Self-growing soft-hardware integrated robot and its application
A self-growing, robotic technology, applied in the direction of manipulators, manufacturing tools, etc., can solve the problems of small size, difficult removal of the shroud of the integrated roof assembly, and a small number of windows
Active Publication Date: 2022-03-18
SOUTHWEAT UNIV OF SCI & TECH
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- Application Information
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Problems solved by technology
Due to the small space of the storage platform itself, the difficulty of removing the casing of the integrated stack roof assembly, the small number of windows available for inspection, the small size, and insufficient lighting, etc., the inspection of the control rod drive mechanism is carried out according to the conventional thinking. higher difficulty
Method used
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Embodiment 1
[0114] The self-growing software-hardware integrated robot of this embodiment is used in the inspection of the CAP1400 control rod drive mechanism, and the overall external working scene is relatively open. The diameter of the circular protective cover outside the rod array is about 3 meters, and it is planned to open holes on the protective cover at a height of 2 meters from the ground.
[0115] The working environment of the robot is an array of 89 control rods regularly arranged at regular intervals. The maximum diameter of the rods to be inspected is 188mm, and the distance between them is about 120mm; the size of the yoke body is 274mm, and the distance between the two yoke bodies is 30mm. The widest part of the entire area to be inspected is 2735mm, and there is a protective cover with a diameter of about 3000mm outside the rod array. It is required that the robot can enter the area to be inspected through four holes of 300mm in the protective cover, and inspect the yoke...
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The invention discloses a self-growing software-hardware integrated robot and its application, which includes a flexible mechanical arm, a software self-growth unit, a sixth guide support, a growth gas source, and a control system. The software self-growth unit is at least two The flexible robotic arm includes a support unit, a drive unit, and an execution unit, the drive unit is connected to the support unit and the support unit can provide support for the drive unit, the execution unit is connected to the drive unit and the drive unit can drive the execution unit to move; The drive unit is connected with the control system, and the control system can control the drive unit to drive the execution unit to perform bending movement according to the set requirements. This application proposes for the first time a self-growing soft-hard integrated robot, which organically combines a soft self-growing unit with a flexible robotic arm, and can meet the detection needs of the control rod drive mechanism in a nuclear power plant. Furthermore, the present application proposes a brand-new detection strategy, which can greatly increase the detection speed and has high application value.
Description
technical field [0001] The invention relates to the field of soft robots, in particular to a self-growing soft-hardware integrated robot and its application. Background technique [0002] Control Rod Drive Mechanism (abbreviation: CRDM) is an electromagnetically driven mechanical device. In a pressurized water reactor, the role of the control rod drive mechanism is to position the control rod assembly (abbreviation: CRA) in the vertical direction. The control rod drive mechanism changes or maintains the vertical height of the control rod assembly to realize the start and stop of the reactor, and adjust or maintain the power level of the core during the normal operation of the reactor, and quickly shut down the reactor under accident conditions. [0003] In CAP1400 series nuclear power plants, the rest of the control rod drive mechanism, except the drive rod parts, is enclosed by the shroud of the integrated reactor top assembly, and the arrangement is tight. During the ref...
Claims
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IPC IPC(8): B25J11/00
CPCB25J11/00
Inventor 臧红彬李成佳杨怀林张钢高源
Owner SOUTHWEAT UNIV OF SCI & TECH