CN207509203U - Nuclear power plant environment monitoring robot - Google Patents

Abstract

The utility model provides a kind of nuclear power plant environment monitoring robot, belong to technical field of nuclear power, including nacelle, upper cover and the main creeper undercarriage for nacelle to be driven to move, two outside of left and right of nacelle is arranged with battery flat, power module is equipped in battery flat, nacelle is divided into front deck and rear deck by partition board, the main track drive unit of main creeper undercarriage is set in front deck, computer control module is equipped in rear deck, data acquisition module, wireless communication module and monitoring photographing module, computer control module, data acquisition module, wireless communication module, monitoring photographing module and main track drive unit are connected respectively with power module, data acquisition module, wireless communication module, monitoring photographing module and main track drive unit are connected respectively with computer control module.Nuclear power plant environment monitoring robot provided by the utility model, can solve the technical issues of robot in the prior art can not adapt to nuclear power environment and cannot provide comprehensive and accurate monitoring data.

Description

Nuclear power plant environment monitoring robot

Technical field

The utility model belongs to technical field of nuclear power, is to be related to a kind of nuclear power plant environment monitoring robot more specifically.

Background technology

The safety of reactor system is increasingly subject to institute before world community government and street levels after Fukushima, Japan nuclear accident occurs How the concern not having strengthens surroundings monitoring and improves the major accident disposing capacity of reactor system, it is ensured that nuclear power is pacified Row for the national games have become nuclear energy field must emphasis consider the problems of.

Ensure that Nuclear Safety is run, need to carry out Daily Round Check to nuclear power plant, constantly obtain accurately and effectively environment ginseng Number, and accident environmental emergency prediction scheme is formulated, the mitigation strategy after occurring as accident；After accident occurs, plant personnel implements Before accident mitigation measure, need by relevant robot reach nuclear auxiliary building environmental parameter is provided can with judge personnel Up to property.Since nuclear power plant environment is severe, traditional robot does not adapt to nuclear power station rugged environment, therefore can not obtain complete Face, accurate and effective environmental parameter, thus effective Nuclear Safety and accident emergency response prediction scheme can not be formulated；And work as accident After generation, due to not comprehensive inaccuracy of monitoring data, it will be made to entering the person of relevant rescue personnel of nuclear auxiliary building Into serious damage.

Utility model content

The purpose of this utility model is to provide a kind of nuclear power plant environment monitoring robot, to solve to exist in the prior art Robot the technical issues of can not adapting to the terrain environment of nuclear power complexity and comprehensive and accurate monitoring data cannot be provided.

To achieve the above object, the technical solution adopted in the utility model is：A kind of nuclear power plant environment monitoring machine is provided People, including nacelle, the upper cover being closed together in the nacelle and main crawler travel machine for driving nacelle movement Structure, two outside of left and right of the nacelle are arranged with battery flat, are equipped with power module in the battery flat, the nacelle is by setting The partition board being placed in the nacelle is divided into front deck and rear deck, and the main track drive unit of the main creeper undercarriage is set to institute It states in front deck, computer control module, data acquisition module, wireless communication module and monitoring camera shooting mould is equipped in the rear deck Block, the computer control module, the data acquisition module, the wireless communication module, the monitoring photographing module and institute Main track drive unit is stated respectively with the power module to be connected, it is the data acquisition module, the wireless communication module, described Monitoring photographing module and the main track drive unit are connected respectively with the computer control module.

Further, the nacelle includes bottom plate, the load-bearing side plate being symmetrically divided at left and right sides of the bottom plate, is set to The foreboard of the bottom plate front end and the back plate for being set to the base plate rear end, the upper cover are closed together in the nacelle, institute Load-bearing side plate, the foreboard and the back plate is stated to be fixedly connected with the bottom plate respectively, the foreboard and the back plate respectively with The load-bearing side plate is fixedly connected.

Further, two outside of described front deck or so is arranged with the auxiliary arm of rotation, and the auxiliary arm of rotation is set on the main shoe The outside of main crawler belt with walking mechanism, each described auxiliary arm of rotation include rotating auxiliary arm support, auxiliary driving wheel and the rotation Turn the auxiliary arm inducer of rotation of auxiliary arm support rotation connection and coat the rotation of the auxiliary driving wheel and the auxiliary arm inducer of rotation Auxiliary arm crawler belt, the outer diameter of the auxiliary driving wheel are more than the outer diameter of the auxiliary arm inducer of rotation, for driving the auxiliary arm of rotation The auxiliary arm driving unit of rotation be set in the front deck.

Further, the auxiliary arm driving unit of rotation includes rotating auxiliary arm driving motor, be driven with the auxiliary arm of rotation The auxiliary arm driver of rotation that motor is connected and the auxiliary arm axle of rotation being connected with the auxiliary arm driving motor of rotation；The main crawler belt drives Moving cell include two main drive motors, two master drivers being connected respectively with the main drive motor and two respectively with The connected main drive shaft of the master driver driving, and two main drive shafts are symmetrically divided into outside the left and right two of the front deck Side, and be hollow shaft, each main drive shaft is drivingly connected respectively with the main drive motor, the auxiliary arm axle of rotation Both ends are each passed through two main drive shafts and are rotatablely connected with the front deck, the axis of the auxiliary arm axle of rotation and the master Drive shaft is coaxially disposed, and the auxiliary arm support of rotation is connected on the auxiliary arm axle of rotation and is located at the outside of the auxiliary driving wheel, The auxiliary arm angle sensor of rotation is installed on the auxiliary arm axle of rotation.

Further, two main drive motors are respectively arranged on the left and right sides of the front deck, and are close to described hold Heavy side plate；The auxiliary arm driving motor of rotation is set on the front side of the front deck, and close to the foreboard；Two master drivers It is set between two main drive motors, the auxiliary arm driver of rotation is laid under the auxiliary arm driving motor of rotation Side.

Further, the monitoring photographing module includes being set to the forward sight camera of the front deck front end, is set to institute The rearview camera of rear deck rear end and the full-view camera being set on the nacelle are stated, close to the partition board in the rear deck Video segmentation device is provided with, the Video segmentation device is connected with the computer control module and the wireless communication module, institute It states forward sight camera, the rearview camera and the full-view camera respectively with the Video segmentation device to be connected, the upper cover Forepart be equipped with the full-view camera interface that connect with the full-view camera, the back plate equipped with and the rearview camera The rearview camera interface of connection, the foreboard are equipped with the forward sight utilizing camera interface being connect with forward sight camera.

Further, the wireless communication module includes wireless image transmission unit, wireless data sending unit, figure biography antenna sum number biography Antenna, the wireless data sending unit are connected with the data acquisition module, the wireless image transmission unit and the Video segmentation device Be connected, the back plate be equipped with the figure pass antenna connect figure pass antennal interface, with it is described number pass antennas connect count biography Antennal interface.

Further, the rear deck forepart is equipped with attitude transducer close to the position of the partition board, and the foreboard is equipped with Ultrasonic range finder sensor, the attitude transducer and the ultrasonic range finder sensor are connect respectively with the data acquisition module.

Further, the back plate is equipped with cable interface, cable interface, charging interface, power switch and reset switch.

Further, the front deck rear portion is equipped with power management module, the power management close to the position of the partition board Module is connected with the power module.

The advantageous effect of nuclear power plant environment monitoring robot provided by the utility model is：Compared with prior art, it is electric Pond cabin is arranged on the outside of nacelle, is not take up the space in nacelle, improve weight distribution reasonability and each component layouts it is tight Gathering property；Nacelle is divided into front deck and rear deck, and front deck lays the driving unit of heavier-weight, and rear deck lays the communication and control of lighter in weight Molding block, compact layout and structure, weight distribution is reasonable, small volume, can improve monitoring robot landform adaptability and Obstacle climbing ability can reach nuclear power generating equipment and nearby closely monitor, and can prevent high power device fever to control module, communication The temperature-sensitive elements such as module and delicate electrical element interfere, and influence the accuracy of monitoring, meanwhile, each module and unit are placed in It is small by external environment pollution effect in nacelle；It is driven by driving unit, related important workshop is directly entered after accident, then pass through Photographing module, sensing module, wireless communication module and computer control module information monitoring and data transmission, can be quick, accurate The key parameters such as radiation dose rate, temperature, the humidity under nuclear accident environment are really measured, quickly carry out various monitorings, in real time Critical environments state parameter is obtained, accurate comprehensive ambient condition is provided for technical support centre of power plant, master control room operating personnel Parameter provides foundation to formulate severe accident relieving measure decision, is reactor so as to utmostly reduce accident impact range Security response under major accident provides a strong guarantee.

Description of the drawings

It, below will be to embodiment or the prior art in order to illustrate more clearly of the technical scheme in the embodiment of the utility model Attached drawing is briefly described needed in description, it should be apparent that, the accompanying drawings in the following description is only that this practicality is new Some embodiments of type, for those of ordinary skill in the art, without having to pay creative labor, can be with Other attached drawings are obtained according to these attached drawings.

Fig. 1 is the dimensional structure diagram of nuclear power plant environment monitoring robot that the utility model embodiment provides；

Fig. 2 is that the nuclear power plant environment monitoring robot that provides of the utility model embodiment removes the stereochemical structure after crawler belt and shows It is intended to；

Fig. 3 is the configuration schematic diagram of Fig. 2；

Fig. 4 is the interior layout structure diagram of nuclear power plant environment monitoring robot that the utility model embodiment provides；

Fig. 5 is that nacelle is removed the structure of upper cover and shown in the nuclear power plant environment monitoring robot that provides of the utility model embodiment It is intended to one；

Fig. 6 is that nacelle is removed the structure of upper cover and shown in the nuclear power plant environment monitoring robot that provides of the utility model embodiment It is intended to two；

Fig. 7 is the structure diagram that the nuclear power plant environment monitoring robot that the utility model embodiment provides removes crawler belt One；

Fig. 8 is the structure diagram that the nuclear power plant environment monitoring robot that the utility model embodiment provides removes crawler belt Two；

Fig. 9 is several deformations of nuclear power plant environment monitoring robot creeper undercarriage that the utility model embodiment provides Structure diagram；

Figure 10 is the structure diagram that the nuclear power plant environment monitoring robot that the utility model embodiment provides crosses concave station；

Figure 11 is the structure diagram that the nuclear power plant environment monitoring robot that the utility model embodiment provides crosses stair.

Wherein, each reference numeral in figure：

1- numbers pass antenna；2- principal and subordinate wheels；The main crawler belts of 3-；4- supports steamboat；5- battery flats；The small guide wheels of 6-；The auxiliary drivings of 7- Wheel；8- rotates auxiliary arm support；9- rotates auxiliary arm crawler belt；10- rotates auxiliary arm inducer；11- forward sight cameras；12- nacelles；1201- Foreboard；1202- upper covers；1203- load-bearing side plates；1204- bottom plates；1205- back plates；13- main drive wheels；14- supersonic soundings sense Device；15- full-view cameras；16- figures pass antenna；17- forward sight utilizing camera interfaces；18- ultrasonic range finder sensor interfaces；19- rotates Auxiliary arm axle；20- partition boards；21- main drive shafts；22- handles；23- rearview cameras；24- data acquisition modules；25- computer controls Molding block；26- attitude transducers；27- wireless data sending units；28- power management modules；29- main drive motors；The main drivings of 30- Device；31- rotates auxiliary arm driver；32- rotates auxiliary arm driving motor；33- Video segmentation devices；34- wireless image transmission units；35- lines Cable interface；36- figures pass antennal interface；37- power switches；38- reset switches；39- charging interfaces；40- rearview camera interfaces； 41- cable interfaces；42- numbers pass antennal interface；43- full-view camera interfaces；44- expansion connection modules.

Specific embodiment

In order to which technical problem to be solved in the utility model, technical solution and advantageous effect is more clearly understood, with Lower combination accompanying drawings and embodiments, the present invention is further described in detail.It should be appreciated that specific reality described herein It applies example to be only used to explain the utility model, is not used to limit the utility model.

It should be noted that when element is referred to as " being fixed on " or " being set to " another element, it can be directly another On one element or it is connected on another element.When an element is known as " being connected to " another element, it can To be directly to another element or be indirectly connected on another element.

It is to be appreciated that term " length ", " width ", " on ", " under ", "front", "rear", "left", "right", " vertical ", The orientation or position relationship of the instructions such as " level ", " top ", " bottom " " interior ", " outer " are to be closed based on orientation shown in the drawings or position System is for only for ease of description the utility model and simplifies description rather than instruction or imply that signified device or element are necessary With specific orientation, with specific azimuth configuration and operation, therefore it is not intended that limitation to the utility model.

" multiple " are meant that two or more in the description of the present invention, unless otherwise clearly specific It limits.

Also referring to Fig. 1 to Fig. 8, now nuclear power plant environment monitoring robot provided by the utility model is illustrated. The nuclear power plant environment monitoring robot including nacelle 12, the upper cover 1202 being closed together in the nacelle 12 and and is used In the main creeper undercarriage that the nacelle 12 is driven to move, two outside of left and right of the nacelle 12 is arranged with battery flat 5, institute State and power module be equipped in battery flat 5, the nacelle 12 divided by the partition board 20 being set in the nacelle 12 be front deck and after Cabin, the main track drive unit of the main creeper undercarriage are set in the front deck, and computer control is equipped in the rear deck Molding block 25, data acquisition module 24, wireless communication module and monitoring photographing module, it is the computer control module 25, described Data acquisition module 24, the wireless communication module, it is described monitoring photographing module and the main track drive unit respectively with institute It states power module to be connected, the data acquisition module 24, the wireless communication module, the monitoring photographing module and the main shoe Band driving unit is connected respectively with the computer control module 25.

Nuclear power plant environment monitoring robot provided by the utility model, compared with prior art, battery flat is arranged on nacelle Outside, be not take up the space in nacelle, weight distribution is rationally and convenient for wiring；Nacelle is preceding generally using front deck and rear deck Driving unit is laid in cabin, and rear deck cloth setting video, communication and control module, such compact layout and structure, weight distribution is reasonable, body Product is smaller, can improve the landform adaptability and obstacle climbing ability of monitoring robot, can reach near nuclear power generating equipment, closely supervise It surveys, and can prevent high power device from being interfered to control module, communication module etc., influence the accuracy of monitoring, meanwhile, respectively Module and unit are placed in nacelle, small by external environment pollution effect, are driven by driving unit, correlation is directly entered after accident Important workshop, then by monitoring photographing module, wireless communication module and the monitoring and transmission of computer control module 25, it can be fast The key parameters such as speed, accurate radiation dose rate, temperature, the humidity measured under nuclear accident environment, quickly carry out various monitorings, Critical environments state parameter is obtained in real time, and accurate comprehensive environment is provided for technical support centre of power plant, master control room operating personnel State parameter provides foundation to formulate severe accident relieving measure decision, is anti-so as to utmostly reduce accident impact range The security response under heap major accident is answered to provide a strong guarantee.

Further, battery flat 5 is formed by aluminium block overall processing, and 12 smooth in appearance of nacelle is seamless, it is light-weight and have enough Intensity, can be subjected to collision etc. strikes, battery flat 5 and the load-bearing side plate 1203 of nacelle 12 be connected with, blend rubber is close Seal compresses sealing, avoids being polluted by extraneous adverse circumstances.Wherein, battery flat is arranged on the outside of nacelle by front position, energy It is enough that robot center moves forward, improve movenent performance of the robot under complex environment.

Further, refering to Fig. 3, partition board 20 is set to 12 middle part of nacelle, the detachable load-bearing side plate with nacelle 12 1203 are connected, and nacelle 12 is divided to for front and rear two cabin, wherein the high power devices such as front deck installation driving motor, motor driver, after Cabin installation computer control module 25, monitoring photographing module and wireless telecommunications.This design helps to prevent high power device pair Control system causes electromagnetic interference, and 12 structural strength of nacelle can also be improved by partition board 20.

Wherein, a robot environment's monitoring robot for being capable of operation is formed, needs robot environment monitoring machine The nacelle 12 of people and modules and driving unit composition organic whole, can cooperate.It is sensor and control module, wireless The layout of communication module, power supply module, driving unit in nacelle has larger impact to the performance of environmental monitoring robot.For control System processed and power system components provide security protection：According to, to the requirement of equipment protection, computer being controlled under nuclear environment The components such as module 25, wireless communication module, power supply module and driving unit are installed in robot nacelle, totally-enclosed by nacelle Al-alloy casing protection.

The design for determining nacelle by the importance of environmental monitoring robot has the performance of complete machine important influence, therefore Following requirement is proposed to the design of robot nacelle：

(1) require nacelle design sufficiently compact under the premise of the necessary installation space of internal components is ensured, it is compact Design on the one hand can reduce volume, mitigate weight, on the other hand also for waterproof sealing design provide convenience, for example, machine People can accomplish weight as 38kg, and appearance and size is 900 × 555 × 466mm, small, light-weight, can cross and climb building Ladder, leaping over obstacles are monitored in complex environment；In actual fabrication, the weight and appearance and size of robot can bases Demand adjusts, and is not limited to the concrete numerical value that the present embodiment is enumerated；

(2) as the load undertaker of entire monitoring robot, it is desirable that section structure is firm, undertakes monitoring robot enough The load of itself and some additional load requirements；The structure of nacelle also requires that safe building ring can be provided for internal components Border has necessary protective and certain anti-seismic performance；

(3) intermediate as the connection of each functional unit, nacelle are required to provide easily for each functional unit There are wired control interface, network interfaces etc. for requirement on functional interface, such as nacelle, convenient that extension element is integrated into prison in the future It surveys in robot；

(4) robot performs task under nuclear environment, to avoid extraneous chemical vapors, the liquid with radioactive composition or Gas enters robot interior, so robot car body will have sealing performance；Radioactive substance is avoided to be infected with, robot Car body will reduce groove, dead angle, convenient for cleaning.

Further, also referring to Fig. 2 to Fig. 3, as nuclear power plant environment monitoring robot provided by the utility model A kind of specific embodiment, the nacelle includes bottom plate 1204, the load-bearing for being symmetrically divided into 1204 left and right sides of the bottom plate Side plate 1203, the foreboard 1201 for being set to 1204 front end of bottom plate and the back plate 1205 for being set to 1204 rear end of bottom plate, The load-bearing side plate 1203, the foreboard 1201 and the back plate 1205 are fixedly connected respectively with the bottom plate 1204, before described Plate 1201 and the back plate 1205 are fixedly connected respectively with the load-bearing side plate 1203.Nacelle is set using parts assembling formula structure Meter, load-bearing side plate 1203, front and rear panel 1205 and bottom plate 1204 first pass through fastener and link together, then in inside using seamless Welding procedure is allowed to form whole.This fastening plus welded type nacelle both can guarantee that firm in structure, assembling was accurate, moreover it is possible to improve anti- Water tightness.Upper cover 1202 is designed as detachable form, facilitates robot maintenance and expansion, such as in the future can be in robot When installing multi-degree-of-freemechanical mechanical arm, folding and unfolding cable mechanism, the mechanical interface of corresponding mechanism need to be only processed in upper cover 1202 to pacify These components are filled, without doing larger change to robot body structure.It is connected between upper cover 1202 and nacelle, use is close Seal seals, wherein, the upper end of nacelle is equipped with threaded hole.

Further, it please refers to Fig.1 to Fig. 5, one as nuclear power plant environment monitoring robot provided by the utility model Two outside of kind specific embodiment, the front deck or so, which is arranged with, to be extended forward and for the cross-country auxiliary arm of rotation, the rotation Turn the outside that auxiliary arm is set on the main crawler belt 3 of the main creeper undercarriage, each described auxiliary arm of rotation includes rotating auxiliary arm Frame 8, auxiliary driving wheel 7, the auxiliary arm inducer 10 of rotation being rotatablely connected with the auxiliary arm support 8 of rotation and the cladding auxiliary driving wheel 7 The auxiliary arm crawler belt 9 of rotation with rotating auxiliary arm inducer 10, the outer diameter of the auxiliary driving wheel 7 are more than the auxiliary arm inducer 10 of rotation Outer diameter, the auxiliary arm driving unit of rotation for driving the auxiliary arm of the rotation is set in the front deck.The utility model uses Forerunner's mode rotates the front end that auxiliary arm also is located at robot, further makes the Forward of robot entirety center of gravity, raising cross boss, The cross-country power of the obstacles such as stair improves the movenent performance under complex environment, therefore closely nuclear power generating equipment can be examined It surveys, accurately and reliably comprehensive data is provided.

Further, it please refers to Fig.1 to Fig. 5, one as nuclear power plant environment monitoring robot provided by the utility model Kind specific embodiment, it is described to rotate auxiliary arm driving unit including rotating auxiliary arm driving motor 32, rotating auxiliary arm driving with described The auxiliary arm driver 31 of rotation and drive the auxiliary arm axle 19 of rotation being connected with the auxiliary arm driving motor 32 of rotation that motor 32 is connected； The main track drive unit includes two main drive motors, 29, two main drivings being connected respectively with the main drive motor 29 Device 30 and two main drive shafts 21 being connected respectively with the master driver 30 driving, the main drive shaft 21 is symmetrically sets up separately In two outsides of the front deck or so and it is hollow shaft, each main drive shaft drives respectively with the main drive motor 29 Connection, the both ends of the auxiliary arm axle 19 of rotation are each passed through two hollow shafts and are rotatablely connected with the front deck, the rotation The axis and the hollow shaft for turning auxiliary arm axle 19 are coaxially disposed, and the auxiliary arm support 8 of rotation is connected on the auxiliary arm axle 19 of rotation And the auxiliary arm angle sensor of rotation is installed on the outside of the auxiliary driving wheel 7, the auxiliary arm axle 19 of rotation.

The utility model robot uses two-wheeled forerunner, and two driving wheels are located at robot forepart, and main drive shaft 21 uses The form of hollow shaft is connect with nacelle.A long axis namely the auxiliary arm axle 19 of rotation are passed through among two hollow shafts, for fixing Two auxiliary arms of rotation；Other two principal and subordinate wheel 2 of robot is fixed on the axis at nacelle rear portion.Hollow shaft is with rotating auxiliary arm axle 19 Between and hollow shaft and load-bearing side plate 1203 between using waterproof grommet seal, main track drive motor is by D-shaped aluminium alloy Stent is fixed on load-bearing side plate 1203, and track drive motor drives driving wheel to rotate by bevel gear group and hollow shaft.

The utility model is used with the crawler-type mobile mechanism for rotating auxiliary arm, and main crawler belt is with rotating auxiliary arm crawler belt during movement 9, by respective drive wheel, rotate auxiliary arm rotation and are driven by individual motor namely rotate auxiliary arm driving motor 32.Machine People respectively drives both sides crawler belt realization using two main drive motors 29 and moves forward and backward, by the way that motor speed is controlled to realize differential It turns to, turning radius can be adjusted, realize the fast steering of robot and the revolution of original place no-radius.

Further, refering to Fig. 1, main crawler belt is symmetrically mounted on nacelle both sides, and main crawler belt is by a main drive wheel 13, and one A principal and subordinate wheel 2 and one, which is disbursed from the cost and expenses, supports 4 grade of steamboat composition.During robot obstacle detouring, barrier is between front and back wheel, car body weight meeting Lead to the tensile strength damage crawler belt of the larger generation stretcher strain of stress in crawler belt vertical direction, even more than track material.For This installs support steamboat 4 additional in driving wheel internal track surfaces, makes platform stronger in obstacle detouring and handling capacity, while protect crawler belt It is unlikely to deform, extends the crawler belt service life.Support wheel is if rigid can make robot generate larger vibrations, therefore use and carry The support wheel of elastic rubber wheel rim and shield bearing.In addition several small guide wheels 6 are additionally provided in the downside of load-bearing side plate 1203 to increase The strong main crawler belt of robot body and the adhesive force on ground, improve the ability that robot steadily advances.

Further refering to Fig. 1, it is identical with track drive wheel diameter to rotate auxiliary arm driving wheel, rotates auxiliary arm inducer 10 directly Diameter, which is less than, rotates auxiliary arm driving wheel, and it is subtriangular entirely to rotate auxiliary arm side profile, is rotating auxiliary arm driving motor 32 and is driving Under the action of dynamic device, it can be rotated around auxiliary arm axle 19 is rotated.Structure can not only be mitigated using this triangular outline by rotating auxiliary arm Weight also contributes to robot obstacle climbing ability.

Robot provided by the utility model fully considers the layout of its internal components, robot sheet is made after optimum organization The weight heart is preposition to be located at robot first half；When rotating auxiliary arm in auxiliary 19 axis of the arm axle movement of rotation around robot body, Its center of gravity still keeps falling in fixed area, and robot more stablizes when crossing stairway step as a result,.

The utility model is caterpillar mobile robot, and design is there are many operation posture, equipped with the auxiliary arm angle sensor of rotation Device can be adjusted (as shown in Figure 9) according to specific topography and geomorphology.Shown posture take up space it is small, with ground contact surface Product also reduces accordingly, is suitable for the propulsion and operation on flat ground；Posture shown in figure is lifted up being formed with ground for forearm Certain elevation angle can be applied to cross the barrier of certain altitude, such as boss, stone, step；Posture is shown in c in Fig. 9 It rotates auxiliary arm to be fully deployed and be bonded with ground, mobile robot and contact area of ground are maximum under this posture, in climb very steep slopes With stronger propulsive force；Posture shown in d is moved downward to rotate auxiliary arm in Fig. 9, and robot body is made to be formed centainly with ground The elevation angle, this posture can expand the visual field of robot in robot manipulating task, enhance the reconnaissance capability of robot.Robot sheet Body crosses concave station obstacle analysis mobile robot and inevitably encounters various obstacles such as concave station etc. in the process of moving, when recessed When platform height is more than robot body height, robot body by concave station resistance due to that cannot be surmounted obstacles.Machine in this programme Device people can then combine its forearm routing motion when encountering such obstacle, achieve the purpose that obstacle detouring.

As shown in Figure 10, when robot faces high concave station, forearm is first lifted forms an elevation angle with ground, and rotation is auxiliary Arm front height is higher than concave station height.By robot body and the routing motion of forearm, by rotating auxiliary arm by robot body Center of gravity is raised, and such robot can soon cross the obstacles such as concave station.

Robot body crosses stair obstacle analysis：As shown in figure 11, stepped obstacle in various topography and geomorphologies the most The important environment of robot application in prominent and this project.Wherein, stairway step is most typical representative.Make wheeled machine Device people being capable of crossing over blockage, it is often necessary to which increasing wheel footpath makes its radius be more than obstacle height, and single-stage caterpillar type robot is ascended Also it is in this way, such that robot architecture becomes large-sized during stair, is not easy to carry and move.It is provided by the utility model Robot, had not only enhanced the obstacle climbing ability of caterpillar robot, but also reduced robot size, it is ensured that the portable performance of robot.

As shown in figure 11, robot is first lifted by forearm when crossing stair and forms an elevation angle, and before making the auxiliary arm of rotation End is higher than obstacle height；Robot, which takes advantage of a situation, under the mating reaction for then rotating auxiliary arm in robot body driving wheel climbs up building Ladder.In the progradation of robot, to ensure its stability, the center of gravity of robot is arranged on the first half of robot body Point, no matter which kind of posture forearm is moved in, and robot center of gravity, which can ensure that, to be fallen in robot body first half.

Abrupt slope obstacle analysis is crossed by robot：It, can not since mobile robot usually needs to carry out outdoor work The meeting avoided encounters the rugged ground environment on various abrupt slopes up and down.Compared to wheeled robot, due to caterpillar type robot and ground The contact area in face is big, and the frictional ground force of caterpillar type robot is better than wheeled robot, crawler type knot under equal conditions The correspondence gradient of the ruling grade that structure can be crossed also than wheeled robot under equal conditions is big.

Further, refering to Fig. 5, a kind of specific reality as nuclear power plant environment monitoring robot provided by the utility model Mode is applied, two main drive motors 29 are respectively arranged at the left and right sides of the front deck and are close to the load-bearing side plate 1203 lay, and the auxiliary arm driving motor 32 of rotation is set to the front side of the front deck and close to the foreboard 1201, two institutes It states master driver 30 to be set between two main drive motors 29, the auxiliary arm driver 31 of rotation is laid in the rotation The lower section of auxiliary arm driving motor 32.

Wherein, nacelle load-bearing side plate 1203 is close in 29 side of main drive motor, rotates auxiliary arm driving motor 32 and is close to nacelle Foreboard 1201.This design increases the contact area of motor and robot car body wall, and the heat that motor generates when working is easy Robot car is transmitted to by metal component to shed in vitro.Crawler belt motor driver volume is larger, it is difficult to be close to nacelle bottom plate 1204 installations, crawler belt motor driver also generate heat, two crawler belt motor drivers are stood up side by side in Liang Tai at work In gap between main track drive motor, motor driver can be reduced and the motor feels hot to adverse effect caused by each other. It rotates auxiliary arm motor driver and is mounted on chassis forepart nearby.

Auxiliary arm driving motor 32 is rotated to be fixed on nacelle foreboard 1201 by D-shaped aluminium alloy post.Rotate auxiliary arm driving electricity Machine 32 drives the auxiliary arm axle 19 of rotation to rotate by spur gear group.It rotates auxiliary arm angle sensor and nacelle is fixed on by L bracket On bottom plate 1204, rotate auxiliary arm axle 19 and the auxiliary arm angle sensor axis of rotation is driven to rotate by spur gear group.

Further, Fig. 5, Fig. 7 and Fig. 8 are please referred to, as nuclear power plant environment monitoring robot provided by the utility model A kind of specific embodiment, it is described monitoring photographing module include be set to the front deck front end forward sight camera 11, setting Rearview camera 23 and the full-view camera 15 that is set on the nacelle 12 in the rear deck rear end are leaned in the rear deck The nearly partition board is provided with Video segmentation device 33, the Video segmentation device and the computer control module and the wireless communication Module is connected, and the forward sight camera 11, the rearview camera 23 and the full-view camera 15 divide respectively with the video Cutter 33 is connected, and the forepart of the upper cover 1202 is equipped with the full-view camera interface 43 being connected with the full-view camera, described Back plate 1205 is equipped with the rearview camera interface 40 that is connected with the rearview camera, the foreboard 1201 be equipped with it is described The forward sight utilizing camera interface 17 that forward sight camera is connected.

Further, referring to Fig. 5, one kind as nuclear power plant environment monitoring robot provided by the utility model is specific Embodiment, the wireless communication module include wireless image transmission unit 34, wireless data sending unit 27, figure and pass 16 sum number of antenna biography day Line 1, the wireless data sending unit are connected with the data acquisition module, the wireless image transmission unit and the Video segmentation device phase Even, the back plate 1205 is equipped with the figure connected for figure biography antenna and passes antennal interface 36 and pass antenna company for the number The number connect passes antennal interface 42.Wherein, in the present embodiment Fig. 5, wireless data sending unit 27 is close to baffle arrangement and is arranged in partition board Side is close to load-bearing side plate, and what 20 opposite side of partition board was laid close to another opposite load-bearing side plate is Video segmentation device 33, appearance State sensor 26 is arranged between wireless data sending unit and Video segmentation device 33.

Further, referring to Fig. 5, one kind as nuclear power plant environment monitoring robot provided by the utility model is specific Embodiment, the forepart of the rear deck are equipped with attitude transducer 26 close to the position of the partition board 20, are set on the foreboard 1201 There is ultrasonic range finder sensor interface 18 and ultrasonic range finder sensor 14 is installed, the attitude transducer 26 and the supersonic sounding Sensor 14 is connect respectively with the data acquisition module 24.

Further, referring to Fig. 7, one kind as nuclear power plant environment monitoring robot provided by the utility model is specific Embodiment, the back plate 1205 are equipped with charging interface 39, cable interface 41, cable interface 35, power switch 37 and reset Switch 38.

Further, refering to Fig. 5, a kind of specific reality as nuclear power plant environment monitoring robot provided by the utility model Mode is applied, the forepart of the rear deck is provided with expansion connection module 44, the expansion interface mould close to the position of the partition board 20 Block 44 is connected with the data acquisition module 24.Nuclear power plant environment monitoring robot provided by the utility model, rear deck layout：It will Robot core --- computer control module is disposed adjacent to 1205 side of back plate, after wireless communication unit is disposed adjacent to The opposite side of plate 1205, i.e., it is convenient between the two and the connection between 1205 interface of the two and back plate, and before mitigating Cabin high power device and heating device are influenced caused by computer.Expansion connection module is various electrical equipments and computer control Excessive circuit between system processed, therefore expansion interface circuit is disposed adjacent to the position of partition board 20, facilitate wiring.

Further, referring to Fig. 5, one kind as nuclear power plant environment monitoring robot provided by the utility model is specific Embodiment, the rear portion of the front deck are equipped with power management module, the power management module close to the position of the partition board 20 It is connected with the power module.Cell arrangements：Power module uses lithium battery, since robot is using forerunner, rotates auxiliary arm Positioned at the forepart of robot, by lithium battery be arranged in robot body both sides by front position, robot center of gravity can be moved forward, Improve movenent performance of the robot under complex environment.Power management module is the larger component of fever, is close to front deck Partition board 20 is installed, to be radiated using partition board 20 and bottom plate.

Further, referring to Fig. 5, one kind as nuclear power plant environment monitoring robot provided by the utility model is specific Embodiment, the back plate 1205 are equipped with handle 22.Robot provided by the utility model, it is light-weight, it is small, convenient for hand It carries.

Robot foreboard 1201 is equipped with forward sight utilizing camera interface 17, and back plate 1205 is equipped with rearview camera interface 40, power supply Switch interface, figure pass antennal interface 36, number passes antennal interface 42, wired control interface (cable interface 35), cable interface 41, fill Electrical interface 39 and Portable handle 22.Above-mentioned interface is using rubber seal rings for seal, band sealing ring and waterproof cover.Battery flat 5 positions are provided with power supply string holes, have several cabling channels with rubber sheath, 1203 inside of load-bearing side plate on hole, are provided on partition board 20 Cable hole, conducting wire pass through cabling channel and cable hole ordered arrangement.Each component and module are fixed by screws in nacelle 12, Screw is attacked to install each component on reserved boss, these screw threads are mostly not through nacelle, to ensure the anti-watertight of nacelle Seal effect.1202 forepart of upper cover carries full-view camera interface 43, passes through rubber between full-view camera pedestal and upper cover 1202 Sealing ring compresses sealing, and 1202 rear portion of upper cover carries GPS module interface, close by rubber pad between GPS module and upper cover 1202 Envelope, module lead pass through the cable hole in upper cover 1202 to enter in nacelle on the inside of rubber pad.

Wherein, each interface is all disposed within greatly inside, and loss of weight engraved structure is also disposed on the inside of nacelle, it is ensured that robot nacelle Outer surface flat smooth is infected with to reduce radioactive substance under nuclear environment, is convenient for decontamination operation.

The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this All any modification, equivalent and improvement made within the spirit and principle of utility model etc., should be included in the utility model Protection domain within.

Claims (10)

1. nuclear power plant environment monitoring robot, including nacelle, the upper cover being closed together in the nacelle and for driving State the main creeper undercarriage of nacelle movement, it is characterised in that：Two outside of left and right of the nacelle is arranged with battery flat, described Power module is equipped in battery flat, the nacelle is divided into front deck and rear deck, the master by the partition board being set in the nacelle The main track drive unit of creeper undercarriage is set in the front deck, and computer control module, number are equipped in the rear deck According to acquisition module, wireless communication module and monitoring photographing module, the computer control module, the data acquisition module, institute It states wireless communication module, the monitoring photographing module and the main track drive unit respectively with the power module to be connected, institute State data acquisition module, the wireless communication module, it is described monitoring photographing module and the main track drive unit respectively with institute Computer control module is stated to be connected.

2. nuclear power plant environment monitoring robot as described in claim 1, it is characterised in that：The nacelle includes bottom plate, symmetrical The load-bearing side plate at left and right sides of the bottom plate is divided into, be set to the foreboard of the bottom plate front end and is set to the base plate rear end Back plate, the load-bearing side plate, the foreboard and the back plate be fixedly connected respectively with the bottom plate, the foreboard and it is described after Plate is fixedly connected respectively with the load-bearing side plate.

3. nuclear power plant environment monitoring robot as claimed in claim 2, it is characterised in that：Two outside of described front deck or so is symmetrical Equipped with auxiliary arm is rotated, the auxiliary arm of rotation is set on the outside of the main creeper undercarriage or so main crawler belt, each described rotation Turn auxiliary arm to respectively include rotating auxiliary arm support, auxiliary driving wheel, the auxiliary arm inducer of rotation with the auxiliary arm support rotation connection of the rotation With the auxiliary arm crawler belt of rotation for coating the auxiliary driving wheel and the auxiliary arm inducer of rotation, the outer diameter of the auxiliary driving wheel is more than institute State the outer diameter for rotating auxiliary arm inducer, the auxiliary arm driving unit of rotation for driving the rotation auxiliary arm rotation be set to it is described before In cabin.

4. nuclear power plant environment monitoring robot as claimed in claim 3, it is characterised in that：The auxiliary arm driving unit packet of rotation It includes and rotates auxiliary arm driving motor, the auxiliary arm driver of rotation being connected with the auxiliary arm driving motor of rotation and rotate auxiliary arm with described The auxiliary arm axle of rotation that driving motor is connected；The main track drive unit include two main drive motors, two respectively with it is described The master driver and two main drive shafts being connected respectively with master driver driving that main drive motor is connected, and two institutes Main drive shaft is stated respectively symmetrically set on two outside of the left and right of the front deck, and be hollow shaft, each main drive shaft difference Be drivingly connected with the main drive motor, the both ends of the auxiliary arm axle of the rotation be each passed through two main drive shafts and with it is described Front deck is rotatablely connected, and the auxiliary arm axle of rotation is coaxially disposed with the main drive shaft, and the auxiliary arm support of rotation is connected to the rotation Turn that the auxiliary arm angle sensor of rotation is installed on auxiliary arm axle and on the outside of the auxiliary driving wheel, the auxiliary arm axle of rotation.

5. nuclear power plant environment monitoring robot as claimed in claim 4, it is characterised in that：Two main drive motor difference Set on the left and right sides of the front deck, and it is close to the load-bearing side plate；The auxiliary arm driving motor of rotation is set on the front deck Front side, and close to the foreboard；Two master drivers are set between two main drive motors, and the rotation is auxiliary Arm driver is laid in the lower section of the auxiliary arm driving motor of rotation.

6. nuclear power plant environment monitoring robot as claimed in claim 2, it is characterised in that：The monitoring photographing module includes setting Be placed in the forward sight camera of the front deck front end, be set to the rearview camera of the rear deck rear end and be set to the nacelle it On full-view camera, the partition board is provided with Video segmentation device, the Video segmentation device and the meter in the rear deck Calculation machine control module is connected with the wireless communication module, and the forward sight camera, the rearview camera and the panorama are taken the photograph As head is connected respectively with the Video segmentation device, the forepart of the upper cover is equipped with the panoramic shooting being connect with the full-view camera Head interface, the back plate are equipped with the rearview camera interface that connect with the rearview camera, the foreboard equipped with it is preceding Depending on the forward sight utilizing camera interface of camera connection.

7. nuclear power plant environment monitoring robot as claimed in claim 6, it is characterised in that：The wireless communication module includes nothing Line chart leaflet member, wireless data sending unit, figure pass antenna sum number and pass antenna, the wireless data sending unit and the data acquisition module It is connected, the wireless image transmission unit is connected with the Video segmentation device, and the back plate is equipped with passes what antenna was connect with the figure The number that figure passes antennal interface and connect with the number biography antenna passes antennal interface.

8. nuclear power plant environment monitoring robot as claimed in claim 2, it is characterised in that：The rear deck forepart close to it is described every The position of plate is equipped with attitude transducer, and the foreboard is equipped with ultrasonic range finder sensor, the attitude transducer and the ultrasound Distance measuring sensor is connect respectively with the data acquisition module.

9. nuclear power plant environment monitoring robot as claimed in claim 2, it is characterised in that：The back plate connects equipped with cable Mouth, cable interface, charging interface, power switch and reset switch.

10. nuclear power plant environment monitoring robot as described in claim 1, it is characterised in that：The front deck rear portion is close to described The position of partition board is equipped with power management module, and the power management module is connected with the power module.