive assembly 502, and a right magnetic drive assembly 503. The left magnetic drive assembly 502 is connected to the left side of the base 501, and the right magnetic drive assembly 503 is connected to the right side of the base 501.

[0035] refer to Figure 4 One specific structure of the left-side magnetic wheel drive assembly 102 includes a drive motor 102-1, a motor bracket 102-2, a hub 102-3, a permanent magnet ring 102-4, a rubber tire 102-5, and a magnetic ring baffle 102-6. The drive motor 102-1 is fixedly mounted on the motor bracket 102-2, the hub 102-3 is fixedly mounted on the output shaft of the drive motor 102-1, the permanent magnet ring 102-4 is fixedly connected to the hub 102-3, the rubber tire 102-5 is fitted onto the permanent magnet ring 102-4, and the magnetic ring baffle 102-6 is connected to the end of the output shaft of the drive motor 102-1. The magnetic ring baffle 102-6 can block the permanent magnet ring 102-4 and position it. The motor bracket 102-2 is fixedly mounted on the left side of the base 101. The left-side magnetic drive assembly 102 has a strong adsorption force and can adsorb the ferromagnetic inner wall of the equipment.

[0036] Those skilled in the art will understand that the specific implementation structure of the left magnetic wheel drive assembly 102 can also be other known or conventional structures.

[0037] The structure of the right magnetic drive assembly 103 is the same as that of the left magnetic drive assembly 102. The right magnetic drive assembly 103 includes a drive motor, a motor bracket, a hub, a permanent magnet ring, a rubber tire, and a magnetic ring baffle. The motor bracket of the right magnetic drive assembly 103 is fixedly installed on the right side of the base 101.

[0038] The tail-end active module 500 includes a base 501, a left magnetic drive assembly 502, and a right magnetic drive assembly 503. The left magnetic drive assembly 502 is connected to the left side of the base 501, and the right magnetic drive assembly 503 is connected to the right side of the base 501. The left magnetic drive assembly 502 and the right magnetic drive assembly 503 have the same structure. The structure of the left magnetic drive assembly 502 is the same as that of the left magnetic drive assembly 102.

[0039] The central passive module 300 includes a housing 301, a left magnetic wheel assembly 302, and a right magnetic wheel assembly 303. The left magnetic wheel assembly 302 is rotatably connected to the left side of the housing 301, and the right magnetic wheel assembly 303 is rotatably connected to the right side of the housing 301. (Reference) Figure 5 A specific structure of the left magnetic wheel assembly 302 includes a hub 302-1, a bearing seat 302-2, a rotating shaft 302-3, bearings 302-4 and 302-5, a rubber tire 302-6, a magnetic ring baffle 302-7, and a permanent magnet ring. The rotating shaft 302-3 is rotatably connected to the bearing seat 302-2 via bearings 302-4 and 302-5. The hub 302-1 is fixedly connected to one end of the rotating shaft 302-3. The permanent magnet ring is fixedly connected to the hub 302-1. The rubber tire 302-6 is fitted onto the permanent magnet ring. The magnetic ring baffle 302-7 is connected to the end of the rotating shaft 302-3 and can block and position the permanent magnet ring. The hub 302-1, the permanent magnet ring, and the rubber tire 302-6 rotate under the support of the rotating shaft 302-3. The bearing housing 302-2 is fixedly mounted on the housing 301.

[0040] The structure of the right magnetic wheel assembly 303 is the same as that of the left magnetic wheel assembly 302. The right magnetic wheel assembly 303 includes a hub, a bearing housing, a shaft, a bearing, a bearing, a rubber tire, a magnetic ring baffle, and a permanent magnet ring. The bearing housing is fixedly installed on the housing 301.

[0041] like Figure 6 and 7As shown in Figures 14-16, a specific implementation structure of the first flexible hinge 200 includes a connecting seat 1 201, a connecting seat 202, a flat spring 203, a first rod end joint bearing 204, a second rod end joint bearing 205, and a rubber corrugated sleeve 206. The first rod end joint bearing 204 has a first rod portion and a first joint bearing, and the second rod end joint bearing 205 has a second rod portion and a second joint bearing. The first rod portion of the first rod end joint bearing 204 has an internal threaded hole, and the second rod portion of the second rod end joint bearing 205 has an external thread. The second rod portion of the second rod end joint bearing 205 is inserted into the first rod portion of the first rod end joint bearing 204 and connected by a threaded structure. Connecting seat 1 201 is equipped with connecting shaft 1 201-1, and connecting seat 2 202 is equipped with connecting shaft 2 202-1. The inner ring of the first joint bearing of the first rod end joint bearing 204 is connected to connecting shaft 2 202-1, and the inner ring of the second joint bearing of the second rod end joint bearing 205 is connected to connecting shaft 1 201-1. One end of the flat spring 203 is connected to connecting seat 1 201, and the other end is connected to connecting seat 2 202. The flat spring 203 surrounds the first rod end joint bearing 204 and the second rod end joint bearing 205 (that is, the first rod end joint bearing 204 and the second rod end joint bearing 205 are located in the internal space of the flat spring 203). A rubber corrugated sleeve 206 is fitted on the flat spring 203. One end of the rubber corrugated sleeve 206 is connected to connecting seat 1 201, and the other end is connected to connecting seat 2 202.

[0042] The first flexible hinge 200 provides the robot with passive deformation capability. Under the action of the first rod end joint bearing 204 and the second rod end joint bearing 205 forming an assembly, it can achieve large-angle pitch (e.g., large angle pitch) of the connecting seat 1 201 and the connecting seat 202. Figure 7 As shown), it can also achieve large-angle yaw of connector 1 201 and connector 2 202 (as shown). Figure 8 As shown), it can also realize small-angle roll freedom of connecting seat 1 201 and connecting seat 2 202 (such as... Figure 9 (As shown). The flat spring 203 provides elastic damping, limiting the robot's deformation angle and providing restoring force for the robot to return to its original shape. When the robot encounters uneven walls or motion disturbances, this restoring force helps the robot maintain posture stability. The rubber corrugated sleeve 206 has a multi-pleated structure, which reduces the impact on the robot's movement. The rubber corrugated sleeve not only effectively protects the internal moving parts from foreign object intrusion, but more importantly, it prevents protrusions from intruding into the flat spring when the robot crosses sharp corners or protrusions on walls, thereby improving obstacle crossing ability and terrain adaptability.

[0043] Connector 1 201 is fixedly connected to the base 101 of the head active module 100, and connector 2 202 is fixedly connected to the front end of the housing 301 of the middle passive module 300.

[0044] The structure of the second flexible hinge 400 is the same as that of the first flexible hinge 200. The first connecting seat of the second flexible hinge 400 is fixedly connected to the rear end of the housing 301 of the middle passive module 300, and the second connecting seat of the second flexible hinge 400 is fixedly connected to the base 501 of the tail active module 500.

[0045] like Figure 10 As shown, the detection camera assembly 600 includes a camera 601, an LED light 602, a camera connecting housing 603, a rotation drive motor 604, a motor mounting cylinder 605, a pitch drive motor 606, a pitch drive motor mounting base 607, and a dust cover 608. The pitch drive motor 606 is fixedly mounted on the pitch drive motor mounting base 607. One end of the motor mounting cylinder 605 is connected to the output shaft of the pitch drive motor 606, and the rotation drive motor 604 is fixedly mounted on the other end of the motor mounting cylinder 605. The camera connecting housing 603 is fixedly connected to the output shaft of the rotation drive motor 604. The camera 601 is mounted on the camera connecting housing 603, and the LED light 602 is connected to the camera connecting housing 603. The dust cover 608 is connected to the pitch drive motor mounting base 607. The operation of the pitch drive motor 606 enables the motor mounting cylinder 605 to perform a pitch movement, thereby adjusting the position of the camera 601. The operation of the rotation drive motor 604 enables the camera 601 to rotate at a certain angle, thereby adjusting the position of the camera 601. It can be seen that the camera 601 is provided with two rotational degrees of freedom by the rotation drive motor 604 and the pitch drive motor 606.

[0046] like Figure 1 As shown, the pitch drive motor mount 607 is fixedly mounted on the base 101 of the head active module 100. The detection camera assembly 600 can perform comprehensive visual and video inspection of key areas inside the equipment (such as valve seats, sealing surfaces, etc.) and transmit the image data to the outside in real time. The video collected by the detection camera assembly 600 can also enable the robot to navigate inside the equipment.

[0047] like Figure 1 and 2 As shown, the forward-looking camera 700 is mounted on the base 501 of the rear active module 500. The forward-looking camera 700 can be used to observe the robot's real-time motion status and joint posture, helping the operator to stably manipulate the robot to perform motion and detection tasks in the equipment.

[0048] like Figure 5 As shown, a control circuit board 800 is installed inside the housing 301 of the central passive module 300. Figure 3As shown, interface 900 is mounted on base 501 and connected to control circuit board 800 via signal lines. An external host computer is connected to interface 900 via signal cables. Control circuit board 800 is responsible for receiving external commands, coordinating the motion control of relevant drive mechanisms and camera components, processing relevant sensor information (if sensors are set), and transmitting the robot's status information and detection data (video stream, position information, etc.) back to the external host computer in real time via interface 900.

[0049] The aforementioned small magnetic adsorption wall-climbing robot, adaptable to various curved surfaces, meets miniaturization requirements and can pass through narrow entrances of the equipment being tested (e.g., circular holes with a minimum diameter of 60mm). Inside the equipment, the robot can adapt to various irregular curved inner walls. Because the left and right magnetic drive components 102 and 103 of the head active module 100 operate independently, and the left and right magnetic drive components 502 and 503 of the tail active module 500 also operate independently, the rotational speed of each magnetic drive component can be independently adjusted to achieve yaw motion in a differential manner, such as... Figure 11 As shown (the rotational speed of the right magnetic drive assembly 103 is less than that of the left magnetic drive assembly 102, and the rotational speed of the right magnetic drive assembly 503 is less than that of the left magnetic drive assembly 502), the second flexible hinge 400 and the first flexible hinge 200 are passively bent, causing the robot to move with a smaller turning radius.

[0050] like Figure 12 As shown, the robot passively deforms to perform pitch motion, with the first flexible hinge 200 and the second flexible hinge 400 passively bending, allowing the robot to adapt to the curved surface shape for movement. The robot is capable of large-angle pitch motion.

[0051] like Figure 13 As shown, the robot adapts to the irregular and complex curved inner wall and performs small-angle rolling motion. The deformation capability of the second flexible hinge 400 and the first flexible hinge 200 in the rolling direction enables the robot to maintain flexible movement on the complex curved inner wall, and has high stability and reliability.

[0052] Those skilled in the art will understand that the specific implementation structures of the first flexible hinge 200 and the second flexible hinge 400 can also be other known or conventional structures.

Claims

1. A flexible hinge, characterized in that, The system includes a first connecting seat, a second connecting seat, a flat spring, a first rod end spherical bearing, and a second rod end spherical bearing. The first rod end spherical bearing has a first rod portion and a first spherical bearing, while the second rod end spherical bearing has a second rod portion and a second spherical bearing. The first rod portion of the first rod end spherical bearing has an internal threaded hole, and the second rod portion of the second rod end spherical bearing has an external thread. The second rod portion of the second rod end spherical bearing is inserted into the first rod portion of the first rod end spherical bearing and connected by a threaded structure. The first connecting seat has a first connecting shaft, and the second connecting seat has a second connecting shaft. The inner ring of the first spherical bearing of the first rod end spherical bearing is connected to the second connecting shaft, and the inner ring of the second spherical bearing of the second rod end spherical bearing is connected to the first connecting shaft. One end of the flat spring is connected to the first connecting seat, and the other end is connected to the second connecting seat. The flat spring surrounds the first rod end spherical bearing and the second rod end spherical bearing.

2. The flexible hinge according to claim 1, characterized in that, The flexible hinge also includes a rubber corrugated sleeve, which is fitted onto a flat spring. One end of the rubber corrugated sleeve is connected to a first connecting seat, and the other end is connected to a second connecting seat.

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