CN111015685A - System for dismantling and retrieving maintenance platform in underground nuclear environment and control method thereof - Google Patents

Abstract

The invention discloses a system for dismantling and retrieving an overhaul platform in an underground nuclear environment and a control method thereof. Belongs to the field of robots. The system for dismantling and retrieving the overhaul platform in the underground nuclear environment comprises a control unit and a remote control lifting platform, wherein the output end of the remote control lifting platform is provided with a grabbing mechanical arm, a cutting mechanical arm and a first camera, the tail end of the cutting mechanical arm is provided with a cutting gun, and a second camera is arranged on the cutting gun; the gripper comprises a mounting seat mounted at the tail end of the mechanical arm, two parallel sliding rails are mounted at the bottom of the mounting seat, two sliding blocks are mounted on the sliding rails, locking parts are mounted on the sliding blocks, hook claws are hinged to the sliding blocks, and each pair of hook claws located on different sliding rails are connected through adjusting parts for adjusting included angles between the hook claws and the sliding blocks; the bottom of the mounting seat is provided with a visual positioning unit; the control unit is connected with the remote control end through the wireless communication unit.

Description

System for dismantling and retrieving maintenance platform in underground nuclear environment and control method thereof

Technical Field

The invention relates to the field of robots, in particular to a system for dismantling and retrieving an overhaul platform in an underground nuclear environment and a control method thereof.

Background

In the process of development of nuclear energy industry and utilization of nuclear technology, a plurality of facilities for scientific research, medical treatment, power generation and the like are newly built by human beings, the facilities meet the requirements of national defense and national economic development, and the environment is influenced to a greater or lesser extent in the process of development of the nuclear energy industry and the utilization of the nuclear technology. The utilization of nuclear energy and nuclear technology should take the premise of avoiding environmental damage and reducing the influence on the public as development, so that a corresponding compensation mode is established while the nuclear energy is utilized, namely, the environment is compensated through nuclear retirement. The ultimate goal of decommissioning a nuclear facility is to allow unlimited development and use of site sites, restoring the environment to its original state as much as possible.

At present, in the process of dismantling nuclear facility waste materials in nuclear decommissioning, an underground maintenance platform is generally required to be dismantled. The underground maintenance platform is generally made of stainless steel materials and formed by splicing and welding a plurality of rectangular grid plates, through holes distributed in an array mode are formed in the grid plates, and semi-cylindrical clamping grooves are formed in four corners of the grid plates and are erected on a pipeline or a wall body. At present generally, the nuclear robot controlled through teleoperation directly pulls the underground maintenance platform to pull and withdraw after separating, but this kind of mode of directly pulling can't provide sufficient pulling force and disassemble partial underground maintenance platform.

Disclosure of Invention

In view of the above-mentioned deficiencies in the prior art, the present invention aims to provide a system for dismantling and retrieving an underground maintenance platform in an underground nuclear environment and a control method thereof, wherein the system is used for dismantling the underground maintenance platform based on a cutting gun, so that all the underground maintenance platforms can be dismantled.

In order to achieve the purpose of the invention, the invention adopts the technical scheme that:

the system comprises a control unit and a remote control lifting platform, wherein the output end of the remote control lifting platform is provided with a grabbing mechanical arm, a cutting mechanical arm and a first camera, the tail end of the cutting mechanical arm is provided with a cutting gun, and the cutting gun is provided with a second camera;

the gripper comprises a mounting seat mounted at the tail end of the mechanical arm, two parallel sliding rails are mounted at the bottom of the mounting seat, two sliding blocks are mounted on the sliding rails, locking parts are mounted on the sliding blocks, hook claws are hinged to the sliding blocks, each pair of hook claws located on different sliding rails are connected through adjusting parts for adjusting included angles between the hook claws and the sliding blocks, and the two adjusting parts are parallel to each other; the bottom of the mounting seat is provided with a visual positioning unit; the control unit is used for controlling the grabbing mechanical arm, the adjusting piece, the cutting mechanical arm, the cutting gun and the remote control lifting platform; the control unit is connected with the remote control end through the wireless communication unit.

Further, the locking piece comprises a bolt installed on the sliding block, and the tail end of the bolt is abutted and matched with the side face of the sliding rail.

Further, the adjusting piece comprises an electric push rod, and two ends of the electric push rod are respectively hinged with the corresponding hook claws.

Further, the degree of freedom of the cutting robot arm is 6.

Further, the degree of freedom of the grasping robot arm is 3.

Furthermore, the grabbing mechanical arm comprises a first driving seat, the first driving seat horizontally rotates around the remote control lifting platform through a first driving piece arranged on the output end of the remote control lifting platform, a first speed reducer and a second speed reducer are respectively arranged on two sides of the first driving seat, and a first servo motor and a second servo motor are respectively arranged on the first speed reducer and the second speed reducer through a first mounting flange;

the output end of the first speed reducer is connected with a first sub-mechanical arm through a second mounting flange, and the first sub-mechanical arm is provided with an accommodating cavity; the output end of the second speed reducer is connected with a connecting rod transmission shaft extending out of the accommodating part through a bearing sleeve, and the other end of the connecting rod transmission shaft is hinged with the connecting rod; the tail end of the first sub-mechanical arm and the tail end of the connecting rod are hinged to the top of the mounting seat.

On the other hand, the control method for dismantling the overhaul platform and retrieving the system in the underground nuclear environment provided by the scheme comprises the following steps:

s1, dismantling the maintenance platform in the underground nuclear environment and moving the system to a first set position;

s2, controlling the gripper to move to a target position based on the visual positioning unit, and enabling all the grippers to be aligned to different through holes on a grid plate on the overhauling platform one by one;

s3, controlling the gripper to move vertically downwards for a set distance, so that all the claws penetrate through a through hole respectively;

s4, controlling the adjusting piece to reduce the included angle between each pair of the hook claws to a first set included angle, so that the hook claws clamp the grating plate;

s5, the control unit controls the cutting gun to move according to a set track, so that the cutting machine can cut the grid plate clamped by the hook claw at the lower target position;

s6, moving the grid plate clamped by the hooks to a recovery position based on the remote control lifting platform and the grabbing mechanical arm;

s7, changing the target position and repeating the steps S2-S6 for the set number of times, all the grid plates are moved to the recovery position.

Further, the trajectory is set to be a circle with the clamping point as a center.

Further, the control unit controls the gripper to the target position based on the visual positioning unit and the visual servo algorithm.

Further, the method for controlling the gripper to the target position based on the visual positioning unit and the visual servo algorithm by the control unit further comprises the following steps:

collecting an image of a target position;

receiving the image, processing the image to obtain position information of a target position in the image, generating a control instruction according to the position information and sending the control instruction to the grabbing mechanical arm;

and the gripper moves according to the control instruction until the gripper moves to the target position.

The invention has the beneficial effects that:

the adjustment of the distance between the two sliding blocks on the same sliding rail is realized through the sliding blocks, the sliding rails and the locking parts, so that the gripper can grip grid plates (namely grid plates with different through hole distances) distributed in different arrays in a certain range, and the application range of the system for dismantling and retrieving the overhaul platform in the underground nuclear environment is enlarged.

The grid plates at different positions on the underground maintenance platform are clamped based on the grippers and the grabbing mechanical arms, the clamping mechanical arms and the cutting machine are combined, the clamped grid plates are cut to be separated from the underground maintenance platform, and finally the grabbing mechanical arms are used for moving the cut grid plates to the recovery position, so that the underground maintenance platform is detached.

Drawings

FIG. 1 is an elevation view of a service platform removal and retrieval system within a subterranean nuclear environment in an exemplary embodiment;

FIG. 2 is a cross-sectional view taken along line B-B of FIG. 1;

FIG. 3 is a schematic view of the structure of FIG. 1 from another perspective;

FIG. 4 is a left side view of FIG. 1;

FIG. 5 is a cross-sectional view taken along line D-D of FIG. 4;

FIG. 6 is a cross-sectional view taken along line A-A of FIG. 1;

FIG. 7 is a cross-sectional view taken along line C-C of FIG. 1;

FIG. 8 is a schematic diagram of a visual reference in an exemplary embodiment;

fig. 9 is a schematic diagram of the positional relationship between the through hole and the hole body.

Wherein, 1, the remote control lifts the terrace; 2. a first driving member; 3. a first driving seat; 4. a first servo motor; 5. a first sub-mechanical arm; 6. a mounting seat; 7. a slider; 8. an electric push rod; 9. a hook claw; 10. a third camera; 11. a connecting rod; 12. cutting the mechanical arm; 13. a cutter; 14. a second camera; 15. a first speed reducer; 16. a second servo motor; 17. a second speed reducer; 18. a connecting rod transmission shaft; 19. a second mounting flange; 20. a bearing housing; 21. a visual reference; 22. a porous body; 23. a through hole; 24. a first camera.

Detailed Description

The following detailed description of the present invention will be provided in conjunction with the accompanying drawings to facilitate the understanding of the present invention by those skilled in the art. It should be understood that the embodiments described below are only some embodiments of the invention, and not all embodiments. All other embodiments obtained by a person skilled in the art without any inventive step, without departing from the spirit and scope of the present invention as defined and defined by the appended claims, fall within the scope of protection of the present invention.

As shown in fig. 1 to 4, the system for dismantling and retrieving the overhaul platform in the underground nuclear environment comprises a control unit and a remote control lifting platform 1, wherein a grabbing mechanical arm, a cutting mechanical arm 12 and a first camera 24 are installed at the output end of the remote control lifting platform 1, a cutting gun is installed at the tail end of the cutting mechanical arm 12, and a second camera 14 is installed on the cutting gun.

As shown in fig. 3, the gripper is mounted at the end of the gripping mechanical arm, the gripper comprises a mounting seat 6 mounted at the end of the mechanical arm, two parallel sliding rails are mounted at the bottom of the mounting seat 6, two sliding blocks 7 are mounted on the sliding rails, locking parts are mounted on the sliding blocks 7, hook claws 9 are hinged on the sliding blocks 7, each pair of hook claws 9 on different sliding rails are connected through adjusting parts for adjusting the included angle between the hook claws 9 and the sliding rails, and the two adjusting parts are parallel to each other; the bottom of the mounting seat 6 is provided with a visual positioning unit; the control unit is used for controlling the grabbing mechanical arm, the adjusting piece, the cutting mechanical arm 12, the cutting gun and the remote control lifting platform 1; the control unit is connected with the remote control end through the wireless communication unit.

In implementation, as shown in fig. 3, the preferred adjusting part of the present solution includes an electric push rod 8 whose two ends are respectively hinged to the corresponding hooks 9, and the adjusting precision of the electric push rod 8 is high, so that the target position can be more accurately and quickly positioned in the application process. The retaining member comprises a bolt mounted on the slide 7, the end of the bolt being engaged against the side of the slide to prevent the slide 7 from moving relative to the slide. Meanwhile, the visual positioning unit is a third camera 10, and the third camera 10 is located at the center between the two slide rails.

The degree of freedom of the grasping arm is 3. As shown in fig. 5, the grabbing mechanical arm includes a first driving seat 3, the first driving seat 3 makes horizontal rotation motion around the remote control lifting platform 1 through a first driving part 2 installed at the output end of the remote control lifting platform 1, a first speed reducer 15 and a second speed reducer 17 are installed at two sides of the first driving seat 3, and a first servo motor 4 and a second servo motor 16 are installed on the first speed reducer 15 and the second speed reducer 17 through a first installation flange respectively.

The output end of the first speed reducer 15 is connected with the first sub-mechanical arm 5 through a second mounting flange 19, and the first sub-mechanical arm 5 is provided with an accommodating cavity; the output end of the second speed reducer 17 is connected with a connecting rod transmission shaft 18 extending to the outside through a bearing sleeve 20, and the other end of the connecting rod transmission shaft 18 is hinged with the connecting rod 11; the tail end of the first sub-mechanical arm 5 and the tail end of the connecting rod 11 are hinged with the top of the mounting seat 6.

The motion process is as follows: the first servo motor 4 works to drive the output shaft of the first speed reducer 15 to rotate, and in the process, the second mounting flange 19 and the first sub-mechanical arm 5 rotate synchronously with the output shaft of the first speed reducer 15, so that the first sub-mechanical arm 5 swings in a spatial vertical plane relative to the first driving seat 3. The second servo motor 16 works to drive the output shaft of the second speed reducer 17 to rotate, and in the process, the bearing sleeve 20, the connecting rod transmission shaft 18 and the output shaft of the second speed reducer 17 synchronously rotate, so that the connecting rod transmission shaft 18 swings or rotates in a spatial vertical plane relative to the first driving seat 3, the distance between the tail end of the connecting rod 11 and the tail end of the first sub-mechanical arm 5 is further changed, the included angle between the mounting seat 6 and the horizontal plane is further changed, and the separated grid plates can be conveniently recycled.

As shown in fig. 6 and 7, the first driving member 2 itself is driven by a worm gear, and the worm gear rotates to drive the worm gear to rotate.

Among them, in order to realize more convenient cutting, the degree of freedom of the cutting robot arm 12 is 6.

On the other hand, this scheme still provides the control method that the system was demolishd and was retrieved to the maintenance platform in the underground nuclear environment of this scheme design, and it includes:

and S1, dismantling the maintenance platform in the underground nuclear environment and retrieving the system to move to a first set position. The set location is located near the target location in step S2, i.e., the coarse location of the system is retrieved and the service platform is removed from the underground nuclear environment. The gripper is controlled to move to the first set position by the lifting platform based on a corresponding command sent to the control unit by the remote control terminal, during which process visual assistance can be provided by means of the first camera 24 and the underground monitoring systems that are already available.

S2, controlling the gripper to move to a target position based on the visual positioning unit, and aligning all the hooks 9 to different through holes 23 on the grid plate on the maintenance platform one by one; four through holes 23 are typically selected, located at the four top corners of the smallest rectangle. The maintenance platform in the underground nuclear environment is detached and the system is retrieved to be positioned accurately.

S3, controlling the hand grip to move vertically downwards for a set distance, so that all the hook claws 9 respectively penetrate through one through hole 23.

S4, controlling the adjusting piece to reduce the included angle between each pair of the hook claws 9 to a first set included angle, so that the hook claws 9 clamp the grating plate.

And S5, the control unit controls the cutting gun to move according to a set track, so that the cutting machine 13 cuts the grid plate clamped by the hook claw 9 at the target position.

S6, moving the grid plate clamped by the hook claw 9 to a recovery position based on the remote control lifting platform 1 and the grabbing mechanical arm;

s7, changing the target position and repeating the steps S2-S6 for the set number of times, all the grid plates are moved to the recovery position.

During implementation, for avoiding the underground maintenance platform to locate insufficient ambient light, the maintenance platform is demolishd in the underground nuclear environment and is got back and install on the system with every camera complex light filling device, for the environment light filling.

For convenient control, the track is set as a circle with the clamping point as the center of the circle. Specifically, the center O of the gripper (i.e., the grip point) is determined based on the image information acquired by the third camera 10 and the second camera 14, and then a radius R is determined according to the size of the grid plate gripped by the gripper. And finally, according to the circle center O and the radius R, remotely operating and controlling the cutting mechanical arm 12 to drive the cutting machine 13 to cut the circumference of the grid plate, wherein the circle center O and the radius R are not required to be very accurate so as to ensure flexible cutting.

In addition, the control unit controls the gripper to the target position based on the visual positioning unit and the visual servo algorithm. The visual positioning unit comprises a third camera 10 arranged at the bottom of the mounting seat 6, a visual reference piece 21 with four hole bodies 22 is arranged in front of a lens of the third camera 10, and the four hole bodies 22 are distributed at four top corners of a rectangle.

Wherein the third camera 10 is used for acquiring an image of the target position.

And the control unit is used for receiving the image, processing the image to obtain the position information of the target position in the image, generating a control instruction according to the position information and sending the control instruction to the grabbing mechanical arm.

In one embodiment, as shown in FIG. 8, the visual reference 21 is a stent having four rings thereon, each ring defining an aperture 22. Specifically, the step of processing the image to obtain the position information of the target position in the image further includes detecting by using a Hough circle, processing the image to obtain the position of the target position, that is, the position of the four through holes 23 to be positioned in the image, calculating the pixel difference between the centers of the four through holes 23 to be positioned and the centers of the four hole bodies 22 on the visual reference member 21 in the X and Y directions, mapping the pixel difference to the actual distance difference in the X and Y directions, and generating a corresponding control instruction according to the actual distance difference in the X and Y directions until the actual distance differences in the X and Y directions between the centers of the four through holes 23 to be positioned and the centers of the four hole bodies 22 on the visual reference member 21 are smaller than a set threshold value, so that the control unit controls the gripper to the target position according to the control instruction. In the final state, the positional relationship between the centers of the four through holes 23 and the centers of the four hole bodies 22 of the visual reference member 21 is as shown in fig. 9.

And the gripper moves according to the control instruction until the gripper moves to the target position.

In another embodiment, the visual positioning unit is a third camera 10, and the gripper is moved to the target position by remotely controlling the gripper arm via visual assistance from the third camera 10. Meanwhile, based on the images collected by the first camera 24 and the second camera 14, the cutting gun is remotely controlled by the remote control end to move in a closed track, and the clamping point is located in the plane formed by the closed track, so that the clamped grid plate is cut and separated from the underground maintenance platform.

Claims (10)

1. The system for dismantling and retrieving the overhaul platform in the underground nuclear environment is characterized by comprising a control unit and a remote control lifting platform (1), wherein the output end of the remote control lifting platform (1) is provided with a grabbing mechanical arm, a cutting mechanical arm (12) and a first camera (24), the tail end of the cutting mechanical arm (12) is provided with a cutting gun, and the cutting gun is provided with a second camera (14);

the gripper is arranged at the tail end of the grabbing mechanical arm and comprises an installation seat (6) arranged at the tail end of the mechanical arm, two parallel sliding rails are arranged at the bottom of the installation seat (6), two sliding blocks (7) are arranged on the sliding rails, locking parts are arranged on the sliding blocks (7), hook claws (9) are hinged on the sliding blocks (7), each pair of hook claws (9) on different sliding rails are connected through adjusting parts for adjusting the included angle between the hook claws and the sliding rails, and the two adjusting parts are parallel to each other; the bottom of the mounting seat (6) is provided with a visual positioning unit; the control unit is used for controlling the grabbing mechanical arm, the adjusting piece, the cutting mechanical arm (12), the cutting gun and the remote control lifting platform (1); the control unit is connected with the remote control end through the wireless communication unit.

2. A service platform removal and retrieval system in an underground nuclear environment according to claim 1, characterised in that the locking member comprises a bolt mounted on a slide (7), the end of the bolt engaging against the side of the slide.

3. A system for demolition and retrieval of an inspection platform in an underground nuclear environment according to claim 1, characterized in that the adjustment means comprise electric pushrods (8) hinged at both ends to respective hooks (9).

4. The system for service platform removal and retrieval within a subterranean nuclear environment of claim 1, wherein said cutting robot (12) has a 6 degree of freedom.

5. An underground nuclear environment in-service platform removal and retrieval system as claimed in any one of claims 1 to 4, wherein said grasping robotic arm has a 3 degree of freedom.

6. The system for dismantling and retrieving the overhaul platform in the underground nuclear environment according to claim 5, wherein the grabbing mechanical arm comprises a first driving seat (3), the first driving seat (3) horizontally rotates around the remote control lifting platform (1) through a first driving piece (2) installed at the output end of the remote control lifting platform (1), a first speed reducer (15) and a second speed reducer (17) are installed on two sides of the first driving seat (3), and a first servo motor (4) and a second servo motor (16) are installed on the first speed reducer (15) and the second speed reducer (17) through a first installation flange respectively;

the output end of the first speed reducer (15) is connected with a first sub-mechanical arm (5) through a second mounting flange (19), and the first sub-mechanical arm (5) is provided with an accommodating cavity; the output end of the second speed reducer (17) is connected with a connecting rod transmission shaft (18) extending out of the accommodating part through a bearing sleeve (20), and the other end of the connecting rod transmission shaft (18) is hinged with the connecting rod (11); the tail end of the first sub-mechanical arm (5) and the tail end of the connecting rod (11) are hinged to the top of the mounting seat (6).

7. A method of controlling a service platform removal and retrieval system in an underground nuclear environment as claimed in any one of claims 1 to 6, including:

s1, dismantling the maintenance platform in the underground nuclear environment and moving the system to a first set position;

s2, controlling the gripper to move to a target position based on the visual positioning unit, and enabling all the hooks (9) to be aligned to different through holes (23) on the grid plate on the overhauling platform one by one;

s3, controlling the gripper to move vertically downwards for a set distance, and enabling all the claws (9) to penetrate through a through hole (23) respectively;

s4, controlling the adjusting piece to reduce the included angle between each pair of the hook claws (9) to a first set included angle, so that the hook claws (9) clamp the grating plate;

s5, the control unit controls the cutting gun to move according to a set track, so that the cutting machine (13) cuts the grid plate clamped by the hook claw (9) at the lower target position;

s6, moving the grid plate clamped by the hook claw (9) to a recovery position based on the remote control lifting platform (1) and the grabbing mechanical arm;

s7, changing the target position and repeating the steps S2-S6 for the set number of times, all the grid plates are moved to the recovery position.

8. The method of claim 7, wherein the predetermined trajectory is a circle centered on the clamping point.

9. The method of claim 7 or 8, wherein the control unit controls the gripper to the target position based on a visual positioning unit and a visual servo algorithm.

10. The method of claim 9, wherein the step of the control unit controlling the gripper to the target position based on the visual positioning unit and the visual servo algorithm further comprises:

collecting an image of a target position;

receiving the image, processing the image to obtain position information of a target position in the image, generating a control instruction according to the position information and sending the control instruction to the grabbing mechanical arm;

and the gripper moves according to the control instruction until the gripper moves to the target position.

Images