CN209665386U - Robot moving platform structure under a kind of high nuclear radiation environment - Google Patents
Robot moving platform structure under a kind of high nuclear radiation environment Download PDFInfo
- Publication number
- CN209665386U CN209665386U CN201822151649.XU CN201822151649U CN209665386U CN 209665386 U CN209665386 U CN 209665386U CN 201822151649 U CN201822151649 U CN 201822151649U CN 209665386 U CN209665386 U CN 209665386U
- Authority
- CN
- China
- Prior art keywords
- mobile platform
- swing arm
- car body
- track module
- radiation environment
- 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 present apparatus belongs to the elimination of nuclear facilities and radioactive-waste disposal field, robot moving platform structure under specially a kind of high nuclear radiation environment.The prior art enters inside nuclear island the disposition rescue work carried out under emergency condition by robot, but robot is influenced intelligence communication and navigator fix by nuclear radiation and can not work normally.The present apparatus includes: mobile platform car body, the main track module of mobile platform, mobile platform swing arm track module, automatic deploying and retracting linear system system.The main track module of mobile platform is mounted on mobile platform car body left and right ends by front and back transmission shaft；Automatic deploying and retracting linear system system is mounted on mobile platform car body tail portion；Mobile platform swing arm track module is mounted on the outside of the main track module of mobile platform by the transmission shaft of front and back two；Mobile platform vehicle body is equipped with control system shielding box, and control system shielding box is designed using maze-type structure, and the control system installation of mobile platform is inside it.The utility model device structure is simple, high reliablity.
Description
Technical field
The elimination of nuclear facilities and radioactive-waste disposal and nuclear emergency field, and in particular to machine under a kind of high nuclear radiation environment
Device people's mobile platform structure.
Background technique
The works such as the disposition rescue under the operation and maintenance and emergency condition under high nuclear radiation environment inside nuclear island of nuclear power station
In work, due to the presence of high nuclear radiation environment, personnel cannot be introduced under high radiation environment and execute task, can only hold by robot
The corresponding operation and maintenance of row and disposing task.Nuclear island internal structure is complicated, barrier is more, robot is needed in the task of execution
Has the flexible locomotivity such as across obstacle speeling stairway；Robot is required not only to have vehicle equipment and object simultaneously
Ability, also require robot can carry multifunctional mechanical arm execute foreign body grabbing carry transfer cut tear open barrier and switch
The multiple-tasks such as valve；Robot, which is influenced intelligence communication and navigator fix by nuclear radiation, can not work normally.Therefore
Very it is necessary to design it is a kind of can in the nuclear island under high nuclear radiation environment remote control robot moving platform, have carrying
The function of mechanical arm and haulage equipment, in the operation and maintenance and emergency disposal work under high nuclear radiation environment inside nuclear island
It plays a role, safeguards and ensure the safety of nuclear facilities.
The high radiation environment robot moving platform of the nuclear island of development overcomes under nuclear radiation environment robot electromechanical equipment not
Controlled difficulty, flexibly moved under guaranteeing nuclear island complex environment, haulage equipment and can carrying tool on the basis of, meet
The features such as device structure is simple, high reliablity.
Summary of the invention
1. purpose:
Technical problem to be solved by the utility model is: being directed to the complicated rings such as height radiates inside nuclear island and barrier is more
Border feature designs a kind of anti-radiation robot moving platform for having flexible locomotivity, carries out equipment carrying and takes
Carrying multifunctional mechanical arm and executing operation and maintenance and emergency disposal work, the personnel under high radiation environment that solve cannot be introduced into and often
Advise locomotivity difference and uncontrolled problem under the high radiation environment in robot nuclear island inside.
2. technical solution:
A kind of robot moving platform structure under high nuclear radiation environment, comprising: the main crawler belt of mobile platform car body, mobile platform
Module, mobile platform swing arm track module, automatic deploying and retracting linear system system.The main track module of mobile platform is installed by front and back transmission shaft
In mobile platform car body left and right ends；Automatic deploying and retracting linear system system is mounted on mobile platform car body tail portion；Mobile platform swing arm crawler belt
Module is mounted on the outside of the main track module of mobile platform by the transmission shaft of front and back two；The mobile platform vehicle body installation
There is control system shielding box, control system shielding box is designed using maze-type structure, and the control system of mobile platform is mounted on it
It is internal.
Mobile platform car body includes: cabinet shell, transmission system installation support construction, video system, mobile platform carrying
Handle；Cabinet shell generally vehicle shape, left and right end face, which is divided, has the main track module mounting hole of mobile platform and bolt to be fixedly connected
Hole, front end face reserve car body preceding camera mounting hole, and equipment carrying handle and multifunctional mechanical arm, automatic are reserved in car body top surface
Retractable cable system connects mounting hole and electric component mounting hole with camera；Transmission system installs support construction installation outside the enclosure
At front and back two inside shell；Video system is mounted on the rear portion of car body top surface；Mobile platform carrying handle is mounted on cabinet shell
The corner of top surface four.
The main track module of mobile platform includes driving motor component A, transmission system A, drive wheel assemblies A, driven wheel assembly
A, main crawler belt and support wheel assembly A；Two sets of transmission systems are connect with two side drive wheels respectively, drive main caterpillar drive；Driving
Wheel assembly is mounted on platform cabinet, is connected with transmission system；Driven wheel assembly A is mounted on cabinet, in drive wheel assemblies A and
It is rotated under the action of crawler belt；Main crawler belt is mounted on driving wheel and driven wheel, with ground face contact；Support wheel assembly A installation
On cabinet.
Mobile platform swing arm track module includes driving motor component B, transmission system B, drive wheel assemblies B, driven wheel group
Part B, swing arm crawler belt, swing arm side plate and support wheel assembly B；Swing arm module in front and back respectively has a set of driving motor component B and transmission
System B is each attached in box house support construction, and swing arm side plate is fixedly mounted on drive wheel assemblies B, is fixed with transmission shaft
Connection, driven wheel assembly B are mounted between two swing arm side plates；Support wheel assembly B is mounted among two swing arm side plates.
Automatic deploying and retracting linear system system includes: fixed bracket, spool, automatic winding displacement apparatus, sliding brush and driving mechanism；It is fixed
Bracket is mounted on cabinet shell；Spool is rack-mount, and driving mechanism and sliding brush are mounted on inside spool, automatic to arrange
Line apparatus is mounted on automatic deploying and retracting linear system system front side.
Mobile platform swing arm track module generally water-drop-shaped, both ends are the different semicircle of two diameters.
Mobile platform car body further includes two side baffles, is mounted on the outermost two sides of cabinet.
3. effect
1) robot mobile platform solves the problems, such as cisco unity malfunction under Conventional robotic's nuclear radiation environment；
2) robot mobile platform swing arm crawler belt climbing mechanism has the function of across obstacle and speeling stairway,
It improves the flexible of robot and stablizes locomotivity；
3) load of robot mobile platform is larger, and mountable multifunctional mechanical arm and plurality of devices meet nuclear island
The characteristics of interior multitask multi-functional demand；
4) robotically-driven motor and cable are more, using control system robot interior shielding by the way of, cable with
Driver board is mounted on robot interior, and which avoids the excessively thick problem of control system postposition bring cable,
5) robot mobile platform carries Antiradiation camera and automatic deploying and retracting linear system system, avoids under nuclear environment
The problem of robot communication is difficult and cable winds, realize robot remote remote control operation, effective solution nuclear radiation
The unapproachable problem of personnel under environment.
Detailed description of the invention
Mobile platform structure front view under the high radiation environment of Fig. 1 nuclear island
Mobile platform structure top view under the high radiation environment of Fig. 2 nuclear island
Fig. 3 mobile platform car body cross-sectional view
The main track module cross-sectional view of Fig. 4 mobile platform
Fig. 5 mobile platform swing arm track module cross-sectional view
Fig. 6 automatic deploying and retracting line system construction drawing
Fig. 7 automatic deploying and retracting linear system system cross-sectional view
1 in figure, mobile platform car body；2, the main track module of mobile platform；3, mobile platform swing arm track module；4, automatic
Retractable cable system；5, cabinet shell；6, transmission system installs support construction；7, video system；8, carrying handle；9, two side block
Plate；10, shielding box；11, driving motor component A；12, transmission system A；13, drive wheel assemblies A；14, driven wheel assembly A；15,
Main crawler belt；16, wheel assembly A is supported；17, driving motor component B；18, transmission system B；19, drive wheel assemblies B；20, driven wheel
Component B；21, swing arm crawler belt；22, swing arm side plate；23, wheel assembly B is supported；24, fixed bracket；25, spiral bucket；26, automatic row
Line apparatus；27, sliding brush；28, driving mechanism.
Specific embodiment
This patent is described in detail in the following with reference to the drawings and specific embodiments:
The design of mobile platform structure as illustrated in fig. 1 and 2, mainly includes mobile platform car body 1, moves under the high radiation environment of nuclear island
The main track module 2 of moving platform, mobile platform swing arm track module 3, automatic deploying and retracting linear system are united 4 four parts.Platform car body is whole
The installation foundation of a mobile platform, building block are respectively mounted on the car body；The main track module 2 of platform is pacified by front and back transmission shaft
Mounted in car body left and right ends, under the drive of transmission shaft, the advance, retrogressing and turning of mobile platform are realized；It is each before and after platform
Two mobile platform swing arm track modules 3 are mounted on main 2 outside of track module of car body by the transmission shaft of front and back two, are being driven
Swinging up and down for swing arm crawler belt is realized under the drive of axis, and then realizes the functions such as mobile platform across obstacle, speeling stairway,
Middle front and back swing arm crawler belt distinguishes synchronous hunting, and front swing arm crawler belt and rear-swing arm track drive are then different；4 peace of automatic deploying and retracting linear system system
Mounted in 1 tail portion of mobile platform car body, as the forward-reverse of car body carries out the folding and unfolding of cable.
Mobile platform car body 1 is carried by cabinet shell 5, transmission system installation support construction 6, video system 7, mobile platform
Handle 8, two side baffles 9 and control system shielding box 10 form；The upper reserved main shoe of mobile platform in 5 or so end face of cabinet shell point
Band system mounting hole and bolt fixedly connected hole, front end face reserve car body preceding camera mounting hole, and car body top surface is reserved equipment and removed
Fortune handle and multifunctional mechanical arm, automatic deploying and retracting linear system system connect mounting hole and electric component installation with Antiradiation camera
Hole；Transmission system installation support construction 6 is mounted on box inside corresponding position, can carry out main crawler belt and swing arm crawler haulage
The installation of system is fixed；Video system 7 is mounted on the rear portion of car body top surface, mainly there is Antiradiation band cradle head camera and branch
Support member composition；Mobile platform carrying handle 8 is mounted on four corners of 5 top surface of cabinet shell, and two side baffles 9 are mounted on case
The function of hindering the barriers such as silt and spray logo is played in body two sides, and control system shielding box is mounted on box house, by
Nuclear radiation can not be resisted in robot electronic component, therefore designs a shielding box 10 and the control system of mobile platform is installed
In shielding box, which is lead, using labyrinth type design structure, ray is prevented to enter internal damage electronics member
Device.Its structure of car body is as shown in Figure 3.
The main track module 2 of mobile platform is by driving motor component A11, transmission system A12, drive wheel assemblies A13；Driven wheel
Component A14, main crawler belt 15 and support wheel assembly 16 form；The main track module 2 of mobile platform includes two sets of driving motor components
A11 and transmission system A12 is fixed in mobile platform box house support construction, and two sets of transmission system A12 drive with two sides respectively
Drive wheel assemblies A13 connection drives main crawler belt 15 to move；Drive wheel assemblies A13 is mounted on platform cabinet, with 12 phase of transmission system
Even, driven wheel assembly A14 is mounted on cabinet, is rotated under the action of drive wheel assemblies A13 and crawler belt；Main crawler belt 15 is pacified
On driving wheel and driven wheel, with ground face contact；Support wheel assembly A16 is mounted on cabinet, plays crawler tensioning and support
The effect of cabinet so that mobile platform movement is steady, and increases the locomotivity of mobile platform, and main track module structure chart is such as
Shown in Fig. 4.
Mobile platform swing arm track module 3 is by driving motor component 17, transmission system 18, drive wheel assemblies 19, driven wheel
Component 20, swing arm crawler belt 21, swing arm side plate 22 and support wheel assembly 23 form；Swing arm module in front and back respectively has a set of driving assembly
B17 and transmission system B18, is each attached in box house support construction, realizes the synchronous hunting of former and later two swing arms, swing arm
Side plate 22 is fixedly mounted on drive wheel assemblies B17 and is fixedly connected with transmission shaft, realizes the swing of swing arm, driven wheel assembly B20
It is mounted between two swing arm side plates 22, is operated under driving wheel and the drive of swing arm crawler belt；Support wheel assembly B23 is mounted on two
Among a swing arm side plate 22, play the role of crawler tensioning and support, swing arm track module structure chart is as shown in Figure 5.
Automatic deploying and retracting linear system system 4 is by fixed bracket 24, spool 25, automatic winding displacement apparatus 26, sliding brush 27 and driving machine
Structure 28 forms；Fixed bracket 24 is mounted on platform cabinet, plays the left and right of fixed entire automatic deploying and retracting linear system system；Spool 25
It is rack-mount, folding and unfolding is carried out to cable under the drive of driving mechanism 28, driving mechanism 28 and sliding brush 27 are mounted on spiral
Inside cylinder 25, driving mechanism 28 plays the driving rotation of spiral bucket 25 effect mobile with automatic winding displacement apparatus 26, and sliding brush 27 plays
The effect for connecting automatic deploying and retracting linear system system 4 with mobile platform cable, so that the cable between retractable cable system and mobile platform will not
It is influenced by spool rotation, automatic deploying and retracting line system construction drawing is as shown in Figures 6 and 7.
Robot moving platform carries Antiradiation camera and has automatic deploying and retracting linear system system under the high radiation environment of nuclear island,
Staff is entered in nuclear island radiation environment in security context by controlling handle remote control robot moving platform, anti-core
Radiation video sensing system is by front environment and robot pose information real-time delivery to background control system for operator
Make control instruction.Operator realizes robot across obstacle and speeling stairway by the swing of control swing arm crawler belt；
When robot moving platform back-and-forth motion, the speed that automatic deploying and retracting linear system system advances and retreats according to it carries out corresponding cable certainly
Dynamic folding and unfolding, avoids the problem that cable winds；When robot moving platform need to carry the equipment such as multifunctional mechanical arm, need to only pass through
Spare interface in mechanical arm mounting seat and robot moving platform is carried out abutting joint, mechanical arm electrical control interface by bolt
It can be installed by Fast Installation interface.Robot moving platform under the control of operator can realization rapidly and efficiently remove
Operating moving device and crawl foreign matter are cut and tear the disposition task such as barrier and controlled valve open.It cannot be introduced into solve personnel
The problem of nuclear radiation environment, substantially increases operation and maintenance and emergency disposal efficiency under the high radiation environment of nuclear island, ensure that
The safe operation of nuclear equipment.
Claims (7)
1. robot moving platform structure under a kind of high nuclear radiation environment, comprising: mobile platform car body (1), the main shoe of mobile platform
Band module (2), mobile platform swing arm track module (3), automatic deploying and retracting linear system system (4), it is characterised in that: the mobile platform
Main track module (2) is mounted on mobile platform car body (1) left and right ends by front and back transmission shaft；Automatic deploying and retracting linear system system is mounted on
Mobile platform car body (1) tail portion；Mobile platform swing arm track module (3) is mounted on mobile platform master by the transmission shaft of front and back two
On the outside of track module (2)；Control system shielding box (10), control system screen are installed inside the mobile platform car body (1)
It covers box (10) to design using maze-type structure, the control system installation of mobile platform is inside it.
2. robot moving platform structure under a kind of high nuclear radiation environment as described in claim 1, it is characterised in that: described
Mobile platform car body (1) includes: cabinet shell (5), transmission system installation support construction (6), video system (7), mobile platform
Carrying handle (8)；Cabinet shell (5) generally vehicle shape, have on left and right end face point the main track module of mobile platform (2) mounting hole and
Bolt fixedly connected hole, front end face reserve car body preceding camera mounting hole, car body top surface reserve mobile platform carrying handle (8) with
And multifunctional mechanical arm, automatic deploying and retracting linear system system (4) connect mounting hole and electric component mounting hole with camera；Transmission system peace
Cartridge support structure (6) is mounted at the internal front and back two of cabinet shell (5)；Video system (7) is mounted on the rear portion of car body top surface；
Mobile platform carrying handle (8) is mounted on cabinet shell (5) top surface four corner.
3. robot moving platform structure under a kind of high nuclear radiation environment as described in claim 1, it is characterised in that: described
The main track module of mobile platform (2) includes driving motor component A (11), transmission system A (12), drive wheel assemblies A (13), driven
Wheel assembly A (14), main crawler belt (15) and support wheel assembly A (16)；Two sets of transmission system A (12) connect with two side drive wheels respectively
It connects, main crawler belt (15) is driven to move；Drive wheel assemblies A (13) is mounted on platform cabinet, is connected with transmission system A (12)；From
Drive wheel assemblies A (14) is mounted on cabinet, is rotated under the action of drive wheel assemblies A (13) and crawler belt；Main crawler belt (15)
It is mounted on driving wheel and driven wheel, with ground face contact；Support wheel assembly A (16) is mounted on cabinet.
4. robot moving platform structure under a kind of high nuclear radiation environment as described in claim 1, it is characterised in that: described
Mobile platform swing arm track module (3) include driving motor component B (17), transmission system B (18), drive wheel assemblies B (19), from
Drive wheel assemblies B (20), swing arm crawler belt (21), swing arm side plate (22) and support wheel assembly B (23)；Front and back swing arm module respectively has one
Driving motor component B (17) and transmission system B (18) are covered, is each attached in box house support construction, swing arm side plate (22) is solid
Dingan County is fixedly connected, driven wheel assembly B (20) is mounted on two arm sides on driving motor component B (17) with transmission shaft
Between plate (22), swing arm crawler belt (21) is covered between swing arm side plate (22)；Support wheel assembly B (23) is mounted on two arm sides
Plate (22) is intermediate.
5. robot moving platform structure under a kind of high nuclear radiation environment as described in claim 1, it is characterised in that: described
Automatic deploying and retracting linear system system (4) includes: fixed bracket (24), spool (25), automatic winding displacement apparatus (26), sliding brush (27) and drives
Motivation structure (28)；Fixed bracket (24) are mounted on cabinet shell (5)；Spool (25) is rack-mount, driving mechanism
(28) it is internal that spool (25) is mounted on sliding brush (27), before automatic winding displacement apparatus (26) is mounted on automatic deploying and retracting linear system system (4)
Side.
6. robot moving platform structure under a kind of high nuclear radiation environment as described in claim 1, it is characterised in that: described
Mobile platform swing arm track module (3) global shape is water-drop-shaped, and both ends are the different semicircle of two diameters.
7. robot moving platform structure under a kind of high nuclear radiation environment as described in claim 1, it is characterised in that: described
Mobile platform car body (1) further includes two side baffles (9), is mounted on the outermost two sides of cabinet.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822151649.XU CN209665386U (en) | 2018-12-21 | 2018-12-21 | Robot moving platform structure under a kind of high nuclear radiation environment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822151649.XU CN209665386U (en) | 2018-12-21 | 2018-12-21 | Robot moving platform structure under a kind of high nuclear radiation environment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209665386U true CN209665386U (en) | 2019-11-22 |
Family
ID=68562965
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822151649.XU Active CN209665386U (en) | 2018-12-21 | 2018-12-21 | Robot moving platform structure under a kind of high nuclear radiation environment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209665386U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN111590576A (en) * | 2020-05-15 | 2020-08-28 | 深圳国信泰富科技有限公司 | Disaster relief robot in nuclear radiation environment |
-
2018
- 2018-12-21 CN CN201822151649.XU patent/CN209665386U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN111590576A (en) * | 2020-05-15 | 2020-08-28 | 深圳国信泰富科技有限公司 | Disaster relief robot in nuclear radiation environment |
| CN111590576B (en) * | 2020-05-15 | 2022-03-04 | 深圳国信泰富科技有限公司 | Disaster relief robot in nuclear radiation environment |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN209665386U (en) | Robot moving platform structure under a kind of high nuclear radiation environment | |
| CN111776237B (en) | Unmanned aerial vehicle airport and unmanned aerial vehicle system | |
| CN106782730B (en) | A kind of radiation resistance dynamic power machine hand | |
| JP5638458B2 (en) | Mechanical multilevel parking lot charging apparatus and mechanical multilevel parking lot equipped with the same | |
| CN105043809A (en) | Nuclear radiation environment automatic sampling mechanical vehicle | |
| US5022812A (en) | Small all terrain mobile robot | |
| CN112894748B (en) | Detection operation robot in radiation environment | |
| CN102233575A (en) | Small-sized emergency rescue and detection robot for nuclear radiation environment | |
| CN107717941A (en) | A kind of geared cable ditch inspection operation Multifunctional mobile robot | |
| JPH0249876B2 (en) | ||
| CN201325591Y (en) | Radiation resistant underwater monitoring robot | |
| CN107769063A (en) | Electric inspection process robot and system | |
| JP4981943B2 (en) | Traveling work robot | |
| CN107989337A (en) | A kind of external wall spray equipment | |
| CN101890722B (en) | Novel three-degree-of-freedom (three-DOF) mechanical claw | |
| CN102774513B (en) | Large big-tolerance passive mildly-capturing space end effector based on tendon sheath drive | |
| JP2018062414A (en) | Hook device for movable crane and movable crane including the same | |
| CN109278016A (en) | A kind of ceiling rail mounted new energy vehicle charging robot | |
| CN107171254A (en) | A kind of automatic laying tunnel cable robot and its application method | |
| CN216372169U (en) | Amphibious inspection robot | |
| CN111347435A (en) | Robot platform structure capable of moving under high nuclear radiation environment | |
| CN214996433U (en) | Two-layer primary and secondary parking robot | |
| CN108854084A (en) | A kind of platform turnover mechanism and amusement facility | |
| CN113389421A (en) | Unmanned aerial vehicle removes hangar | |
| CN114834837A (en) | Aerial rail mounted RGV and whole car system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |