CN215205322U - Nuclear power station underwater operation and maintenance robot - Google Patents
Nuclear power station underwater operation and maintenance robot Download PDFInfo
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- CN215205322U CN215205322U CN202121487307.0U CN202121487307U CN215205322U CN 215205322 U CN215205322 U CN 215205322U CN 202121487307 U CN202121487307 U CN 202121487307U CN 215205322 U CN215205322 U CN 215205322U
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Abstract
The application discloses nuclear power station is fortune dimension robot under water, and aim at solves current underwater robot and mainly aims at the general underwater environment, can't satisfy the problem of nuclear power station underwater environment application demand. The robot comprises a working unit, a connecting cable, an automatic take-up and pay-off device and a control system; the working unit comprises an operation and maintenance vehicle body, a driving assembly, a buoyancy block, a suspension propeller and an underwater propeller; the single group of driving components consists of a Maclam wheel and a driving motor; the driving motor is arranged at the bottom end of the operation and maintenance vehicle body, and an output shaft of the driving motor is connected with the mike wheel. The design of this application is ingenious, reasonable in design, can adapt to the complicated characteristics of nuclear power pond environment, and it possesses nimble motion performance and stable operation performance. The method and the device have high application value for promoting the development of the nuclear power station, guaranteeing the physical health of workers, reducing the economic loss of the nuclear power station caused by the stop of operation.
Description
Technical Field
The utility model relates to a robot field specifically is a nuclear power station fortune dimension robot under water.
Background
At present, some researches have been made at home and abroad aiming at underwater robots. For example, Wood et al developed an underwater crawler-type archaeological robot ROSCo. ROSCo is a high-performance remote operation underwater crawler-type robot, can bear various underwater archaeological excavation projects, and has the function of recovering seabed garbage and valuables; the device can run in coastal water areas as deep as 90m, is suitable for different underwater terrains, and can carry various sensors. Wood et al also developed a third generation retrofit RG-III for a subsea recovery crawler. The RG-III is provided with a buoyancy lifting system, and the size of the air bag can be adjusted in real time through a buoyancy control system, so that the underwater buoyancy of the robot is adjusted to float and sink. The RG-III can not only adopt a crawler-type chassis to crawl on the seabed, but also can fly underwater by adjusting the size of the air bag and four installed propellers, thereby crossing sensitive areas such as sunken ships, flying coral reefs and the like.
Tomoya et al, JAMSTEC, Japan, developed an underwater small tracked robot ABISMO, which performed sampling operations in the Marina gully many times. Inoue and the like research and develop a small four-swing-arm crawler-type underwater crawling robot, the walking posture of the robot can be adjusted through the swing arms, and the motion capability of the robot on complex terrains such as soft sediments, slopes and undulations is improved; the crawler arms can be folded on flat terrain, and the space utilization rate is improved.
An underwater robot having three functions of floating, bottom plate climbing and side wall climbing is designed by Mori et al of Hitachi research institute of Japan. The floating-crawling type underwater robot is designed by Ferreira and the like of the university of St.Paul Federal, Baxi south, and is used for detecting a floating liquefied natural gas production storage and unloading device, and the robot uses an ultrasonic sensor to detect cracks and positions in a structure. The ROVINnovations company in Australia designs a floating-creeping hybrid underwater robot, the mass in the air of the robot is 135kg, a polypropylene frame and stainless steel are adopted as main materials, 1000N thrust can be generated in a crawler mode, the speed can reach 1.5m/s, 460N thrust is provided in a floating mode, and the speed can reach 1 m/s. An underwater crawler type magnetic robot MicroMag is developed by Australian Nexis company. The MicroMag is provided with a strong magnetic chassis and can crawl on a vertical or horizontal inverted ferrous metal surface.
On the other hand, the nuclear power pool is mainly used for storing and cooling the reactor core fuel. In typical accidents of nuclear power plants, nuclear pool leakage is one of the common accidents, and is a worldwide problem for emergency repair work of nuclear pools. In addition, in nuclear power plant production, refueling is required approximately every 18 to 24 months, and each removed fuel rod has a high residual decay heat and is therefore cooled by the adjacent spent fuel pool. When the spent fuel pool leaks water, radioactive substances can leak out, and a nuclear accident is caused. The refueling water pool comprises a nuclear reactor water pool and a nuclear fuel water pool, and is mainly used for storing fuel of a nuclear reactor. Once a leakage accident occurs, the radioactive materials can also be leaked out.
Once the pool bottom or the side wall of a spent fuel pool and a refueling pool (hereinafter referred to as pools for short) leak, water in the pool needs to be drained, and manual leakage repairing operation is adopted, so that the normal operation and safety of a nuclear power station are influenced, the time consumption is long, the energy consumption is high, and the loss is measured in hundred million yuan. In addition, in order to find out leakage in time, the nuclear power station pool needs to be frequently inspected and is usually completed manually, and the severe environment with high temperature, high humidity and radiation has great influence on the health of operation workers.
Aiming at the characteristics of the underwater environment of the nuclear power station, the existing underwater robot has certain limitations. Therefore, the application provides the underwater operation and maintenance robot for the nuclear power station to solve the problems.
SUMMERY OF THE UTILITY MODEL
The invention of the utility model aims to: the underwater operation and maintenance robot for the nuclear power station is provided aiming at the problem that the existing underwater robot mainly aims at the common underwater environment and cannot meet the application requirements of the underwater environment of the nuclear power station. The utility model provides a nuclear power station fortune dimension robot under water is as a novel carrier platform, and it thinks about ingenious, reasonable in design, does not set up solitary steering part, but through the cooperation of each part in it, realizes corresponding suspension, lift, upset, turn operation, and its is rational in infrastructure, the reliability is high, can satisfy the work needs of nuclear power station underwater environment, has higher using value.
In order to achieve the purpose, the following technical scheme is adopted in the application:
an underwater operation and maintenance robot for a nuclear power station comprises a working unit, a connecting cable, an automatic take-up and pay-off device and a control system;
the working unit comprises an operation and maintenance vehicle body, a driving assembly, a buoyancy block, a suspension propeller and an underwater propeller;
the single group of driving components consists of a Maclam wheel and a driving motor; the driving motor is arranged at the bottom end of the operation and maintenance vehicle body and can provide support for the driving motor, an output shaft of the driving motor is connected with the Michelm wheel, and the driving motor can drive the Michelm wheel to rotate;
the driving assemblies are uniformly distributed on the operation and maintenance vehicle body, and the linear or steering motion of the operation and maintenance vehicle body can be realized by controlling the rotating speed of the Maclam wheels in the driving assemblies;
the buoyancy block is connected with the operation and maintenance vehicle body and can realize the adjustment of the integral buoyancy of the working unit;
the number of the suspension propellers is four, the suspension propellers are uniformly distributed on the operation and maintenance vehicle body, and the suspension propellers can drive the operation and maintenance vehicle body to move along a plane perpendicular to the motion direction of the Maclam wheel;
the number of the underwater propellers is at least two, the underwater propellers are arranged at the top end of the operation and maintenance vehicle body and can drive the operation and maintenance vehicle body to move along the direction parallel to the plane where the operation and maintenance vehicle body is located;
the working unit is connected with the automatic take-up and pay-off device through a connecting cable, and the connecting cable can provide power supply and communication functions for the working unit;
the driving motor, the suspension propeller and the underwater propeller are sequentially connected with the control system through the connecting cable and the automatic take-up and pay-off device.
And the signal transmission between the automatic coiling and uncoiling device and the control system adopts a wired transmission or wireless transmission mode.
The buoyancy blocks are a group and are symmetrically arranged on the operation and maintenance vehicle body.
The buoyancy block is detachably connected with the operation and maintenance vehicle body.
The spraying direction of the suspension propeller is perpendicular to that of the underwater propeller.
The miklamer wheel can drive the operation and maintenance vehicle body to move along the direction parallel to the plane of the operation and maintenance vehicle body, and the suspension propeller can drive the operation and maintenance vehicle body to move along the direction perpendicular to the plane of the operation and maintenance vehicle body.
The two underwater propellers are arranged at the top end of the operation and maintenance vehicle body in parallel.
The intelligent car body management system is characterized by further comprising a perception sensor and a cloud deck camera, wherein the perception sensor and the cloud deck camera are respectively arranged on the operation and maintenance car body, and are respectively connected with the control system.
The perception sensor is two, and a cloud platform camera sets up the one end at the fortune dimension automobile body, and another cloud platform camera sets up the other end at the fortune dimension automobile body.
The device further comprises a detection tool arranged on the operation and maintenance vehicle body, and the detection tool is connected with the control system.
The detection tool is a welding seam detector.
With the continuous maturity of the robot technology, the underwater robot can complete the operation task of the nuclear power pool. Therefore, the application provides the underwater operation and maintenance robot for the nuclear power station. By adopting the method and the device, water in the water tank does not need to be pumped out, and the device can complete the work of welding, leaking stoppage, potential crack inspection, wall surface cleaning and the like of the water tank with high efficiency by carrying corresponding operating parts under the state that the normal operation of the nuclear power station is not influenced. By adopting the underwater operation and maintenance robot for the nuclear power station to complete daily inspection and emergency maintenance of the nuclear power pool, economic loss caused by production halt can be avoided, people can be liberated from severe and harmful working environments, and huge economic and social benefits are achieved. Meanwhile, the design of the device is ingenious and reasonable, the device can adapt to the characteristic that the nuclear power pool environment is complex, and the device has flexible movement performance and stable operation performance. The underwater operation and maintenance robot for the nuclear power station serves as an application platform suitable for the underwater environment of the nuclear power station, development of the nuclear power station is promoted, physical health of workers is guaranteed, economic loss caused by operation stop of the nuclear power station is reduced, and the underwater operation and maintenance robot has high application value.
Drawings
Fig. 1 is a schematic structural diagram of a working unit of the underwater operation and maintenance robot for the nuclear power plant in embodiment 1.
The labels in the figure are: 1. the operation and maintenance vehicle comprises an operation and maintenance vehicle body, 2, a buoyancy block, 3, a suspension propeller, 4, an underwater propeller, 5 and a Maclam wheel.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings.
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Example 1
As shown in the figure, the embodiment provides a nuclear power station underwater operation and maintenance robot, which includes a work unit, a connection cable, an automatic take-up and pay-off device, and a control system.
In this embodiment, the work unit is used as the main part for realize corresponding suspension, lift, upset, turn operation. Wherein, the work unit includes fortune dimension automobile body, drive assembly, buoyancy piece, suspension propeller, underwater propulsor.
In this embodiment, the drive assembly is composed of a mikland wheel and a drive motor. The driving motor is arranged at the bottom end of the operation and maintenance vehicle body, and the operation and maintenance vehicle body can provide support for the driving motor; an output shaft of the driving motor is connected with the Miclam wheel, and the driving motor can drive the Miclam wheel to rotate. In this embodiment, the drive assembly is four groups, and the drive assembly equipartition is on the fortune dimension automobile body, and the drive assembly is the rectangle and arranges.
Meanwhile, the buoyancy block is connected with the operation and maintenance vehicle body. In this embodiment, the buoyancy piece is a set of, and the buoyancy piece symmetry sets up on the fortune dimension automobile body, adopts the connection of dismantling between buoyancy piece and the fortune dimension automobile body.
In this embodiment, the number of the suspension propellers is four, and the number of the underwater propellers is two. The suspension propellers are uniformly distributed on the operation and maintenance vehicle body and are positioned above the Maclam wheel; the underwater propellers are arranged at the top end of the operation and maintenance vehicle body in parallel. In the structure, the mikim wheel drives the operation and maintenance vehicle body to move along the direction of the machine body of the operation and maintenance vehicle body, and the underwater propeller drives the operation and maintenance vehicle body to move along the direction of the machine body of the operation and maintenance vehicle body; the suspension propeller can drive the operation and maintenance vehicle body to move along a plane vertical to the motion direction of the Maclam wheel; namely, the jet direction of the suspension propeller is vertical to the jet direction of the underwater propeller.
In this embodiment, the work unit links to each other with automatic pay-off and take-up device through the connecting cable, and the connecting cable can provide power supply, communication function for the work unit. The driving motor, the suspension propeller and the underwater propeller are sequentially connected with the control system through the connecting cable and the automatic take-up and pay-off device. By adopting the mode, the remote operation of the driving motor, the suspension propeller and the underwater propeller can be realized, and the corresponding detection and other work can be further completed. Further, the signal transmission between the automatic winding and unwinding device and the control system can adopt a wired transmission mode or a wireless transmission mode. In this embodiment, fortune dimension automobile body afterbody is connected with automatic take-up and pay-off through the connecting cable, realizes two kinds of functions of data transmission and power transmission, and when the fortune dimension automobile body broke down, the accessible was retrieved from the automatic take-up and pay-off.
When the automatic winding and unwinding device is used for operation, the automatic winding and unwinding device is integrally independent of the operation and maintenance vehicle body and is arranged above the water pool, the automatic winding and unwinding device is connected with the operation and maintenance vehicle body through a multi-core cable, and data transmission and power transmission between the operation and maintenance vehicle body and the automatic winding and unwinding device are achieved through a connecting cable. In order to prevent the connecting cable from being damaged by pulling or paying off too long, a cable tension degree detection system is added at the end of the flat cable, and when the pulling force is too large or too small, the motor for taking up and paying off can decelerate to take up and pay off or stop taking up and paying off. In order to prevent the cable from winding and twisting during winding and unwinding and keep communication signals smooth, an electric-signal slip ring is adopted to connect the fixed end and the rotating end of the cable, so that the cable can be prevented from winding, and the normal function of the cable can be ensured.
In the embodiment, the buoyancy blocks are arranged on two sides of the operation and maintenance vehicle body and used for balancing the weight of the operation and maintenance vehicle body in water, and the underwater operation and maintenance robot of the nuclear power station can conveniently move by using a small driving force. In this embodiment, the operation and maintenance automobile body has arranged 4 suspension propellers all around for realize the suspension of operation and maintenance automobile body in aqueous, go up and down and 90 upsets, four suspension propellers carry out drive control by solitary motor. Two sides of the operation and maintenance vehicle body are provided with 2 horizontally-mounted underwater propellers for realizing the functions of advancing, retreating, turning and the like of the vehicle in water. The bottom of the operation and maintenance vehicle body is driven by 4 sets of Mecanum wheels, so that the operation and maintenance vehicle body can move and steer in any direction of the pool bottom or the pool wall. Specifically, by controlling the rotational speed of a maclam wheel within the drive assembly; when the rotating speeds of the Maclam wheels on the two sides of the operation and maintenance vehicle body are the same, the operation and maintenance vehicle body moves forwards or backwards along the linear direction; when the rotating speeds of the Maclam wheels on the two sides of the operation and maintenance vehicle body are different, the operation and maintenance vehicle body performs corresponding steering motion.
In the embodiment, the operation and maintenance vehicle body can be pushed to move in any direction in water through the suspension propeller and the underwater propeller. When the operation and maintenance vehicle body moves to the bottom of the pool or the wall of the pool, the motor is needed to drive the four mike amur wheels to realize the omnibearing movement of the operation and maintenance vehicle body at the bottom of the pool and the wall of the pool. The motor in the suspension propeller, the motor in the underwater propeller and the driving motor are direct current motors, and the MOSFET tube is selected for driving the direct current motors to build an H-bridge drive or a three-phase drive to realize rotation speed control and position control.
The working process of the device is as follows:
(1) the suspension propeller works to enable the operation and maintenance vehicle body to move in the pool along the vertical direction;
(2) when the operation and maintenance vehicle body is attached to the pool bottom, the suspension propellers provide downward pressure to ensure that the operation and maintenance vehicle body is attached to the pool bottom; at the moment, the driving component works to drive the operation and maintenance vehicle body to move at the bottom of the pool according to the set requirement; after the operation of the pool bottom is finished, the four suspension propellers move reversely, so that the operation and maintenance vehicle body can be lifted upwards;
(3) when the vehicle needs to move from the pool to the side wall of the pool, the relative rotating speed of the suspension propeller is changed, so that the operation and maintenance vehicle body is changed from the horizontal direction to the vertical direction; then, the four suspension propellers are ejected at the same speed and attached to the side wall of the pool; when the operation and maintenance vehicle body is attached to the side wall of the water pool, the suspension propeller provides corresponding pressure to ensure that the operation and maintenance vehicle body is attached to the side wall of the water pool; at the moment, the driving component works to drive the operation and maintenance vehicle body to move on the side wall of the pool according to the set requirement; after the bottom of the pool is finished, the four suspension propellers move reversely, so that the operation and maintenance vehicle body can be separated from the side wall of the pool;
and stopping working until the set detection task is finished.
In this embodiment, the operation and maintenance vehicle body is provided with a sensor fixing tool, is provided with a standard electrical interface, and is compatible with the installation of sensors of various specifications. In this embodiment, still include perception sensor, cloud platform camera, detection frock. Wherein, perception sensor is two, and a cloud platform camera sets up the one end at the fortune dimension automobile body, and another cloud platform camera sets up the other end at the fortune dimension automobile body. The cloud platform camera, detect the frock and set up respectively on the fortune dimension automobile body, and perception sensor, cloud platform camera, detection frock link to each other with control system respectively. Preferably, the detection tool adopts a weld joint detector.
The underwater operation and maintenance robot for the nuclear power station can be used for overhauling, sampling, cutting, welding and the like under a pool of the nuclear power station. When the light-duty carrier platform is used as a light-duty carrier platform, various welding seam detection sensors can be carried for detecting welding seams at the bottom of the pool. When it is as a heavy carrier platform, can carry on the arm and be used for the operation of underwater environment, but the terminal all kinds of instruments of arm adaptation for realize functions such as maintenance, sample, cutting and welding. The model machine size that this application was prepared is length 1200mm x wide 800mm x high 700mm, and it can satisfy the operation demand of following environmental condition, temperature: 0-60 ℃, humidity: 100%, irradiation dose: 500Gy/h, water depth: 30 m. Experimental results show that the nuclear power station underwater operation and maintenance robot has reasonable structure and stable and reliable operation according to the working requirements of the nuclear power station underwater environment.
The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.
Claims (9)
1. An underwater operation and maintenance robot for a nuclear power station is characterized by comprising a working unit, a connecting cable, an automatic take-up and pay-off device and a control system;
the working unit comprises an operation and maintenance vehicle body, a driving assembly, a buoyancy block, a suspension propeller and an underwater propeller;
the single group of driving components consists of a Maclam wheel and a driving motor; the driving motor is arranged at the bottom end of the operation and maintenance vehicle body and can provide support for the driving motor, an output shaft of the driving motor is connected with the Michelm wheel, and the driving motor can drive the Michelm wheel to rotate;
the driving assemblies are uniformly distributed on the operation and maintenance vehicle body, and the linear or steering motion of the operation and maintenance vehicle body can be realized by controlling the rotating speed of the Maclam wheels in the driving assemblies;
the buoyancy block is connected with the operation and maintenance vehicle body and can realize the adjustment of the integral buoyancy of the working unit;
the number of the suspension propellers is four, the suspension propellers are uniformly distributed on the operation and maintenance vehicle body, and the suspension propellers can drive the operation and maintenance vehicle body to move along a plane perpendicular to the motion direction of the Maclam wheel;
the number of the underwater propellers is at least two, the underwater propellers are arranged at the top end of the operation and maintenance vehicle body and can drive the operation and maintenance vehicle body to move along the direction parallel to the plane where the operation and maintenance vehicle body is located;
the working unit is connected with the automatic take-up and pay-off device through a connecting cable, and the connecting cable can provide power supply and communication functions for the working unit;
the driving motor, the suspension propeller and the underwater propeller are sequentially connected with the control system through the connecting cable and the automatic take-up and pay-off device.
2. The underwater operation and maintenance robot for the nuclear power plant as claimed in claim 1, wherein the signal transmission between the automatic take-up and pay-off device and the control system is in a wired transmission mode or a wireless transmission mode.
3. The underwater operation and maintenance robot for the nuclear power plant as claimed in claim 1, wherein the buoyancy blocks are a group and are symmetrically arranged on the operation and maintenance vehicle body.
4. The underwater operation and maintenance robot for the nuclear power plant as claimed in claim 3, wherein the buoyancy block is detachably connected with the operation and maintenance vehicle body.
5. The nuclear power station underwater operation and maintenance robot as claimed in claim 1, wherein the number of the underwater propellers is two, and the underwater propellers are arranged in parallel at the top end of the operation and maintenance vehicle body.
6. The underwater operation and maintenance robot for the nuclear power station according to any one of claims 1 to 5, characterized by further comprising a perception sensor and a cloud deck camera, wherein the perception sensor and the cloud deck camera are respectively arranged on the operation and maintenance vehicle body, and are respectively connected with the control system.
7. The nuclear power station underwater operation and maintenance robot as claimed in claim 6, wherein the number of the sensing sensors is two, one cradle head camera is arranged at one end of the operation and maintenance vehicle body, and the other cradle head camera is arranged at the other end of the operation and maintenance vehicle body.
8. The underwater operation and maintenance robot for the nuclear power station as claimed in any one of claims 1 to 7, further comprising a detection tool arranged on the operation and maintenance vehicle body, wherein the detection tool is connected with the control system.
9. The underwater operation and maintenance robot for the nuclear power plant as recited in claim 8, wherein the detection tool is a weld detector.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121487307.0U CN215205322U (en) | 2021-07-01 | 2021-07-01 | Nuclear power station underwater operation and maintenance robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202121487307.0U CN215205322U (en) | 2021-07-01 | 2021-07-01 | Nuclear power station underwater operation and maintenance robot |
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| CN215205322U true CN215205322U (en) | 2021-12-17 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114228962A (en) * | 2021-12-22 | 2022-03-25 | 合肥工业大学 | STM 32-based underwater intelligent device |
| CN114571927A (en) * | 2022-03-31 | 2022-06-03 | 中国人民解放军92228部队 | Unmanned amphibious liquid cargo transport vehicle |
| CN114669933A (en) * | 2022-03-29 | 2022-06-28 | 河海大学 | Underwater welding robot and operation process thereof |
-
2021
- 2021-07-01 CN CN202121487307.0U patent/CN215205322U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114228962A (en) * | 2021-12-22 | 2022-03-25 | 合肥工业大学 | STM 32-based underwater intelligent device |
| CN114669933A (en) * | 2022-03-29 | 2022-06-28 | 河海大学 | Underwater welding robot and operation process thereof |
| CN114571927A (en) * | 2022-03-31 | 2022-06-03 | 中国人民解放军92228部队 | Unmanned amphibious liquid cargo transport vehicle |
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