CN215031481U - Cleaning robot for nuclear power plant - Google Patents
Cleaning robot for nuclear power plant Download PDFInfo
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- CN215031481U CN215031481U CN202120311042.2U CN202120311042U CN215031481U CN 215031481 U CN215031481 U CN 215031481U CN 202120311042 U CN202120311042 U CN 202120311042U CN 215031481 U CN215031481 U CN 215031481U
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Abstract
The utility model discloses a nuclear power plant cleans machine people relates to the robotechnology field, clean the mechanism including automobile body, running gear, joint actuating mechanism, main control mechanism, first mechanism and the second of cleaning, wherein, the lower extreme of automobile body is equipped with running gear, and the upper end of automobile body is equipped with first mechanism and the joint actuating mechanism of cleaning, and the first mechanism that cleans of joint actuating mechanism drive, the lower extreme of automobile body still are equipped with the second and clean the mechanism, and main control mechanism locates in the automobile body, and running gear, joint actuating mechanism, first mechanism and the second of cleaning clean the mechanism respectively with main control mechanism electricity be connected. The utility model discloses in, can realize that remote control cleans the robot and washs and clean on a large scale the nuclear power plant, need not the people and get into the nuclear power plant, can enough improve and clean efficiency, can guarantee the personal safety again, avoid the injury of nuclear radiation to the human body.
Description
Technical Field
The utility model relates to the robotechnology field especially involves a nuclear power plant cleans machine people.
Background
With the rapid development of economy in China, the traditional power generation capacity in China is far from meeting the industrial and living requirements. The traditional power generation cost performance is lower and lower, and brings serious environmental problems. The development of nuclear power is a major strategic measure for satisfying the power demand, optimizing the energy structure, guaranteeing the energy safety and promoting the sustainable development of economy in China; the development of nuclear power is an effective way for reducing environmental pollution and realizing the coordinated development of economic and ecological environments; the development of nuclear power is a main means for lively soldiers and promotion of the development of nuclear science and technology industry; is an important measure for promoting the industrial upgrading of the equipment manufacturing industry; the development of nuclear power conforms to the trend of world energy utilization. Therefore, if nuclear power can be well utilized, the benefits of mankind can be brought to the greatest extent. However, safety issues in nuclear power, particularly the safe operation of nuclear power plant equipment, are of paramount importance.
For the cleaning work of a nuclear power plant, the existing cleaning mode is manual cleaning, the cleaning mode is low in efficiency and safety.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a nuclear power plant cleans machine people for solve above-mentioned technical problem.
The utility model adopts the technical scheme as follows:
the utility model provides a nuclear power plant cleans machine people, cleans mechanism and second including automobile body, running gear, joint actuating mechanism, main control mechanism, first cleaning mechanism and second, wherein, the lower extreme of automobile body is equipped with running gear, the upper end of automobile body is equipped with first cleaning mechanism with joint actuating mechanism, the drive of joint actuating mechanism first cleaning mechanism, the lower extreme of automobile body still is equipped with the second cleans the mechanism, main control mechanism locates in the automobile body, just running gear joint actuating mechanism first cleaning mechanism with the second clean the mechanism respectively with main control mechanism electricity is connected.
Preferably, the system further comprises an image acquisition mechanism, wherein the image acquisition mechanism is electrically connected with the main control mechanism, and the main control mechanism is in signal connection with the control room.
Preferably, the traveling mechanism comprises four mecanum wheels and a driving motor, wherein the driving motor is fixed to the upper end of the vehicle body and connected with the main control mechanism, the four mecanum wheels are arranged at the lower end of the vehicle body, and the four mecanum wheels are in a rectangular array.
Preferably, the first cleaning mechanism includes a cleaning brush mechanism and a water pipe, and the water pipe is connected to the cleaning brush mechanism.
Preferably, the cleaning brush mechanism comprises a cleaning brush and a cleaning arm, wherein the cleaning brush is connected with one end of the cleaning arm, and the water pipe is connected with the cleaning arm.
Preferably, the joint driving mechanism comprises a Y-axis driving motor, a Z-axis driving motor and a sweeping arm swinging motor, the Y-axis driving motor is arranged at the upper end of the vehicle body, the Z-axis driving motor is arranged on one side of the Y-axis driving motor, the other end of the sweeping arm is connected with the Y-axis driving motor, the sweeping arm swinging motor is arranged at the other end of the sweeping arm, and the sweeping arm swinging motor is connected with the sweeping arm and the Y-axis driving motor.
Preferably, the second sweeping mechanism comprises side sweeping wheels and sweeping wheels, wherein two side sweeping wheels are arranged on two sides of the lower end of the vehicle body, one sweeping wheel is arranged between the two side sweeping wheels, and the sweeping wheels and the side sweeping wheels are respectively connected with the main control mechanism.
Preferably, the image acquisition mechanism comprises a camera and a camera support, the camera support is arranged at the upper end of the vehicle body, the camera is mounted on the camera support, and the camera is connected with the main control mechanism.
The technical scheme has the following advantages or beneficial effects:
the utility model discloses in, can realize that remote control cleans the robot and washs and clean on a large scale the nuclear power plant, need not the people and get into the nuclear power plant, can enough improve and clean efficiency, can guarantee the personal safety again, avoid the injury of nuclear radiation to the human body.
Drawings
FIG. 1 is a side view of a nuclear power plant cleaning robot of the present invention;
fig. 2 is a perspective view of the nuclear power plant cleaning robot of the present invention.
In the figure: 1. a vehicle body; 2. a Mecanum wheel; 3. a drive motor; 4. a cleaning brush mechanism; 401. cleaning with a brush; 402. a sweeping arm; 5. a water pipe; 6. a Y-axis drive motor; 7. a Z-axis drive motor; 8. a sweeping arm swing motor; 9. a side sweeping wheel; 10. cleaning wheels; 11. a camera; 12. a camera support.
Detailed Description
The technical solution of the present invention will be described clearly and completely with reference to the accompanying drawings, and obviously, the described embodiments are some, but not all embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
In the description of the present invention, it should be noted that, as the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. appear, the indicated orientation or positional relationship thereof is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, but does not indicate or imply that the indicated device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" as appearing herein are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" should be interpreted broadly, e.g., as being either fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
FIG. 1 is a side view of a nuclear power plant cleaning robot of the present invention; fig. 2 is the utility model discloses the perspective view of the cleaning robot of nuclear power plant, please see fig. 1 to fig. 2, show the embodiment of a preferred, a cleaning robot of nuclear power plant that shows, including automobile body 1, running gear, joint actuating mechanism, main control mechanism, first cleaning mechanism and second cleaning mechanism, wherein, the lower extreme of automobile body 1 is equipped with running gear, and the upper end of automobile body 1 is equipped with first cleaning mechanism and joint actuating mechanism, and the first cleaning mechanism of joint actuating mechanism drive, the lower extreme of automobile body 1 still is equipped with the second and cleans the mechanism, and main control mechanism locates in the automobile body 1, and running gear, joint actuating mechanism, first cleaning mechanism and second clean the mechanism and be connected with main control mechanism electricity respectively. In the present embodiment, the traveling mechanism is used to drive the vehicle body 1 to travel, and is used to change the position of the vehicle body 1 to perform cleaning in a wide range. And first cleaning mechanism cooperatees with joint actuating mechanism, can realize making the position adjustment of minizone to first cleaning mechanism position, and the master control mechanism uses single chip type micro robot as main control chip.
Further, as a preferred implementation mode, the system further comprises an image acquisition mechanism, wherein the image acquisition mechanism is electrically connected with the main control mechanism, and the main control mechanism is in signal connection with the control room. In this embodiment, image acquisition mechanism is used for gathering the image, gives the remote control personnel in real time and passes the video back, observes the wall state by control personnel, and the guide robot cleans. In this embodiment, the pictures collected by the image collection mechanism are output to the main control mechanism, processed, and then output to the control room, and a controller controls the robot in the control room. In this embodiment, the control room sends a control command to the main control mechanism, and then the main control mechanism controls the operation of the robot.
Further, as a preferred embodiment, the traveling mechanism includes four mecanum wheels 2 and a driving motor 3, wherein the driving motor 3 is fixed at the upper end of the vehicle body 1, the driving motor 3 is connected with the main control mechanism, the lower end of the vehicle body 1 is provided with the four mecanum wheels 2, and the four mecanum wheels 2 are in a rectangular array. In the present embodiment, the drive motor 3 is used to drive the mecanum wheels 2 so that the robot moves. The vehicle body 1 is a rectangular frame structure, and the four mecanum wheels 2 are arranged at four included angles of the lower surface of the vehicle body 1.
Further, as a preferred embodiment, the first cleaning mechanism comprises a cleaning brush mechanism 4 and a water pipe 5, and the water pipe 5 is connected with the cleaning brush mechanism 4. In this embodiment, water pipe 5 is used for providing the pure water for brush cleaner mechanism 4, can wash the position after brush cleaner mechanism 4 cleans, reaches the effect of effectively getting rid of the pollutant. At the same time, the water pipe 5 can also clean the brush cleaning mechanism 4 itself.
Further, as a preferred embodiment, the brush cleaning mechanism 4 includes a brush cleaner 401 and a cleaning arm 402, wherein the brush cleaner 401 is connected to one end of the cleaning arm 402, and the water pipe 5 is connected to the cleaning arm 402. In this embodiment, the cleaning arm 402 has a hollow structure, and the water pipe 5 transports purified water into the cleaning arm 402, and the purified water is output from the cleaning arm 402 to the cleaning brush 401 and is ejected from the ejection port of the cleaning brush 401. In this embodiment, a plurality of injection ports are uniformly arranged at one end of the sweeping brush 401 away from the sweeping arm 402, and are used for injecting purified water.
Further, as a preferred embodiment, the joint driving mechanism includes a Y-axis driving motor 6, a Z-axis driving motor 7 and a cleaning arm swinging motor 8, the Y-axis driving motor 6 is disposed at the upper end of the vehicle body 1, the Z-axis driving motor 7 is disposed at one side of the Y-axis driving motor 6, the other end of the cleaning arm 402 is connected with the Y-axis driving motor 6, the other end of the cleaning arm 402 is further provided with the cleaning arm swinging motor 8, and the cleaning arm swinging motor 8 is connected with the cleaning arm 402 and the Y-axis driving motor 6. In this embodiment, the Y-axis driving motor 6 drives the Z-axis driving motor 7 to move along the Y-axis direction, the Z-axis driving motor 7 drives the sweeping arm swinging motor 8 to move along the Z-axis direction, and the sweeping arm swinging motor 8 is used for driving the sweeping arm 402 to swing back and forth left and right along the horizontal direction, and by the arrangement of the Y-axis driving motor 6, the Z-axis driving motor 7 and the sweeping arm swinging motor 8, the small-range angle adjustment of the sweeping arm 402 can be realized, so that the sweeping angle adjustment of the sweeping brush 401 is achieved.
Further, as a preferred embodiment, the second cleaning mechanism comprises side-sweeping wheels 9 and cleaning wheels 10, wherein the two side-sweeping wheels 9 are arranged on two sides of the lower end of the vehicle body 1, the cleaning wheel 10 is arranged between the two side-sweeping wheels 9, and the cleaning wheels 10 and the side-sweeping wheels 9 are respectively connected with the main control mechanism. In this embodiment, the first mechanism that cleans is used for wasing the wall of nuclear power plant, and the second cleans the mechanism and is used for wasing the ground of nuclear power plant, cleans the mechanism through with first and second and combines on automobile body 1, reaches the abluent cleaning performance on a large scale, the multi-angle of nuclear power plant.
Further, as a preferred embodiment, the image capturing mechanism includes a camera 11 and a camera bracket 12, the camera bracket 12 is disposed at the upper end of the vehicle body 1, the camera 11 is mounted on the camera bracket 12, and the camera 11 is connected with the main control mechanism. The camera 11 in this embodiment is used for collecting images, the camera support 12 is rotatable and liftable in the vehicle body 1 and is controlled by a forward and reverse rotation motor and an air cylinder, the forward and reverse rotation motor controls the forward and reverse direction swing of the camera support 12, and the air cylinder controls the price raising action of the camera support 12, so that the height and shooting angle of the camera 11 can be properly adjusted, and the best shooting effect is achieved.
The above description is only an example of the preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and those skilled in the art should be able to realize the equivalent alternatives and obvious variations of the present invention.
Claims (8)
1. The utility model provides a nuclear power plant cleans machine people, its characterized in that, cleans the mechanism including automobile body, running gear, joint actuating mechanism, main control mechanism, first and the second, wherein, the lower extreme of automobile body is equipped with running gear, the upper end of automobile body is equipped with first clean the mechanism with joint actuating mechanism, joint actuating mechanism drive first clean the mechanism, the lower extreme of automobile body still is equipped with the second cleans the mechanism, main control mechanism locates in the automobile body, just running gear joint actuating mechanism first clean the mechanism with the second clean the mechanism respectively with main control mechanism electricity is connected.
2. The nuclear power plant cleaning robot as recited in claim 1, further comprising an image acquisition mechanism electrically connected to the master control mechanism, the master control mechanism being in signal communication with a control room.
3. The nuclear power plant cleaning robot as recited in claim 1, wherein the traveling mechanism includes four mecanum wheels and a driving motor, wherein the driving motor is fixed to an upper end of the vehicle body, the driving motor is connected to the main control mechanism, the lower end of the vehicle body is provided with four mecanum wheels, and the four mecanum wheels are in a rectangular array.
4. The nuclear power plant cleaning robot of claim 1, wherein the first cleaning mechanism includes a cleaning brush mechanism and a water pipe, the water pipe being connected to the cleaning brush mechanism.
5. The nuclear power plant cleaning robot of claim 4, wherein the cleaning brush mechanism includes a cleaning brush and a cleaning arm, wherein the cleaning brush is connected to one end of the cleaning arm, and the water pipe is connected to the cleaning arm.
6. The nuclear power plant cleaning robot as claimed in claim 5, wherein the joint driving mechanism includes a Y-axis driving motor, a Z-axis driving motor and a cleaning arm swing motor, the Y-axis driving motor is provided at an upper end of the vehicle body, the Z-axis driving motor is provided at one side of the Y-axis driving motor, the other end of the cleaning arm is connected to the Y-axis driving motor, the cleaning arm swing motor is further provided at the other end of the cleaning arm, and the cleaning arm and the Y-axis driving motor are connected to the cleaning arm.
7. The nuclear power plant cleaning robot as claimed in claim 1, wherein the second cleaning mechanism includes an edge cleaning wheel and a cleaning wheel, wherein two edge cleaning wheels are provided on both sides of the lower end of the vehicle body, one cleaning wheel is provided between the two edge cleaning wheels, and the cleaning wheel and the edge cleaning wheel are respectively connected to the main control mechanism.
8. The nuclear power plant cleaning robot as claimed in claim 2, wherein the image collecting mechanism includes a camera and a camera support, the camera support is provided at an upper end of the vehicle body, and the camera is mounted on the camera support, and the camera is connected to the main control mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120311042.2U CN215031481U (en) | 2021-02-03 | 2021-02-03 | Cleaning robot for nuclear power plant |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120311042.2U CN215031481U (en) | 2021-02-03 | 2021-02-03 | Cleaning robot for nuclear power plant |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215031481U true CN215031481U (en) | 2021-12-07 |
Family
ID=79258860
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120311042.2U Active CN215031481U (en) | 2021-02-03 | 2021-02-03 | Cleaning robot for nuclear power plant |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215031481U (en) |
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2021
- 2021-02-03 CN CN202120311042.2U patent/CN215031481U/en active Active
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