CN111409086A

CN111409086A - Modular crawler-type nuclear facility inspection robot

Info

Publication number: CN111409086A
Application number: CN202010356513.1A
Authority: CN
Inventors: 胡啸; 管朝鹏
Original assignee: Research Institute of Nuclear Power Operation
Current assignee: Research Institute of Nuclear Power Operation
Priority date: 2020-04-29
Filing date: 2020-04-29
Publication date: 2020-07-14

Abstract

The invention relates to a nuclear facility inspection robot, in particular to a modularized crawler-type nuclear facility inspection robot. The invention comprises the following steps: motion chassis, wireless module, video module. The whole wireless module is fixed on the top of the moving chassis through a screw, and the cable is connected with the moving chassis through a waterproof joint; the video module is fixed on the top or in front of the moving chassis through a video module base and screws. The device is combined in a modularized manner, so that the same robot can adapt to various working conditions such as the ground, the underwater and the like, and various objects in the nuclear facility are subjected to inspection, and the utilization rate of equipment is improved.

Description

Modular crawler-type nuclear facility inspection robot

Technical Field

The invention relates to a nuclear facility inspection robot, in particular to a modularized crawler-type nuclear facility inspection robot.

Background

When the nuclear facilities are operated and shut down for maintenance, some key areas need to be inspected. With the maturity of the robot technology, in the future, such inspection work is more performed by using robots, especially in some underwater areas or areas with radiation hazards. Contain multiple operating mode in the nuclear facilities, some patrol and examine the region and be in under water, some patrol and examine regional topography complicacy, some patrol and examine regional space narrowly, these operating modes need the robot have different characteristics: for an underwater area, the robot needs to be integrally waterproof, and needs to drag a cable to supply power and control; for an area with a complex terrain, the robot is required to be capable of being remotely and wirelessly controlled, so that the interference of a long-distance cable on the movement of the robot is avoided; in a narrow space area, the robot needs to be compact in size and to pass smoothly.

These requirements bring different requirements to the structure of the robot, some of them are even contradictory, and if one robot is to be adapted to various working conditions, a targeted design is required.

Disclosure of Invention

1. The purpose is as follows:

the invention aims to provide a modularized tracked robot which can adapt to various working conditions in a nuclear facility and realize inspection of areas with different working conditions in the nuclear facility.

2. The technical scheme is as follows:

a modular tracked nuclear facility inspection robot comprising: motion chassis, wireless module, video module. The whole wireless module is fixed on the top of the moving chassis through a screw, and the cable is connected with the moving chassis through a waterproof joint; the video module is fixed on the top or in front of the moving chassis through a video module base and screws.

The top of the video module is fixedly connected with a camera mounting seat, and the camera is mounted on the camera mounting seat.

The video module base internally mounted have a motor, the motor drives gear A and passes through gear B and give the lead screw with power transmission, gear A and gear B outside are covered with the end cover.

And driving wheels are uniformly arranged on two sides of the motion chassis and driven by a motor in the motion chassis.

The screw rod pushes the sliding block to do linear motion in the video module base.

The linear motion of the slide block drives a telescopic mechanism formed by mutually hinging a series of connecting rods to stretch.

When the video module is vertically placed, the camera can stretch up and down.

When the video module is horizontally placed, the camera can stretch back and forth.

The camera is a standard product and can rotate in three independent directions to realize that the video image covers the peripheral area of the robot.

And the top of the wireless module is provided with an antenna.

3. Effect

The invention has the following effects: through the modular combination, the same robot can adapt to various working conditions such as ground, underwater and the like, various objects in the nuclear facility are patrolled and examined, and the utilization rate of equipment is improved.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic diagram of a video module;

FIG. 3 is a schematic view of the invention in a position for underwater operation;

fig. 4 is a schematic view of the working state of the invention when the inspection is performed in a narrow space area.

In the figure: 1. the mobile terminal comprises a mobile chassis, a video module, a wireless module, a ground, a grid, a framework, a driving wheel, a 1002 crawler belt, a 1003 waterproof joint, a 2001 video module base, a 2002 screw, a 2003 end cover, a2004 gear A, a 2005 gear B, a 2006 screw rod, a 2007 slider, a 2008 connecting rod, a 2009 camera mounting seat, a 2010 camera and an antenna, wherein the video module base is fixed on the mobile chassis through the framework.

Detailed Description

The present invention will be described in detail with reference to the accompanying drawings.

The robot adopts a modular design and is divided into a motion chassis, a wireless module and a video module, the three can be conveniently assembled and connected, the motion chassis is of a crawler type, so that the robot can have stronger terrain adaptability and driving force, the wireless module internally comprises a battery, a wireless communication assembly and a wireless image transmission assembly, the whole wireless module is fixed at the top of the motion chassis through a screw and is connected with the motion chassis through a cable to realize power supply and signal and image transmission, the top of the video module is provided with a camera, the video module is self-telescopic, and the video module is connected with the motion chassis through a screw, can be arranged at the top of the motion chassis and can also be arranged in front of the motion chassis; when the robot works on the ground, the robot can be remotely controlled through the wireless module; when the robot needs to inspect a narrow area, the video module can be arranged at the front section of the motion chassis, and the camera is extended out for inspection; when the robot needs to perform inspection underwater, the wireless module can be detached and directly connected with an interface on the motion chassis through a long-distance control cable to remotely control the robot; the motion chassis and the video module are respectively of a waterproof design, and the underwater motion chassis and the video module can meet requirements of underwater work.

In fig. 1, a motion chassis 1 is used as a body of a robot to move, a video module 2 and a wireless module 3 are mounted on the top of the motion chassis 1, the motion chassis 1 carries the video module 2 and the wireless module 3 to move, the video module 2 can be mounted on the top of the motion chassis 1 or mounted at the front end of the motion chassis 1, the wireless module 3 can be mounted on the top of the motion chassis 1 according to use requirements or dismounted, the video module 2 and the motion chassis 1 are connected through a cable and a plug, and the wireless module 3 and the motion chassis 1 are also connected through a cable and a plug, so that the mutual convenient separation is realized; the wireless module 3 is internally provided with a rechargeable battery, a wireless communication component and a wireless image transmission component, the rechargeable battery provides electric power for the work of the motion chassis 1 and the video module 2, and the wireless communication component and the wireless image transmission component are communicated with a remote controller through an antenna 3001, receive a control instruction and transmit back a video image.

In fig. 2, a video module 2 is mounted and fixed on a motion chassis 1 through a video module base 2001 and a screw 2002, a motor is mounted in the video module base 2001, the motor drives a gear a2004 to transmit power to a screw rod 2006 through a gear B2005, an end cover 2003 covers the outside of the gear a2004 and the gear B2005 to play a role in protection, for convenience of explanation in the figure, part of the end cover 2003 is transparently processed, the screw rod 2006 pushes a slider 2007 to linearly move in the video module base 2001, the linear movement of the slider 2007 drives a telescopic mechanism formed by a series of connecting rods 2008 hinged to each other to stretch, and a camera 2010 is mounted on a camera mounting seat 2009 at the top.

When the video module 2 is vertically placed, the camera 2010 can be stretched up and down, and when the video module 2 is horizontally placed, the camera 2010 can be stretched back and forth; the camera 2010 is a standard product that can have been rotated in three independent directions to achieve a video image covering the surrounding area of the robot.

In fig. 3, driving wheels 1001 are disposed on two sides of a moving chassis 1, the driving wheels 1001 are driven by a motor inside the moving chassis 1 to drive a track 1002 to enable the moving chassis 1 to integrally move, at this time, a video module 2 is detached, a wireless module 3 is mounted on the top of the moving chassis 1, and a cable is connected with the moving chassis 1 through a waterproof connector 1003 to provide power for a robot, send a control signal and transmit a video image signal back.

In fig. 4, when needing to patrol and examine the narrow and small area similar to between grillage 5 below and ground 4, need install video module 2 at the front end of motion chassis 1, the robot can move to the below of grillage 5 or extend video module 2 when patrolling and examining, directly utilizes camera 2010 to shoot, realizes patrolling and examining.

Claims

1. A modular tracked nuclear facility inspection robot comprising: motion chassis (1), wireless module (3), video module (2), its characterized in that: the whole wireless module (3) is fixed on the top of the moving chassis (1) through a screw, and the cable is connected with the moving chassis (1) through a waterproof connector (1003); the video module (2) is fixedly arranged on the top or the front of the moving chassis (1) through a video module base (2001) and screws (2002).

2. The modular tracked nuclear facility inspection robot according to claim 1, wherein: the top of the video module (2) is fixedly connected with a camera mounting seat (2009), and a camera (2010) is mounted on the camera mounting seat (2009).

3. The modular tracked nuclear facility inspection robot according to claim 2, wherein: the video module base (2001) is internally provided with a motor, the motor drives the gear A (2004) to transmit power to the screw rod (2006) through the gear B (2005), and the gear A (2004) and the gear B (2005) are externally covered with the end cover (2003).

4. The modular tracked nuclear facility inspection robot according to claim 1, wherein: the two sides of the motion chassis (1) are respectively provided with a driving wheel (1001), and the driving wheels (1001) are driven by a motor inside the motion chassis (1).

5. The modular tracked nuclear facility inspection robot according to claim 3, wherein: the screw rod (2006) pushes the sliding block (2007) to move linearly inside the video module base (2001).

6. The modular tracked nuclear facility inspection robot according to claim 3, wherein: the linear motion of the sliding block (2007) drives a series of telescopic mechanisms formed by mutually hinging the connecting rods (2008) to stretch.

7. The modular tracked nuclear facility inspection robot according to claim 2, wherein: when the video module (2) is vertically placed, the camera (2010) can be stretched up and down.

8. The modular tracked nuclear facility inspection robot according to claim 2, wherein: when the video module (2) is horizontally placed, the camera (2010) can stretch back and forth.

9. The modular tracked nuclear facility inspection robot according to claim 8, wherein: the camera (2010) is a standard product and can rotate in three independent directions to realize that the video image covers the peripheral area of the robot.

10. The modular tracked nuclear facility inspection robot according to claim 1, wherein: the top of the wireless module (3) is provided with an antenna (3001); when the robot moves on the ground, the wireless module (3) is integrally placed outside the robot; when underwater, the wireless module (3) is dismantled, and the robot is controlled by a cable.