CN216731794U - Guide rail type inspection robot system suitable for ship stacking cabin - Google Patents
Guide rail type inspection robot system suitable for ship stacking cabin Download PDFInfo
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- CN216731794U CN216731794U CN202220044912.9U CN202220044912U CN216731794U CN 216731794 U CN216731794 U CN 216731794U CN 202220044912 U CN202220044912 U CN 202220044912U CN 216731794 U CN216731794 U CN 216731794U
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Abstract
The utility model discloses a guide rail type inspection robot system suitable for a ship piling cabin, which belongs to the technical field of comprehensive guarantee and nuclear emergency of a ship power system, is suitable for state monitoring in the ship piling cabin, comprises leakage state monitoring, temperature and humidity monitoring, radiation state monitoring, video inspection and the like, and is mainly divided into two scenes: when the system normally operates, the inspection of the state in the stack cabin is carried out at regular time; and when an emergency accident occurs, detecting the emergency state in the reactor cabin. The robot guide rail is annularly arranged along the side wall of the stacking cabin, and an I-shaped track is adopted, so that the occupied space resource in the stacking cabin is very little, and the space resource is not neededThe robot needs to have obstacle crossing capability; the robot body consists of a mobile structure, a multi-source sensor, a temporary data storage system and a motion control system, and the visual anti-irradiation capacity of the camera can reach not less than 106rad/h level; the robot shielding bin has the functions of robot shielding protection, data transmission (provided with a data interface), charging and the like.
Description
Technical Field
The utility model belongs to the technical field of comprehensive guarantee and nuclear emergency of a ship power system, and particularly relates to a guide rail type inspection robot system suitable for a ship stowage bin.
Background
At present, researches of different degrees are carried out for nuclear power station robots at home and abroad, however, the ship reactor cabin environment and the nuclear power station containment have great difference, the space resources are more tense, the environment in the cabin is more severe, and the system operation working condition is more complex. Therefore, a robot system suitable for the ship storage cabin needs to be designed by combining the characteristics of the ship storage cabin and the inspection requirement, so that unmanned inspection of the storage cabin is realized; due to the limited space resources of the ship stacking cabin, the space occupied by the robot entering the stacking cabin needs to be reduced as much as possible while the inspection function of the robot is realized; in addition, under the accident condition, the environment in the stack cabin is more complex, the environment in the cabin can not be mastered, the robot with stronger radiation resistance is required to enter the stack cabin, the information in the cabin is transmitted to an extravehicular centralized control room for taking corresponding measures at the first time, the accident result is relieved, and the nuclear safety is ensured.
SUMMERY OF THE UTILITY MODEL
Aiming at the defects or improvement requirements in the prior art, the utility model provides the guide rail type inspection robot system suitable for the ship storage cabin, which can realize a state monitoring task in normal operation and can also meet the task of emergency state detection in the cabin under accident conditions.
In order to achieve the above object, the present invention provides a guide rail type inspection robot system suitable for a ship stowage bin, comprising: the robot comprises a robot guide rail, a robot body and a robot shielding bin;
the robot guide rail is an I-shaped rail and is annularly arranged along the side wall of the reactor cabin;
the hoist and mount of robot body are in the guide rail below, the robot body includes: the system comprises a moving mechanism, a multi-source sensor, a temporary data storage system and a motion control system, wherein the moving mechanism is used for driving the robot body to move on the robot guide rail, a sensor signal output end of the multi-source sensor is connected with the temporary data storage system so as to be stored through the temporary data storage system, and the motion control system is used for providing a motion source for the robot body;
the robot shielding bin has a robot shielding and protecting function, and the robot body enters after inspection.
In some optional embodiments, the track material of the robot guide rail is stainless steel, and the robot guide rail is installed on a certain layer or each layer of inner wall of the pile cabin, so as to realize the inspection and detection tasks of a certain layer or each layer of equipment.
In some alternative embodiments, the robot guide rail is mounted in a side-hanging manner and is connected with the side wall of the stack cabin through a mounting bracket.
In some optional embodiments, the multisource sensor comprises a video sensor, a temperature and humidity sensor, a nuclear radiation detector, a smoke sensor and an ultrasonic sensor, wherein the video sensor has a radiation resistance level not lower than 106rad/h, the nuclear radiation detector adopts an ionization chamber detector.
In some optional embodiments, the motion control system selects a servo motor as a power source of the robot body, and positions the robot body by using a positioning method based on particle filtering and map matching.
In some alternative embodiments, a path is routed from a location on the robot guide rail to the robot shield bin.
In some optional embodiments, the material of the robot shielding bin is a polymer-based composite shielding material.
In some optional embodiments, the robot shielding bin is provided with an electric induction door to realize the entrance and exit of the robot body and effective radiation shielding.
In some optional embodiments, the robot shielding bin is provided with a data transmission interface to enable the temporary data storage system in the robot body to be connected with a background data management center.
In some optional embodiments, the robot shielding bin is provided with a charging interface for charging the robot body.
In general, compared with the prior art, the above technical solution contemplated by the present invention can achieve the following beneficial effects:
(1) the robot suitable for complex environments such as high temperature, high humidity and high radiation of a ship stack cabin is provided, unmanned inspection of the stack cabin is realized, and the time for personnel to enter the stack cabin is shortened as much as possible;
(2) aiming at the condition that space resources in a stacking cabin are limited, a scheme of a guide rail type robot is provided, so that the arrangement of main equipment in the cabin can not be influenced, and the influence of the robot on the maintenance space of the stacking cabin is minimized;
(3) compared with the traditional crawler-type mobile robot, the provided guide rail type robot does not need to have the obstacle crossing capability, so that the robot is designed in a precise and simplified manner;
(4) the shielding bin of the robot can reduce the time of exposing a camera and a sensor of the robot to a high radiation dose field to the maximum extent and prolong the service life of the robot;
(5) the robot is provided with a temporary data storage system, and the information and data in the cabin can be transmitted to the monitoring center outside the cabin in time through a data interface in the shielding cabin of the robot;
(6) in case of an accident, the environment inside the reactor cabin is more complex. The robot system can detect the condition in the cabin at the first time, transmit information to an operator to take relevant measures, relieve accident consequences and ensure nuclear safety;
(7) the guide rail type robot can realize 360-degree detection in the reactor cabin, and the problem of monitoring blind areas or dead angles in the reactor cabin is solved.
Drawings
Fig. 1 is a schematic structural diagram of a guide rail type inspection robot system suitable for a ship storage cabin according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further 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 utility model and are not intended to limit the utility model. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
The utility model provides a guide rail type inspection robot system suitable for a ship piling cabin, which is applied to the environment of the ship piling cabin.
The guide rail type inspection robot system provided by the utility model comprises three main parts, namely a robot guide rail, a robot body, a robot shielding bin and the like, and the following detailed description is provided.
(1) Robot guide rail
As shown in fig. 1, the robot guide rail is installed on the inner wall of the stack cabin along the side wall of the stack cabin as a platform and a rail for the robot to inspect in the cabin. The typical ship piling cabin is generally layered, and structures such as planking, grids and the like can be paved on each layer to facilitate maintenance of operators. The robot guide rail can be arranged on a certain layer or each layer of the stack cabin (if needed), and the inspection and detection tasks of equipment on the certain layer or each layer are realized.
The track material is stainless steel, and has good mechanical property and thermal expansion property due to high temperature resistance, oxidation resistance and irradiation resistance.
The cross section of the track is an I-shaped track, the bending moment born by the I-shaped guide rail is large, the cross section shape and the spatial distribution of the I-shaped track conform to the application of the actual environment, and the whole weight is light.
The track adopts the side-hung type mounting means, can realize piling the monitoring of no dead angle in the cabin, is connected with piling cabin lateral wall through installing support. The size of the track can be designed according to the arrangement condition of the equipment in the cabin, the space in the cabin and the like, the space occupied by the track in the cabin is reduced as much as possible, and the maintainability is ensured.
The robot body is hoisted below the guide rail, and does not occupy the transverse space in the cabin.
(2) Robot body
The robot body is a mobile carrier and a core device for realizing the monitoring of the state in the reactor cabin.
The robot body consists of a moving mechanism, a multi-source sensor, a temporary data storage system and a motion control system.
The robot moving mechanism is used for driving the robot body to move on the robot guide rail.
The robot multi-source sensor mainly comprises a video sensor, a temperature and humidity sensor, a nuclear radiation detector and the like. Wherein the video sensor radiation-resistant level can reach 106rad/h, which meets the irradiation environment of the system in the cabin under the normal operation condition and the short-term accident condition; the nuclear radiation detector adopts an ionization chamber detector with strong radiation resistance.
The robot data temporary storage system temporarily stores various data in the inspection process in the cabin, and returns to the robot shielding bin after the inspection is finished to transmit the data to the background.
The robot motion control system selects a servo motor as a power source of the robot, and adopts a positioning method based on particle filtering and map matching to position the robot.
(3) Robot shielding bin
The robot shielding bin is a specific device which is entered by the robot at the end of inspection.
One path is led out from a certain position of the robot annular guide rail and leads to the robot shielding bin, the led-out branch and the specific arrangement position thereof can be designed according to the actual arrangement condition in the cabin, and fig. 1 shows an illustration that the shielding bin is positioned at one corner of the annular guide rail.
The robot shielding bin is used as a radiation protection area for starting and stopping and data transmission of the robot, so that the time of the robot exposed in a reactor cabin radiation environment is reduced, the irradiation dose rate level of the robot is greatly reduced, and the service life of the robot is prolonged.
The robot shielding bin is made of a polymer-based composite shielding material which is easy to form, high in strength and resistant to irradiation, the polymer is used as a base body and mainly used for shielding neutrons in the bin, and metal components such as lead and tungsten are added in the composite material and used for shielding gamma rays in the bin.
The robot shielding bin is provided with an electric induction door, so that the robot can pass in and out and effectively shield radiation. When the robot moves to the induction door, the door induction door can be automatically opened through the induction system; after the robot enters the protection device, the induction door can be automatically closed.
The robot shielding bin is provided with a data transmission interface, so that the connection between the temporary robot data storage system and the background data management center can be realized.
The shielding storehouse of robot is provided with the interface that charges, and the robot can in time charge in the device.
All energy supply and data transmission in the robot shielding bin pass through the stacking cabin penetrating piece channel in a wired mode and are stacked outside the stacking cabin.
The guide rail type inspection robot system has the working mode that:
1. when a ship power system normally operates, according to a planned maintenance task, determining a robot inspection cycle;
2. the robot carries out the polling task according to a set period, a shielding door of a shielding bin of the robot is opened, the robot enters an annular guide rail from the shielding bin, and the polling task is carried out along the guide rail;
3. in the inspection process, an intra-cabin environment detection task is implemented in an area with key attention, and data are stored in a data temporary storage system of the robot;
4. after the inspection task is completed, the robot returns to the robot shielding bin along the track, and data are transmitted to the extravehicular centralized control room in time through the data transmission interface; if necessary, the robot can be charged;
5. under the condition of an accident, the outdoor centralized control room transmits an emergency signal to the robot shielding bin, and the robot is dispatched to enter the track to carry out an indoor environment emergency detection task.
After the task is completed, the robot waits for the next operation in the robot shielding bin.
It should be noted that, according to implementation requirements, each step/component described in the present application can be divided into more steps/components, and two or more steps/components or partial operations of the steps/components can also be combined into a new step/component to achieve the purpose of the present invention.
It will be understood by those skilled in the art that the foregoing is only an exemplary embodiment of the present invention, and is not intended to limit the utility model to the particular forms disclosed, since various modifications, substitutions and improvements within the spirit and scope of the utility model are possible and within the scope of the appended claims.
Claims (10)
1. The utility model provides a robot system is patrolled and examined to guide tracked suitable for cabin is piled to boats and ships which characterized in that includes: the robot comprises a robot guide rail, a robot body and a robot shielding bin;
the robot guide rail is an I-shaped rail and is annularly arranged along the side wall of the reactor cabin;
the hoist and mount of robot body are in the guide rail below, the robot body includes: the system comprises a moving mechanism, a multi-source sensor, a data temporary storage system and a motion control system, wherein the moving mechanism is used for driving the robot body to move on the robot guide rail, a sensor signal output end of the multi-source sensor is connected with the data temporary storage system so as to be stored through the data temporary storage system, and the motion control system is used for providing a motion source for the robot body;
the robot shielding bin has a robot shielding and protecting function, and the robot body enters after inspection.
2. The guide rail type inspection robot system suitable for the ship storage cabin according to claim 1, wherein the rail material of the robot guide rail is stainless steel, and the robot guide rail is installed on a certain layer or each layer of inner wall of the storage cabin, so that inspection and detection tasks on a certain layer or each layer of equipment are realized.
3. The guide rail type inspection robot system suitable for the ship storage cabin according to claim 2, wherein the robot guide rail is mounted in a side-hanging manner and is connected with the side wall of the storage cabin through a mounting bracket.
4. The guideway inspection robot system suitable for ship storage tanks of claim 3, wherein the multisource sensors comprise a video sensor, a temperature and humidity sensor, a nuclear radiation detector, a smoke sensor and an ultrasonic sensor, wherein the video sensor has an anti-radiation level not lower than 106rad/h, the nuclear radiation detector is an ionization chamber detector.
5. The guideway inspection robot system suitable for ship storage tanks of any one of claims 1 to 4, wherein the motion control system selects a servo motor as a power source of the robot body and adopts a positioning method based on particle filtering and map matching to position the robot body.
6. The guide rail type inspection robot system suitable for the ship storage cabin is characterized in that a path is led out from a certain position of the robot guide rail to the robot shielding cabin.
7. The guide rail type inspection robot system suitable for the ship storage cabin according to claim 6, wherein the material of the robot shielding cabin is a polymer matrix composite shielding material.
8. The guide tracked inspection robot system suitable for boats and ships are piled cabin according to claim 7, characterized in that, the robot shielding storehouse is provided with electronic induction door to realize the business turn over of robot body and effectual radiation shielding.
9. The guide rail type inspection robot system suitable for the ship storage cabin according to claim 8, wherein the robot shielding cabin is provided with a data transmission interface so as to realize connection between a data temporary storage system in the robot body and a background data management center.
10. The guide rail type inspection robot system suitable for the ship storage cabin according to claim 9, wherein the robot shielding cabin is provided with a charging interface for charging the robot body.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220044912.9U CN216731794U (en) | 2022-01-10 | 2022-01-10 | Guide rail type inspection robot system suitable for ship stacking cabin |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202220044912.9U CN216731794U (en) | 2022-01-10 | 2022-01-10 | Guide rail type inspection robot system suitable for ship stacking cabin |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115366067A (en) * | 2022-08-31 | 2022-11-22 | 大连海事大学 | Ship engine room operation and maintenance robot |
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- 2022-01-10 CN CN202220044912.9U patent/CN216731794U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115366067A (en) * | 2022-08-31 | 2022-11-22 | 大连海事大学 | Ship engine room operation and maintenance robot |
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