Turntable for an inspection robot in the gallery of a hydroelectric power plant

Abstract

Turntable for an inspection robot in the gallery of a hydroelectric power plant, characterized in that the turntable comprises: a first web (1) and a second web (2), the first web (1) and the second web (2) both being fixedly connected to the top of the gallery, the first web (1) and the second web (2) being arranged crosswise, the first web (1) and the second web (2) both being separated at the point where they cross and forming gaps of equal length; a rotating track component located at the intersection of the first track (1) and the second track (2) and comprising a drive component (3) and a rotating track body (4), wherein the drive component (3) is fixedly connected to the top of the gallery, wherein the bottom of the drive component (3) has a power output shaft (332), wherein the power output shaft (332) is connected to the center of the rotating track body (4), wherein the rotating track body (4) and the first track (1) and the second track (2) are on the same horizontal plane.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of inspection at the gallery of the hydroelectric power plant, in particular a rotary switch for an inspection robot in the gallery of the hydroelectric power plant. STATE OF THE ART

[0002] In a hydropower gallery, many things need to be inspected regularly, such as whether there are cracks in the gallery wall and floor slab, whether expansion joints are opening and closing, whether the concrete is peeling, whether there is displacement between adjacent dam sections, and whether the dam deformation is normal. Manual inspections involve the problems of high labor intensity, poor working environment, and unstable inspection results, as well as the risk of missed inspections. Therefore, robots are being used to replace manual inspections.

[0003] In the gallery of the hydropower station, the space is small and the height is about 1.7m, the interior of the gallery is complex and there are many intersections and three-way intersections, and it is expected that the inspection robot can turn in multiple directions in a very narrow space to complete the inspection task.

[0004] To solve the turning problem at the ramp, conventional rail-mounted inspection robots use curved tracks for transition curves, which requires a large turning space. If the turning space is small, the machine can easily get stuck. The hydropower gallery has limited space and a complex environment, so the inspection robot must be able to turn in multiple directions at the track junctions, whereas conventional inspection robots can only move in one direction along the preset path. CONTENTS OF THE PRESENT UTILITY MODEL

[0005] It is an object of the present utility model to overcome the deficiencies of the prior art and to provide a rotary switch for an inspection robot in the gallery of a hydroelectric power plant in order to solve at least one of the above-mentioned technical problems.

[0006] According to the present utility model, the problem is solved by the following: A rotary switch for an inspection robot in a gallery of a hydroelectric power plant, the rotary switch comprising: a first track and a second track, the first track and the second track both being rigidly connected to the top of the gallery, the first track and the second track being arranged crosswise, the first track and the second track both being separated at the point where they cross and forming gaps of equal length; a rotating track component located at the intersection of the first track and the second track and comprising a drive component and a rotating track body, the drive component being fixedly connected to the top of the gallery, the bottom of the drive component having a power output shaft, the power output shaft being connected to the center of the rotating track body, the rotating track body and the first track and the second track being on the same horizontal plane.

[0007] In the utility model, a rotating track component is provided, and the rotating track body can be aligned with the first track or the second track by rotating it by the drive component, so that when the robot reaches the rotating track body, it can turn and steer the track in any direction.

[0008] In some embodiments, the drive component comprises a mounting frame and a power component and a controller arranged on the mounting frame, wherein the mounting frame is connected to the top of the gallery, wherein the power component is electrically connected to the controller, wherein the power output shaft is arranged on the power component. The power component is controlled by the controller such that the rotating track body rotates at the correct time.

[0009] In some embodiments, the mounting frame comprises an upper mounting plate and a lower mounting plate, wherein the power component and the controller are both arranged on the lower mounting plate, wherein the lower mounting plate is connected to the upper mounting plate via a connecting rod, wherein the upper mounting plate is connected to the top of the gallery. By arranging both the power component and the controller on the lower mounting plate, disassembly, assembly and maintenance of the rotating track component is conveniently possible.

[0010] In some embodiments, the power component comprises a motor assembly and the power output shaft, wherein the power output shaft is rotatably connected to the mounting frame, wherein the motor assembly is fixedly connected to the mounting frame, wherein the motor assembly is connected to the power output shaft via a belt drive, wherein the motor assembly is electrically connected to the controller. The connection between the motor assembly and the power output shaft is made via a belt drive, thereby avoiding a hard connection between the motor assembly and the power output shaft and protecting the motor assembly.

[0011] In some embodiments, the first track, the second track, and the rotating track body each comprise two parallel monorails and a plurality of support frames arranged between the two monorails for securing the monorails. The power output shaft is connected to the support frame at a central position on the rotating track body. The support frame in the utility model serves to keep the two monorails parallel and to suspend the two monorails in the gallery. Furthermore, both sides of the robot have suspension points through two monorails to increase the robot's stability during operation.

[0012] In some embodiments, the rotary switch further comprises an alignment detection component comprising a contact block and a pressure sensor, wherein the pressure sensor is provided on the support frame at a position facing the intersection on each of the first track and the second track, wherein the contact block corresponding to the pressure sensor is provided on the support frame at both ends of the rotary track body, wherein the contact block is used to contact the pressure sensor, wherein the pressure sensor is electrically connected to the controller. The controller determines via the pressure sensor whether the rotary track body is aligned with the first or the second track to ensure that the first or the second track is aligned with the rotary track body.

[0013] In some embodiments, the rotary switch further comprises a robot detection component, wherein the robot detection component comprises at least three groups of opposing photoelectric sensors, wherein the opposing photoelectric sensors are arranged on the support frame at both ends and in the middle position of the rotating track body, wherein the transmitting end and the receiving end of the opposing photoelectric sensors are each arranged at two ends of the support frame facing the two monorails, wherein the opposing photoelectric sensors are electrically connected to the controller. The detection by at least three opposing photoelectric sensors ensures that the robot is completely on the rotating track body when the controller controls the rotation of the rotating track body, thus avoiding damage to the robot.

[0014] In some embodiments, the rotary switch further comprises a robot limiting component, wherein two robot limiting components are arranged on the support frame at each end of the rotary track body, wherein the robot limiting component comprises a telescopic rod and a limiting arm, wherein the telescopic rod is arranged vertically on the support frame, wherein the limiting arm is arranged vertically and is connected to the movable end of the telescopic rod. When the robot is located on the rotary track body and the drive component drives the rotary track body to rotate, the robot limiting component prevents the robot from slipping out of the rotary track body.

[0015] In some embodiments, the end of the monorail track of the rotating track body has a circular contour in horizontal cross-section. The end of the monorail track of the rotating track body is circular in shape to prevent interference with the first or second track and jamming during rotation of the rotating track body.

[0016] In some embodiments, both ends of the monorail of the rotating track body are each provided with a recess, wherein the end located at the intersection of the monorail of the first track and the second track is provided with a projection associated with the recess. The monorail of the rotating track body and the monorail of the first or second track are partially overlapped by the recess and the projection to prevent the formation of a gap and thus prevent the robot from becoming jammed during movement.

[0017] The utility model has the following advantages: In the utility model, a rotating track component is arranged at the intersection of the first and second tracks, and a drive component in the rotating track component is used to drive and rotate the rotating track body. When the robot moves onto the rotating track body, the rotating track body rotates according to the requirements of the robot's inspection route and aligns with the first or second track to enable the robot to turn. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a schematic structural diagram of a rotary switch for an inspection robot in a gallery of a hydroelectric power plant of the present utility model; Fig. 2 is an enlarged view of location A in Fig. 1; Fig. 3 is a schematic sectional view of the drive component of the present utility model. List of reference symbols 1 A first track 2 Second lane 3 Drive components 311 Upper mounting plate 312 Lower mounting plate 313 connecting rod 32 Control 3310 Motor seat 3311 Engine 3312 A first warehouse location 3313 drive shaft 332 power output shaft 3321 Second warehouse location 3322 Control assembly seat 333 A first pulley 334 Second pulley 335 transmission belt 4 turntable bodies 41 support frame 42 monorails 421 recess 422 lead 51 Contact block 52 pressure sensor 6 Opposite photoelectric sensors 71 Telescopic pole mounting frame 72 telescopic pole 73 Limiting arm DETAILED DESCRIPTION

[0018] The utility model is described in more detail below in conjunction with the attached drawings, but the scope of protection of the utility model is not limited to the following.

[0019] As in Fig.As shown in Figures 1 to 3, a rotary switch for an inspection robot in the gallery of a hydroelectric power plant comprises a first track 1, a second track 2 and a rotary track component; the first track 1 and the second track 2 are both rigidly connected to the top of the gallery, the first track 1 and the second track 2 are arranged crosswise, the first track 1 and the second track 2 are both separated at the point where they cross and form gaps of equal length;wherein the rotating track component is located at the intersection of the first track 1 and the second track 2 and comprises a drive component 3 and a rotating track body 4, wherein the drive component 3 is fixedly connected to the top of the gallery, wherein the bottom of the drive component 3 has a power output shaft 332, wherein the power output shaft 332 is connected to the center of the rotating track body 4, wherein the rotating track body 4 and the first track 1 and the second track 2 are on the same horizontal plane.;

[0020] Specifically, in the present embodiment, the first path 1 and the second path 2 are arranged in a cross shape, and the first path 1 and the second path 2 are separated at the intersection, forming a gap. The width of the gap is larger than the width of the first path 1 and the second path 2, and the length of the rotating path body 4 is slightly smaller than the width of the gap, so that the rotating path body 4 can rotate smoothly and without interference. In the operation process of this embodiment, when the inspection robot needs to turn at the intersection of the first path 1 and the second path 2, it first moves from the first path 1 or the second path 2 to the rotating path body 4. Then, the drive component 3 drives the rotating path body 4 to rotate, so that the rotating path body 4 is aligned with the first path 1 or the second path 2 in the target direction.After alignment, the robot continues to move, detaches from the rotational path component, enters the first path 1 or the second path 2 and performs the turn.

[0021] Preferably, the drive component 3 comprises a mounting frame and a power component and a controller 32 arranged on the mounting frame, the mounting frame being connected to the top of the gallery, the power component being electrically connected to the controller 32, the power output shaft 332 being arranged on the power component.

[0022] Preferably, the mounting frame includes an upper mounting plate 311 and a lower mounting plate 312, with the power component and the controller 32 both being arranged on the lower mounting plate 312, with the lower mounting plate 312 being connected to the upper mounting plate 311 via a connecting rod 313, and the upper mounting plate 311 being connected to the top of the gallery. In the present embodiment, the upper mounting plate 311 is fixedly connected to the top of the gallery, and the lower mounting plate 312 is screwed to the upper mounting plate 311 via a connecting rod 313. By arranging both the power component and the controller 32 on the lower mounting plate 312, it is more convenient to assemble the rotating track component or to disassemble it for maintenance work.

[0023] Preferably, the power component comprises a motor assembly and the power output shaft 332, wherein the power output shaft 332 is rotatably connected to the mounting frame, wherein the motor assembly is fixedly connected to the mounting frame, wherein the motor assembly is connected to the power output shaft 332 via a belt drive, wherein the motor assembly is electrically connected to the controller 32.

[0024] Specifically, in the present embodiment, the motor assembly includes a motor seat 3310, a motor 3311, a drive shaft 3313, and a first bearing seat 3312. The motor seat 3310 is arranged on the upper surface of the lower mounting plate 312, and a first cavity is formed between the motor seat 3310 and the lower mounting plate 312. The first bearing seat 3312 is bolted to the upper surface of the lower mounting plate 312 and is located in the first cavity. The drive shaft 3313 extends through the underside of the lower mounting plate 312 into the first cavity and is rotatably connected to the first bearing seat 3312 via the bearing. The motor 3311 is arranged on the upper side of the motor seat 3310, the output shaft of the motor 3311 is located in the first cavity and is connected to the drive shaft 3313 via a coupling, and a first pulley 333 is arranged at the bottom of the drive shaft 3313; on one side of the first bearing seat 3312, a second bearing seat 3321 is provided on the upper surface of the lower mounting plate 312, and the power output shaft 332 passes through the bottom of the lower mounting plate 312 into the second bearing seat 3321 and is rotatably connected to the second bearing seat 3321 via a bearing, a second pulley 334 is provided on the bottom of the power output shaft 332, the second pulley 334 being drivingly connected to the first pulley 333 via a transmission belt 335.

[0025] Furthermore, a controller mounting seat 3322 is provided on the upper surface of the lower mounting plate 312, and a second cavity is formed between the controller mounting seat 3322 and the lower mounting plate 312. The second bearing seat 3321 is located in the second cavity, and the controller 32 is arranged on top of the controller mounting seat 3322. The controller mounting seat 3322 protects the second bearing seat 3321 and at the same time provides a mounting position for the controller 32. In the present embodiment, the controller 32 may be a PLC, a single-chip microcomputer, an industrial computer, or the like.

[0026] Preferably, the first track 1, the second track 2, and the rotating track body 4 each comprise two parallel monorails 42 and a plurality of support frames 41 arranged between the two monorails 42 for fixing the monorails 42, wherein the power output shaft 332 is connected to the support frame 41 at a central location on the rotating track body 4. Specifically, in the present embodiment, the cross section of the monorail 42 is circular, the cross section of the support frame 41 is a C-shaped structure with a downward opening, and both ends of the support frame 41 are bolted to the monorail 42. In the present embodiment, three support frames 41 are arranged on the rotating track body 4.

[0027] Preferably, an alignment detection component is also included, wherein the alignment detection component comprises a contact block 51 and a pressure sensor 52, wherein the pressure sensor 52 is provided on the support frame 41 at a position facing the intersection on the first track 1 and the second track 2, respectively, wherein the contact block 51 corresponding to the pressure sensor 52 is provided on the support frame 41 at each end of the rotating track body 4, wherein the contact block 51 is used to contact the pressure sensor 52, wherein the pressure sensor 52 is electrically connected to the controller 32. Specifically, in the present embodiment, the end of the contact block 51 is spherical. When the rotating track body 4 rotates to be aligned with the first track 1 or the second track 2, the spherical end of the contact block 51 contacts the pressure sensor 52.When the rotating track body 4 is aligned with the first track 1 or the second track 2, the pressure at the pressure sensor 52 reaches its maximum. When the controller 32 detects that the pressure at the pressure sensor 52 reaches its maximum, the drive component 3 is controlled to stop the rotation of the rotating track body 4.

[0028] Preferably, a robot detection component is also included, wherein the robot detection component comprises at least three groups of opposed photoelectric sensors 6, wherein the opposed photoelectric sensors 6 are arranged on the support frame 41 at both ends and in the middle position of the rotating track body 4, wherein the transmitting end and the receiving end of the opposed photoelectric sensors 6 are respectively arranged at two ends of the support frame 41 facing the two monorails 42, wherein the opposed photoelectric sensors 6 are electrically connected to the controller 32.Specifically, in the present embodiment, a group of opposing photoelectric sensors 6 is arranged on each of the three support frames 41 of the rotating track body 4, and the transmitting end and the receiving end of the opposing photoelectric sensors 6 are respectively arranged at two ends of the support frame 41 and bolted to the support frame 41. When the robot enters the rotating track body 4, the light path of the opposing photoelectric sensors 6 is interrupted by the robot, and the controller 32 determines that the robot has entered the rotating track body 4. When all three groups of opposing photoelectric sensors 6 detect the robot, the controller 32 determines that the robot has completely entered the rotating track body 4, and at this time, the controller 32 controls the drive component 3 to drive the rotating track component to rotate.

[0029] Preferably, a robot limiting component is also included, wherein two robot limiting components are respectively arranged on the support frame 41 at both ends of the rotating track body 4, wherein the robot limiting components each comprise a telescopic rod 72 and a limiting arm 73, wherein the telescopic rod 72 is arranged vertically on the support frame 41, and the limiting arm 73 is arranged vertically and connected to the movable end of the telescopic rod 72. Specifically, in one embodiment, the telescopic rod 72 is a single-axis robot, which is a commonly used component for those skilled in the art, and whose structure will not be described in detail here. In some other embodiments, the telescopic rod 72 may also be a hydraulic cylinder or an electric cylinder.

[0030] In the present embodiment, a telescopic rod mounting frame 71 is provided on each of the two support frames 41 at both ends of the rotating track body 4. The single-axis robot is arranged vertically and bolted to the telescopic rod mounting frame 71, and a limiting arm 73 is arranged vertically at the movable end of the single-axis robot. In the present embodiment, when the robot is fully retracted into the rotating track body 4, before the rotating track body 4 rotates, the controller 32 controls the movable end of the single-axis robot to lower and drives the limiting arm 73 to lower it to prevent the robot from being separated from the rotating track body 4 during the rotation of the rotating track body 4, so that the limiting arm 73 blocks the robot to ensure that the robot does not slip.When the rotating track body 4 rotates and is aligned with the first track 1 or the second track 2, the controller 32 controls the movable end of the single-axis robot to rise, so that the limit arm 73 rises and the robot can continue to move.

[0031] Preferably, it is provided that the end of the monorail 42 of the rotating track body 4 has a circular contour in the horizontal cross-section.

[0032] The end of the horizontal cross section of the monorail 42 on the rotating track body 4 is rounded to avoid jamming with the first track 1 or the second track 2 during the rotation of the rotating track body 4 and thus make the rotation smooth.

[0033] Preferably, the monorail 42 of the rotating track body 4 is provided with recesses 421 at both ends, wherein the end located at the intersection of the monorail 42 of the first track 1 and the second track 2 is provided with a projection 422 associated with the recess 421.

[0034] The length of the rotating track body 4 is slightly smaller than the width of the gap between the first track 1 or the second track 2 at the intersection. To ensure that no gap is formed between the rotating track body 4 and the first track 1 or the second track 2 when they are aligned, a recess 421 is provided on the upper half of the end of the monorail 42 of the rotating track body 4, and a projection 422 is provided on the upper half of the end of the monorail 42 of the first track 1 and the second track 2 to ensure that the rotating track body 4 always has an overlapping portion when it is aligned with the first track 1 or the second track 2, thereby ensuring that the robot can pass the end connection point between the rotating track body 4 and the first track 1 or the second track 2.

Claims

[1] Turntable for an inspection robot in the gallery of a hydroelectric power plant, characterized by that the rotary switch includes the following: a first web (1) and a second web (2), the first web (1) and the second web (2) both being fixedly connected to the top of the gallery, the first web (1) and the second web (2) being arranged crosswise, the first web (1) and the second web (2) both being separated at the point where they cross and forming gaps of equal length; a rotating track component located at the intersection of the first track (1) and the second track (2) and comprising a drive component (3) and a rotating track body (4), wherein the drive component (3) is fixedly connected to the top of the gallery, wherein the bottom of the drive component (3) has a power output shaft (332), wherein the power output shaft (332) is connected to the center of the rotating track body (4), wherein the rotating track body (4) and the first track (1) and the second track (2) are on the same horizontal plane. [2] Turntable for an inspection robot in the gallery of a hydroelectric power plant according to claim 1, characterized byin that the drive component (3) comprises a mounting frame and a power component and a controller (32) arranged on the mounting frame, wherein the mounting frame is connected to the top of the gallery, wherein the power component is electrically connected to the controller (32), wherein the power output shaft (332) is arranged on the power component. [3] Turntable for an inspection robot in the gallery of a hydroelectric power plant according to claim 2, characterized by in that the mounting frame comprises an upper mounting plate (311) and a lower mounting plate (312), wherein the power component and the controller (32) are both arranged on the lower mounting plate (312), wherein the lower mounting plate (312) is connected to the upper mounting plate (311) via a connecting rod (313), wherein the upper mounting plate (311) is connected to the top of the gallery. [4] Turntable for an inspection robot in the gallery of a hydroelectric power plant according to claim 2, characterized by in that the power component comprises a motor assembly and the power output shaft (332), wherein the power output shaft (332) is rotatably connected to the mounting frame, wherein the motor assembly is fixedly connected to the mounting frame, wherein the motor assembly is connected to the power output shaft (332) via a belt drive, wherein the motor assembly is electrically connected to the controller (32). [5] Turntable for an inspection robot in the gallery of a hydroelectric power plant according to claim 2, characterized byin that the first track (1), the second track (2) and the rotating track body (4) each comprise two parallel monorails (42) and a plurality of support frames (41) arranged between the two monorails (42) for fastening the monorails (42), wherein the power output shaft (332) is connected to the support frame (41) at a central position on the rotating track body (4). [6] Turntable for an inspection robot in the gallery of a hydroelectric power plant according to claim 5, characterized byin that the rotary switch further comprises an orientation detection component comprising a contact block (51) and a pressure sensor (52), wherein the pressure sensor (52) is provided on the support frame (41) at a position facing the intersection on each of the first track (1) and the second track (2), wherein the contact block (51) corresponding to the pressure sensor (52) is provided on the support frame (41) at both ends of the rotary track body (4), wherein the contact block (51) is used to contact the pressure sensor (52), wherein the pressure sensor (52) is electrically connected to the controller (32). [7] Turntable for an inspection robot in the gallery of a hydroelectric power plant according to claim 5, characterized byin that the rotary switch further comprises a robot detection component, wherein the robot detection component comprises at least three groups of opposing photoelectric sensors (6), wherein the opposing photoelectric sensors (6) are arranged on the support frame (41) at both ends and in the middle position of the rotating track body (4), wherein the transmitting end and the receiving end of the opposing photoelectric sensors (6) are each arranged at two ends of the support frame (41) facing the two monorails (42), wherein the opposing photoelectric sensors (6) are electrically connected to the controller (32). [8] Turntable for an inspection robot in the gallery of a hydroelectric power plant according to claim 5, characterized byin that the rotary switch further comprises a robot limiting component, wherein two robot limiting components are arranged on the support frame (41) at each of the two ends of the rotating track body (4), wherein the robot limiting component comprises a telescopic rod (72) and a limiting arm (73), wherein the telescopic rod (72) is arranged vertically on the support frame (41), wherein the limiting arm (73) is arranged vertically and is connected to the movable end of the telescopic rod (72). [9] Turntable for an inspection robot in the gallery of a hydroelectric power plant according to claim 5, characterized by that the end of the monorail (42) of the rotating track body (4) has a circular contour in horizontal cross-section. [10] Turntable for an inspection robot in the gallery of a hydroelectric power plant according to claim 5, characterized bythat both ends of the monorail track (42) of the rotating track body (4) are each provided with a recess (421), wherein the end located at the intersection of the monorail track (42) of the first track (1) and the second track (2) is provided with a projection (422) which is associated with the recess (421).

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