CN207415335U - A kind of remote operating equipment for nuclear power station place - Google Patents
A kind of remote operating equipment for nuclear power station place Download PDFInfo
- Publication number
- CN207415335U CN207415335U CN201721290558.3U CN201721290558U CN207415335U CN 207415335 U CN207415335 U CN 207415335U CN 201721290558 U CN201721290558 U CN 201721290558U CN 207415335 U CN207415335 U CN 207415335U
- Authority
- CN
- China
- Prior art keywords
- freedom
- mobile vehicle
- manipulator arm
- operating equipment
- remote operating
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Abstract
The utility model discloses a kind of remote operating equipment for nuclear power station place, under the remote control of control device operation can be carried out in the nuclear power station place, including mobile vehicle, Multi-freedom-degreemanipulator manipulator arm, end power tool, vision system and communication system, the Multi-freedom-degreemanipulator manipulator arm is collapsibly mounted on the mobile vehicle, the end power tool is mounted on the end of the Multi-freedom-degreemanipulator manipulator arm, the vision system is used for image monitoring and vision positioning, the mobile vehicle, Multi-freedom-degreemanipulator manipulator arm and vision system are communicated to connect by the communication system and the control device, the control device receives the visual information from the vision system can simultaneously control the traveling of the mobile vehicle and the action of the Multi-freedom-degreemanipulator manipulator arm according to corresponding visual information.
Description
Technical field
The utility model is related to automation equipment field more particularly to a kind of remote operating equipment for nuclear power station place.
Background technology
Nuclear energy is a kind of clean energy resource, it plays an important role of energy-saving and emission-reduction, but has largely in the reactor of nuclear power plant simultaneously
Radioactive substance, nuclear power station has many operations all with radioactivity, and nuclear radiation is fatal to the injury of human body.Due to core
Power station radioactive dosage is excessively high, and the accident damaged to the mankind to work in nuclear power station can be found everywhere, therefore be highly desirable to use
Robot replaces people's operation.
In the prior art, Italian has invented a kind of humanoid robot Walk-man, because of its overall structure humanoid
Design, high about 1.8m, weight 120KG movement quite flexibles can realize several work, can open the door, carry an object, driving vehicle
It can even participate in rescue.But the controlled motion joint of this humanoid robot is more, overall structure and control system are homogeneous
Work as complexity, and cost is high.
Therefore, it is necessary to a kind of simple structure, convenient control and lower-cost equipment replacement people in the operation of nuclear power station place.
Utility model content
One of the purpose of this utility model is to provide a kind of remote operating equipment for nuclear power station place, can replace people
Operation is carried out in the nuclear power station place, possesses simple structure, convenient control and lower-cost effect.
The two of the purpose of this utility model are to provide a kind of remote operating equipment for nuclear power station place, can replace people
Enabling operation is carried out in the nuclear power station place, possesses simple structure, convenient control and lower-cost effect.
One of to achieve the above object, the utility model provides a kind of remote operating equipment for nuclear power station place, can be
Operation is carried out under the remote control of control device in the nuclear power station place, the remote operating equipment includes mobile vehicle, multiple degrees of freedom
Mechanical arm, end power tool, vision system and communication system, the mobile vehicle, Multi-freedom-degreemanipulator manipulator arm and vision
System is communicated to connect by the communication system and the control device, and the Multi-freedom-degreemanipulator manipulator arm is collapsibly mounted on
On the mobile vehicle, the end power tool is mounted on the end of the Multi-freedom-degreemanipulator manipulator arm, the vision system
The control device is sent to for image monitoring and vision positioning and by corresponding visual information, to be seen to ambient enviroment
Examine and position the relative position relation between the remote operating equipment and target location and the end power tool with operation object
Between relative position relation, the mobile vehicle under the control of the control device for marching to the target location
Place, the Multi-freedom-degreemanipulator manipulator arm can be under the controls of the control device in adjusting the end in multi-angle and different height
Hold the posture of power tool.
It is preferred that the mobile vehicle has caterpillar chassis, effectively enhance steady during the remote operating equipment is advanced
It is qualitative.
It is preferred that the caterpillar chassis includes being located at all right one way or the other deformed caterpillar structure of the mobile vehicle both sides respectively,
The two deformable caterpillar belt structures have be suitble to level land it is mobile, more trench do not prop up state and suitable obstacle detouring is advanced that be used for will
What the mobile vehicle was propped up props up state, and the two deformable caterpillar belt structures are according to road conditions flexible transformation state so that described
Mobile vehicle possesses locomotivity under circumstances；The rear and front end of the bottom of the mobile vehicle is respectively formed with tiltedly
Face facilitates the obstacle detourings such as the mobile vehicle stair climbing to advance；If the two deformable caterpillar belt structures respectively include front-wheel, trailing wheel and
The dry auxiliary wheel between the front-wheel and the trailing wheel, the design of several auxiliary wheels can improve two changeabilities and carry out
The grabs ground ability of band structure；The mobile vehicle in when propping up state, compare the trailing wheel and be in higher position by the front-wheel
It puts, the mobile vehicle obstacle detouring is facilitated to advance.
It is preferred that it is provided with to store, carry the load of the end power tool and part in the mobile vehicle
Cabin.
It is preferred that the communication system includes cable, it is provided in the mobile vehicle for the line of cable described in folding and unfolding
Cable folding and unfolding cabin, when the remote operating equipment is advanced, the cable can be with auto-extending or retraction, and then prevents the cable from twining
Around accumulation.
It is preferred that the vision system includes being arranged on believing for monitoring and obtaining ambient enviroment on the mobile vehicle
The panorama camera of breath, for obtaining the laser scanner of range information and the neighbouring end power tool is set for regarding
Feel positioning and observe the trick camera of the end power tool operation, facilitate real time monitoring ambient enviroment, Real Time Observation and remember
Record the operation process of the remote operating equipment.
It is preferred that the remote operating equipment for nuclear power station place, which further includes, is arranged on the Multi-freedom-degreemanipulator manipulator arm
End and the end power tool between wrist force sensor, the wrist force sensor can determine optimal according to test
Contact force scope.
It is preferred that the end of the Multi-freedom-degreemanipulator manipulator arm is equipped with tool quickly-replacing device, it can in the tool quickly-replacing device
The end power tool is installed with replacing, thereby design can realize the quick-replaceable of end power tool, solve end
End power tool is because function complication causes the problem of complicated, so as to promote integrally-built simplification.
To achieve the above object two, the utility model provides a kind of remote operating equipment for nuclear power station place, can be
Enabling operation is carried out under the remote control of control device in the nuclear power station place, the remote operating equipment includes mobile vehicle, mostly oneself
By degree mechanical arm, enabling power tool, vision system and communication system, the Multi-freedom-degreemanipulator manipulator arm is collapsibly installed
On the mobile vehicle, the enabling power tool is replaceably connected to the multi freedom degree mechanical by tool quickly-replacing device
Wrist force sensor is provided between the end of the end of arm, the tool quickly-replacing device and the Multi-freedom-degreemanipulator manipulator arm, institute
Mobile vehicle, Multi-freedom-degreemanipulator manipulator arm, vision system and wrist force sensor is stated to fill by the communication system and the manipulation
Communication connection is put, corresponding visual information for image monitoring and vision positioning and is sent to the manipulation by the vision system
Device, the vision system includes being arranged on to be used to monitor and obtain the panorama phase of ambient condition information on the mobile vehicle
Machine, for obtaining the laser scanner of range information and the neighbouring end power tool is set for vision positioning and sight
The trick camera of the enabling power tool is examined, the mobile vehicle is used to march to target under the control of the control device
At door, the Multi-freedom-degreemanipulator manipulator arm can be under the control of the control device in described in adjustment in multi-angle and different height
The posture of end power tool.
Compared with prior art, the utility model can carry out image monitoring and vision positioning by the vision system,
To be observed ambient enviroment and be positioned relative position relation and the institute between the remote operating equipment and the target location
The relative position relation between end power tool and the operation object is stated, then the control device passes through the vision system
Visual information the mobile vehicle is controlled to march to target location, then control the action of the Multi-freedom-degreemanipulator manipulator arm,
And then the end power tool mounted on the end of the Multi-freedom-degreemanipulator manipulator arm is controlled to carry out corresponding operation, therefore,
The utility model, which enters without operating personnel in High Radiation Area, to be operated, and operating personnel can be at the low irradiation dose of distal end
The remote operating equipment is observed and be remotely controlled online, is avoided by high radiation risk；Moreover, by the mobile vehicle with it is described mostly from
So that the remote operating equipment overall structure is simple, equipment is compact, easy to control, operation is clever by the structure design of degree mechanical arm
Work, cost are relatively low；Further, since mobile vehicle action stability is good and the Multi-freedom-degreemanipulator manipulator arm it is foldable
The stability during the remote operating equipment is advanced has been effectively ensured in design, at the same improve the remote operating equipment by stair,
Slype, pipe network interlock etc. unstructured moving grids ability.
Description of the drawings
Fig. 1 is the structure diagram of the remote operating equipment for nuclear power station place of the utility model embodiment.
Fig. 2 is the structure diagram when remote operating equipment of the utility model embodiment is opened the door.
Fig. 3 is the structure diagram of the mobile vehicle of remote operating equipment shown in Fig. 1.
Fig. 4 is flow chart of the utility model embodiment for the operational method of the remote operating equipment in nuclear power station place.
Specific embodiment
In order to which the technology contents of the utility model, construction feature is described in detail, below in conjunction with embodiment and coordinate attached drawing
It is described further.
It please refers to Fig.1, a kind of remote control system for nuclear power station place, the remote operating including being used for nuclear power station place is set
For 100 and for remote operating equipment 100 to be controlled to carry out the control device (not shown) of operation in nuclear power station place.For nuclear power
Yard remote operating equipment 100 include mobile vehicle 1, Multi-freedom-degreemanipulator manipulator arm 2, end power tool 3, vision system and
Communication system 5, Multi-freedom-degreemanipulator manipulator arm 2 is collapsibly mounted on mobile vehicle 1, it is preferred that Multi-freedom-degreemanipulator manipulator arm 2
Can be folded to minimum profile size in off working state, so can improve remote operating equipment 100 by stair, slype,
Pipe network interlock when the ability of unstructured moving grids and when remote operating equipment 100 is advanced Multi-freedom-degreemanipulator manipulator arm 2 stabilization
Property；End power tool 3 is installed to the end of Multi-freedom-degreemanipulator manipulator arm 2, and Multi-freedom-degreemanipulator manipulator arm 2 can be in control device
In the posture that end power tool 3 is adjusted in multi-angle and different height under control；Vision system is used for image monitoring and vision
Positioning, to be observed ambient enviroment and positioned the relative position relation between remote operating equipment 100 and target location and end
It holds power tool 3 and operates the relative position relation between object, in the present embodiment, vision system includes being arranged on mobile vehicle
On 1 for monitor and obtain ambient condition information panorama camera 41, for obtain the laser scanner 42 of range information with
And the trick camera 43 for being used for vision positioning and observing 3 operation of end power tool that adjacent end power tool 3 is set, when
So, vision system can also use those skilled in the art it is conceivable that other various modes, as long as vision system can be realized
Basic function；Mobile vehicle 1, Multi-freedom-degreemanipulator manipulator arm 2 and panorama camera 41, laser scanner 42 and trick camera
43 are communicated to connect by communication system 5 and control device, and specifically, communication system 5 includes wire communication module and wireless communication
Module 52, wire communication module include cable 51, and thereby design can prevent single communication module from breaking down and causing distant behaviour
Making equipment 100 and control device can not communicate to connect；Corresponding visual information is sent to control device by vision system, mobile to carry
Body 1 marches to target location under the control of control device, and Multi-freedom-degreemanipulator manipulator arm 2 moves under the control of control device
Make.
Please refer to Fig.1 and Fig. 2, specifically, end power tool 3 by instrument fast-turn construction device 6 be replaceably mounted to mostly from
By the end of degree mechanical arm 2, a variety of end power tools 3 use common rapid switcher interface (not shown), thereby can be real
The quick-replaceable of existing end power tool 3 solves end power tool 3 size increase, structure caused by function complicates
The problems such as complicated, so as to promote integrally-built simplification, but, the mounting means of end power tool 3 should not be limited to
This, it will be understood by those skilled in the art that it is conceivable that end power tool 3 is installed to the end of Multi-freedom-degreemanipulator manipulator arm 2
The mode at end all should be within the protection scope of the present utility model, for example end power tool 3 is directly mounted to multi freedom degree mechanical
On arm 2.Additionally it is preferred that wrist power biography is additionally provided between the end of Multi-freedom-degreemanipulator manipulator arm 2 and end power tool 3
Sensor 7, wrist force sensor 7 are communicated to connect by communication system 5 and control device, and wrist force sensor 7 can be determined according to test
Optimal contact force scope, and optimal contact force scope can be configured in control device, in the present embodiment, wrist power
Sensor 7 is provided between the end of tool quickly-replacing device 6 and Multi-freedom-degreemanipulator manipulator arm 2.Specifically, end power tool 3
It can include power tools, the enabling power tools 31 such as enabling power tool 31, clamping type power tool (not shown) can be used for
Fire resistant doorsets, vertical hinged door etc. are opened, clamping type power tool can be used for operation valve, pickup part or instrument etc..
It please refers to Fig.1, specifically, Temperature Humidity Sensor 8 and spoke is further included for the remote operating equipment 100 in nuclear power station place
According to dose sensor 9, Temperature Humidity Sensor 8 is used for the humiture of monitoring of environmental, and irradiation dose sensor 9 is for monitoring of environmental
Dose of radiation, control device is received by communication system 5 to be believed from the environment of Temperature Humidity Sensor 8 and irradiation dose sensor 9
Breath, operating personnel can judge whether environment possesses the condition that suitable personnel enter, prejudges operating environment according to environmental information
Variation.
It please refers to Fig.1 and Fig. 2, specifically, mobile vehicle 1 has caterpillar chassis, it is preferable that caterpillar chassis includes point
Not Wei Yu 1 both sides of mobile vehicle all right one way or the other deformed caterpillar structure, all right one way or the other deformed caterpillar structure, which has, is suitble to that level land is mobile, more trench
Do not prop up that state and suitable obstacle detouring advance be used for prop up state by what mobile vehicle 1 was propped up, before the bottom of mobile vehicle 1
Both ends are respectively formed with inclined-plane afterwards, all right one way or the other deformed caterpillar structure include respectively front-wheel 11, trailing wheel 12 and it is several be located at front-wheel 11 with
Auxiliary wheel 13 between trailing wheel 12, when not propping up state, 1 contact area of mobile vehicle is big, center of gravity is low, stability is good, therefore
Level land movement, Crossing ditch and Multi-freedom-degreemanipulator manipulator arm 2 is suitble to carry out operation, mobile vehicle 1 is in when propping up state, preceding
Wheel 11 compares trailing wheel 12 and is in higher position, and since the rear and front end of 1 bottom of mobile vehicle is respectively formed with inclined-plane,
The obstacle detourings such as stair climbing is suitble to advance, in the present embodiment, all right one way or the other deformed caterpillar structure has the suspended structure with spring, and (figure is not
Show) it props up to realize and does not prop up the conversion between state, but should not be limited to thoses mentioned above；In addition, the chassis of mobile vehicle 1 should not
It is limited with caterpillar chassis, for example, the chassis of mobile vehicle 1 can also be wheel undercarriage.
It please refers to Fig.3, specifically, electric compartment 14, control cabinet 15, load cabin is optionally provided in mobile vehicle 1
16 and drawing cable cabin 17, the power supply mould that remote operating equipment 100 is driven to carry out movement and operation is provided in electric compartment 14
Block (not shown) is provided with the controller (not shown) controlled remote operating equipment 100 in control cabinet 15, specifically
Ground, power module and controller are wrapped up respectively by radiation shielding material, to prevent power module and controller in high radiation environment
Lower failure；Load cabin 16 can be used for storing, carrying end power tool 3 and part (not shown)；Drawing cable cabin 17 is used to receive
Unwrapping wire cable 51, in the present embodiment, when remote operating equipment 100 is advanced, cable 51 can be with auto-extending or retraction, Jin Erfang
The only winding of cable 51 accumulation.
It please refers to Fig.1 and Fig. 4, the operational method of the remote control system for nuclear power station place includes the following steps：
S001, gather the relevant information of target location using vision system and be transferred to control device to determine target location
Orientation；
S002, the orientation according to target location, control device send traveling instruction control mobile vehicle 1 so that distant behaviour
Make to stop after equipment 100 marches to target location；
S003, control device, which send expansion instruction control Multi-freedom-degreemanipulator manipulator arm 2, to be unfolded by folded state and in vision
Make power tool 3 Proximity operation object in end under the cooperation of system and operation object is operated；It is preferred that it controls first mostly freely
Degree mechanical arm 3 expand into initial job configuration, then make under the auxiliary of vision system 3 start of Multi-freedom-degreemanipulator manipulator arm into
And control 3 Proximity operation object of end power tool；
S004, control device send folding instruction control Multi-freedom-degreemanipulator manipulator arm 2 and are converted to rugosity by job state
State.
It is preferred that after step S002, the step of adjustment remote operating equipment is with target location relative angle is further included, with
Make to be in suitable operating angle between remote operating equipment and target location.
It please refers to Fig.1 and Fig. 2, specifically, when the remote operating equipment 100 that control device is used to manipulate the present embodiment is had
During body enabling operation, include the following steps：
First, gather the relevant information of target door 200 using panorama camera 41 and laser scanner 42 and be transferred to manipulation
Device is with the orientation of definite target door 200；
Then, according to the orientation of target door 200, control device sends traveling instruction control mobile vehicle 1 so that distant
Operation equipment 100 is stopped after marching at target door 200；
Then, control device sends expansion instruction control Multi-freedom-degreemanipulator manipulator arm 2 and is unfolded by folded state and in panorama
Make enabling power tool 31 under the cooperation of camera 41 and trick camera 43 close to door handle 21；
Then, vision positioning is carried out using trick camera 43 and laser scanner 42, obtains mobile vehicle 1 and target door
The relative position relation between relative position relation and enabling power tool 31 and door handle 21 between 200, according to opposite position
Put desired motion track of the relation generation remote operating equipment 100 in door opening process；
Then, under the auxiliary of trick camera 43, panorama camera 41 and wrist force sensor 7, how free control device control is
Mechanical arm 2 is spent so that enabling power tool 31 contacts door handle 21；
Then, control device sends 2 start of power control instruction control Multi-freedom-degreemanipulator manipulator arm, makes enabling power tool 31
Door handle 21 is operated to realize unlocking；
Then, control device control Multi-freedom-degreemanipulator manipulator arm 2 protracts to push 200 1 angles of target door open and follows mesh
The rotation of door 200 is marked, Multi-freedom-degreemanipulator manipulator arm 2 accordingly adjusts posture and the direction of enabling power tool 31；
Then, control device control mobile vehicle 1 advances through target door 200, while Multi-freedom-degreemanipulator manipulator arm 2 is corresponding
Adjust posture and the direction of enabling power tool 31；
Then, under the auxiliary of panorama camera 41, control device control Multi-freedom-degreemanipulator manipulator arm 2 and enabling power tool
31 leave target door 200；
Finally, control device sends folding instruction control Multi-freedom-degreemanipulator manipulator arm 2 and is converted to rugosity by job state
State.
Compared with prior art, the utility model can carry out image monitoring and vision positioning by vision system, with right
Ambient enviroment is observed and positions the relative position relation between remote operating equipment 100 and target location and end power tool
Relative position relation between 3 and operation object, visual information control 1 row of mobile vehicle that then control device passes through vision system
Target location is proceeded to, the action of Multi-freedom-degreemanipulator manipulator arm 2 is then controlled, and then controls and be mounted on Multi-freedom-degreemanipulator manipulator arm 2
The end power tool 3 of end carry out corresponding operation, therefore, the utility model enters without operating personnel in High Radiation Area
It is operated, operating personnel can observe and be remotely controlled remote operating equipment 100 in line at the low irradiation dose of distal end, avoid by high spoke
Penetrate risk；Moreover, cause remote operating equipment 100 is whole to tie by the structure design of mobile vehicle 1 and Multi-freedom-degreemanipulator manipulator arm 2
Structure is simple, equipment is compact, easy to control, operating flexibility, cost are relatively low；Further, since mobile vehicle 1 take action stability it is good and
The foldable design of Multi-freedom-degreemanipulator manipulator arm 2 has been effectively ensured the stability during remote operating equipment 100 is advanced, has improved simultaneously
Remote operating equipment 100 is interlocked etc. the abilities of unstructured moving grids by stair, slype, pipe network.
Above disclosed is only the preferred embodiments of the utility model, it is impossible to the power of the utility model is limited with this
Sharp scope, therefore the equivalent variations made according to the utility model claims belong to the scope that the utility model is covered.
Claims (9)
1. a kind of remote operating equipment for nuclear power station place can carry out under the remote control of control device in the nuclear power station place
Operation, which is characterized in that the remote operating equipment includes mobile vehicle, Multi-freedom-degreemanipulator manipulator arm, end power tool, vision
System and communication system, the mobile vehicle, Multi-freedom-degreemanipulator manipulator arm and vision system by the communication system with it is described
Control device communicates to connect, and the Multi-freedom-degreemanipulator manipulator arm is collapsibly mounted on the mobile vehicle, and the end is made
Industry instrument is mounted on the end of the Multi-freedom-degreemanipulator manipulator arm, and the vision system is used for image monitoring and vision positioning and will
Corresponding visual information is sent to the control device, to be observed ambient enviroment and positioned the remote operating equipment and mesh
The relative position relation between relative position relation and the end power tool and operation object between cursor position, the movement
For carrier for marching to the target location under the control of the control device, the Multi-freedom-degreemanipulator manipulator arm can be in institute
It states under the control of control device in the posture that the end power tool is adjusted in multi-angle and different height.
2. the remote operating equipment according to claim 1 for nuclear power station place, which is characterized in that the mobile vehicle tool
There is caterpillar chassis.
3. the remote operating equipment according to claim 2 for nuclear power station place, which is characterized in that the caterpillar chassis
All right one way or the other deformed caterpillar structure including being located at the mobile vehicle both sides respectively, the two deformable caterpillar belt structures, which have, to be suitble to put down
Ground is mobile, more trench do not prop up state and suitable obstacle detouring is advanced is used to prop up state, institute by what the mobile vehicle was propped up
The rear and front end for stating the bottom of mobile vehicle is respectively formed with inclined-plane, the two deformable caterpillar belt structures include respectively front-wheel, after
Wheel and several auxiliary wheels positioned at the front-wheel and the trailing wheel between, the mobile vehicle in prop up state when, before described
Wheel compares the trailing wheel and is in higher position.
4. the remote operating equipment according to claim 1 for nuclear power station place, which is characterized in that in the mobile vehicle
It is provided with to store, carry the load cabin of the end power tool and part.
5. the remote operating equipment according to claim 1 for nuclear power station place, which is characterized in that the communication system bag
Cable is included, the drawing cable cabin for cable described in folding and unfolding is provided in the mobile vehicle, when the remote operating equipment is advanced,
The cable can be with auto-extending or retraction.
6. the remote operating equipment according to claim 1 for nuclear power station place, which is characterized in that the vision system bag
Include be arranged on the mobile vehicle for monitor and obtain ambient condition information panorama camera, for obtaining range information
Laser scanner and the neighbouring end power tool set for vision positioning and the observation end power tool
The trick camera of operation.
7. the remote operating equipment according to claim 1 for nuclear power station place, which is characterized in that further include and be arranged on institute
State the wrist force sensor between the end of Multi-freedom-degreemanipulator manipulator arm and the end power tool.
8. the remote operating equipment according to claim 1 for nuclear power station place, which is characterized in that the multiple degrees of freedom machine
The end of tool arm is equipped with tool quickly-replacing device, and the end power tool has been replaceably mounted in the tool quickly-replacing device.
9. a kind of remote operating equipment for nuclear power station place can carry out under the remote control of control device in the nuclear power station place
Operation, which is characterized in that the remote operating equipment includes mobile vehicle, Multi-freedom-degreemanipulator manipulator arm, enabling power tool, vision
System and communication system, the Multi-freedom-degreemanipulator manipulator arm are collapsibly mounted on the mobile vehicle, the enabling operation
Instrument is replaceably connected to the end of the Multi-freedom-degreemanipulator manipulator arm, the tool quickly-replacing device and institute by tool quickly-replacing device
It states and is provided with wrist force sensor between the end of Multi-freedom-degreemanipulator manipulator arm, the mobile vehicle, Multi-freedom-degreemanipulator manipulator arm regard
Feel system and wrist force sensor are communicated to connect by the communication system and the control device, and the vision system is used for image
Corresponding visual information is simultaneously sent to the control device by monitoring and vision positioning, and the vision system includes being arranged on described
It is used to monitor and obtain the panorama camera of ambient condition information, the laser scanner for obtaining range information on mobile vehicle
And the trick camera for being used for vision positioning and the observation enabling power tool that the neighbouring end power tool is set, institute
Mobile vehicle is stated for being marched under the control of the control device at target door, the Multi-freedom-degreemanipulator manipulator arm can be in institute
It states under the control of control device in the posture that the end power tool is adjusted in multi-angle and different height.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721290558.3U CN207415335U (en) | 2017-09-30 | 2017-09-30 | A kind of remote operating equipment for nuclear power station place |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721290558.3U CN207415335U (en) | 2017-09-30 | 2017-09-30 | A kind of remote operating equipment for nuclear power station place |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207415335U true CN207415335U (en) | 2018-05-29 |
Family
ID=62313459
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721290558.3U Active CN207415335U (en) | 2017-09-30 | 2017-09-30 | A kind of remote operating equipment for nuclear power station place |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207415335U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107639621A (en) * | 2017-09-30 | 2018-01-30 | 中广核研究院有限公司 | A kind of remote operating equipment, system and its operational method for nuclear power station place |
| CN111347435A (en) * | 2018-12-21 | 2020-06-30 | 核动力运行研究所 | Robot platform structure capable of moving under high nuclear radiation environment |
| CN111409074A (en) * | 2020-04-03 | 2020-07-14 | 江苏集萃华科智能装备科技有限公司 | Teleoperation both arms mobile robot system based on cooperation arm |
| CN112775968A (en) * | 2020-12-30 | 2021-05-11 | 深兰人工智能芯片研究院（江苏）有限公司 | Control method and device for manipulator, pickup device and storage medium |
-
2017
- 2017-09-30 CN CN201721290558.3U patent/CN207415335U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107639621A (en) * | 2017-09-30 | 2018-01-30 | 中广核研究院有限公司 | A kind of remote operating equipment, system and its operational method for nuclear power station place |
| CN111347435A (en) * | 2018-12-21 | 2020-06-30 | 核动力运行研究所 | Robot platform structure capable of moving under high nuclear radiation environment |
| CN111409074A (en) * | 2020-04-03 | 2020-07-14 | 江苏集萃华科智能装备科技有限公司 | Teleoperation both arms mobile robot system based on cooperation arm |
| CN112775968A (en) * | 2020-12-30 | 2021-05-11 | 深兰人工智能芯片研究院（江苏）有限公司 | Control method and device for manipulator, pickup device and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN207415335U (en) | A kind of remote operating equipment for nuclear power station place | |
| CN107639621A (en) | A kind of remote operating equipment, system and its operational method for nuclear power station place | |
| CN106493708B (en) | A kind of hot line robot control system based on double mechanical arms and sub-arm | |
| CN106540390B (en) | Hanger rail type fire protection patrol robot system | |
| CN106695748A (en) | Hot-line robot with double mechanical arms | |
| CN105758271B (en) | It is a kind of to take turns the explosive-removal robot that leg arm tank is combined | |
| CN108673467A (en) | Substation's live-line maintenance operation robot system and method | |
| CN108858121A (en) | Hot line robot and its control method | |
| CN104669275A (en) | Intelligent explosive ordnance disposal robot | |
| CN206840057U (en) | A kind of hot line robot control system based on double mechanical arms and sub-arm | |
| CN108279593B (en) | A kind of the pose real-time display system and method for large-scale engineering machinery | |
| CN108714885A (en) | A kind of altitude hot-line operation robot and operational method | |
| CN106737548A (en) | A kind of hot line robot operation monitoring system | |
| CN109466402A (en) | A kind of earthquake rescue robot with safeguard function | |
| CN202910857U (en) | Overhead transmission circuit inspection robot system | |
| CN108297068A (en) | A kind of hot line robot specific purpose tool replacing options based on force feedback master ＆ slave control | |
| CN108096746A (en) | A kind of fire extinguishing holder vehicle | |
| CN111482972A (en) | Fire-fighting and disaster-relief robot and system | |
| CN216890001U (en) | Remote control device of insulating bucket arm vehicle | |
| CN208529086U (en) | A kind of altitude hot-line operation robot | |
| CN107053261A (en) | A kind of insulating protection system of the mechanical arm with camera | |
| US20240033916A1 (en) | Autonomous and semi-autonomous control of aerial robotic systems | |
| CN208130277U (en) | A kind of fire extinguishing holder vehicle | |
| CN106965147A (en) | A kind of hot line robot isolation switch detection method | |
| CN201815015U (en) | Fire-extinguishing teleoperator |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |