Self-climbing module of specialized robot

Abstract

The invention discloses a self-climbing module of a specialized robot. The self-climbing module comprises an irradiation-resistant shell, an adsorption device and a rope climbing device, a propeller device is mounted on the outer side wall of the radiation-resistant shell; the adsorption device comprises a gas control system and a suction cup assembly, the suction cup assembly is installed on the outer side wall, away from the propeller device, of the irradiation-resistant shell, the gas control system is installed in the irradiation-resistant shell, and the gas control system communicates with the suction cup assembly; the rope climbing device comprises a driving assembly, a positioning guide wheel set and a rope coiling winch. The driving assembly is installed in the irradiation-resistant shell, the rope coiling winch is installed at the output end of the driving assembly, and the positioning guide wheel set is rotationally connected into the irradiation-resistant shell. Wherein a traction rope is wound on the rope coiling winch and the positioning guide wheel group. The robot can realize high-precision climbing, positioning and hovering capabilities, can be stably adsorbed on the surface of a wall body in a high-radiation and high-risk environment, and provides efficient and reliable technical support for wall body repairing operation in a nuclear environment.

Description

Technical Field

[0001] The present invention relates to the technical field of special robots, in particular to a self-climbing module of a special robot. Background Art

[0002] The walls of nuclear facilities, such as reactors, spent fuel storage pools, and nuclear waste processing plants, are exposed to harsh environments such as strong radiation, high temperatures, high humidity, and corrosive media. Over time, these wall materials may experience aging, cracking, and delamination. If not promptly inspected and repaired, these issues not only impact the structural safety of the facilities but can also lead to radioactive leaks, posing serious safety risks and environmental pollution.

[0003] Although existing nuclear power facility repair robots have strong operational capabilities, their climbing and positioning capabilities are still limited, especially in high-radiation environments, where their performance degrades quickly and their stability is poor.

[0004] Therefore, a special robot self-climbing module is proposed. Summary of the Invention

[0005] The purpose of the present invention is to provide a special robot self-climbing module, aiming to solve or improve at least one of the above-mentioned technical problems.

[0006] To achieve the above-mentioned purpose, the present invention provides the following solution: The present invention provides a special robot self-climbing module, comprising:

[0007] a radiation-resistant shell, wherein a propeller device is installed on an outer side wall of the radiation-resistant shell;

[0008] An adsorption device, the adsorption device comprising a gas control system and a suction cup assembly, the suction cup assembly being mounted on an outer side wall of the radiation-resistant housing away from the propeller device, the gas control system being mounted within the radiation-resistant housing, and the gas control system being in communication with the suction cup assembly;

[0009] A rope climbing device, comprising a drive assembly, a positioning guide wheel assembly, and a rope winding winch; the drive assembly is mounted in the radiation-resistant housing, the rope winding winch is mounted at the output end of the drive assembly, and the positioning guide wheel assembly is rotatably connected in the radiation-resistant housing;

[0010] Wherein, a traction rope is wound around the rope winch and the positioning guide wheel group, and both ends of the traction rope extend out of the radiation-resistant shell.

[0011] According to a special robot self-climbing module provided by the present invention, the positioning guide wheel group includes a first roller, a second roller, a clamping wheel and a third roller arranged in sequence from top to bottom;

[0012] The first roller, the second roller, the clamping wheel and the third roller are all rotatably connected to a connecting plate, the connecting plate is fixedly mounted on the inner side wall of the radiation-resistant shell, the traction rope is sequentially wound around the first roller, the rope winch, the second roller and the third roller from top to bottom, and the traction rope is passed between the clamping wheel and the second roller.

[0013] According to a special robot self-climbing module provided by the present invention, the driving assembly includes a driving motor installed on the connecting plate, the output shaft of the driving motor is equipped with a reducer, the rope winch is rotatably connected to the connecting plate via a rotating shaft, and the rotating shaft is axially connected to the output shaft of the reducer via a coupling.

[0014] According to a special robot self-climbing module provided by the present invention, the rope winch includes two conical disc structures, the conical surfaces of the two conical disc structures are arranged opposite to each other, the traction rope is wound between the two conical disc structures, and the two conical disc structures are fixedly mounted on the rotating shaft through the winch threaded disc.

[0015] According to a special robot self-climbing module provided by the present invention, the radiation-resistant housing includes a metal frame and a radiation-resistant shield plate, the radiation-resistant shield plate is covered on the outer wall of the metal frame, and the radiation-resistant shield plate is bonded to the metal frame by a polyimide adhesive;

[0016] The propeller device and the suction cup assembly are respectively installed on the two opposite outer walls of the radiation-resistant protective cover plate, and the gas control system and the connecting plate are fixedly installed on the metal frame; the top of the traction rope extends out of the top wall of the radiation-resistant protective cover plate, and the bottom extends out of the bottom wall of the radiation-resistant protective cover plate.

[0017] According to a special robot self-climbing module provided by the present invention, the suction cup assembly includes at least two suction cups, which are installed on the outer wall of the radiation-resistant protective cover plate at intervals; the suction cups are made of radiation-resistant fluororubber material, and the outer wall of the suction cup is provided with an annular anti-slip groove;

[0018] The gas control system includes a vacuum pump fixedly mounted on the metal frame, and the vacuum pump is fixedly connected to and communicated with the two suction cups through air pipes.

[0019] According to a special robot self-climbing module provided by the present invention, the propeller device includes a propeller motor and a propeller body, the propeller motor is installed on the outer wall of the radiation-resistant protective cover plate, and the propeller body is fixedly installed on the output shaft of the propeller motor, and the propeller body adopts a propeller or blade structure.

[0020] According to a special robot self-climbing module provided by the present invention, the top wall of the radiation-resistant protective cover plate is provided with a rope inlet hole, and the bottom wall is provided with a rope outlet hole, and the two ends of the traction rope respectively pass through the rope inlet hole and the rope outlet hole;

[0021] A motor connection hole and a suction cup connection hole are respectively provided on the two opposite outer side walls of the radiation-resistant protective cover plate. There are two suction cup connection holes. The two suction cups are respectively installed on the two suction cup connection holes. The paddle motor is installed on the motor connection hole. The paddle motor and the motor connection hole, and the suction cup and the suction cup connection hole are sealed by fluororubber sealing rings respectively.

[0022] According to a special robot self-climbing module provided by the present invention, blocking rings are installed on the first roller, the second roller and the third roller, and a positioning sleeve is installed on the clamping wheel.

[0023] According to a special robot self-climbing module provided by the present invention, the outer wall of the paddle motor, the outer wall of the paddle body and the surface of the traction rope are all coated with a radiation-resistant polyurethane coating.

[0024] The present invention discloses the following technical effects:

[0025] The invention adopts a radiation-resistant shell that can effectively withstand extreme working conditions such as high temperature and high radiation, ensuring long-term stable operation of the equipment and extending its service life. The module integrates a propeller device and an adsorption device, which can achieve strong adhesion and flexible desorption on the wall surface, ensuring stable operation on the wall surface. The adsorption device supplies or exhausts air to the suction cup assembly through a gas control system, allowing the suction cup assembly to achieve firm adsorption and automatic desorption, and at the same time cooperates with the propeller device to provide negative or positive pressure to adjust the adhesion.

[0026] The rope climbing device of the present invention includes a drive assembly, a positioning guide wheel group, and a rope winch. The drive assembly drives the rope winch to rotate, and cooperates with the guiding function of the positioning guide wheel group to realize smooth transmission of the traction rope, which can achieve high-precision climbing, positioning and hovering capabilities, with fast operation response and strong traction force. It is suitable for various complex working conditions and can stably adhere to the wall surface in high-radiation and high-risk environments. It can cooperate with detection or repair devices to perform fixed-point or large-scale operations, thereby improving the intelligence and automation level of remote operations.

[0027] The present invention improves system stability and safety, significantly reduces manual operation risks, and provides efficient and reliable technical support for wall repair operations in nuclear environments. It adopts a modular structure to facilitate assembly and maintenance, and combines safety, flexibility, and adaptability. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0029] Figure 1 It is the front view of the present invention;

[0030] Figure 2 It is a structural schematic diagram of the present invention;

[0031] Figure 3 Schematic diagram of the structure of the rope climbing device in the present invention;

[0032] Figure 4 This is a front view of the rope climbing device of the present invention;

[0033] Figure 5 Schematic diagram of the installation of the blocking ring and the adjusting sleeve in the present invention;

[0034] Figure 6 This is a schematic diagram of the installation of the rotating shaft in the present invention.

[0035] Among them, 1. traction rope; 2. rope winch; 3. first roller; 4. second roller; 5. clamping wheel; 6. third roller; 7. connecting plate; 8. drive motor; 9. reducer; 10. rotating shaft; 11. metal frame; 12. radiation-resistant protective cover plate; 13. suction cup; 14. vacuum pump; 15. propeller motor; 16. propeller body; 17. blocking ring; 18. positioning sleeve. DETAILED DESCRIPTION

[0036] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0037] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0038] Reference Figures 1-6 The present invention provides a special robot self-climbing module, comprising:

[0039] A radiation-resistant shell, wherein a propeller device is installed on the outer side wall of the radiation-resistant shell;

[0040] The adsorption device includes a gas control system and a suction cup assembly. The suction cup assembly is installed on the outer side wall of the radiation-resistant housing away from the propeller device. The gas control system is installed in the radiation-resistant housing and is in communication with the suction cup assembly.

[0041] The rope climbing device includes a drive assembly, a positioning guide wheel group and a rope winding winch 2; the drive assembly is installed in a radiation-resistant housing, the rope winding winch 2 is installed at the output end of the drive assembly, and the positioning guide wheel group is rotatably connected in the radiation-resistant housing;

[0042] Among them, a traction rope 1 is wound around the rope winch 2 and the positioning guide wheel group, and both ends of the traction rope 1 extend out of the radiation-resistant shell;

[0043] With this configuration, the present invention uses a radiation-resistant housing that can effectively withstand extreme working conditions such as high temperature and high radiation, ensuring long-term stable operation of the equipment and extending its service life. The module integrates a propeller device and an adsorption device, which can achieve strong adhesion and flexible desorption on the wall surface, ensuring stable operation on the wall surface. The adsorption device supplies or exhausts air to the suction cup assembly through a gas control system, allowing the suction cup assembly to achieve firm adsorption and automatic desorption, while cooperating with the propeller device to provide negative or positive pressure to adjust the adhesion.

[0044] The rope climbing device of the present invention includes a drive assembly, a positioning guide wheel group, and a rope winch 2. The drive assembly drives the rope winch 2 to rotate, and cooperates with the guiding function of the positioning guide wheel group to achieve smooth transmission of the traction rope 1, which can achieve high-precision climbing, positioning and hovering capabilities, fast operation response, strong traction, and is suitable for a variety of complex working conditions. It can stably adhere to the wall surface in high-radiation and high-risk environments, and cooperate with detection or repair devices to perform fixed-point or large-scale operations, thereby improving the intelligence and automation level of remote operations.

[0045] The present invention improves system stability and safety, significantly reduces manual operation risks, and provides efficient and reliable technical support for wall repair operations in nuclear environments. It adopts a modular structure to facilitate assembly and maintenance, and combines safety, flexibility, and adaptability.

[0046] Further optimizing the solution, the positioning guide wheel group includes a first roller 3, a second roller 4, a clamping wheel 5 and a third roller 6 arranged in sequence from top to bottom;

[0047] The first roller 3, the second roller 4, the clamping wheel 5 and the third roller 6 are all rotatably connected to the connecting plate 7, which is fixedly mounted on the inner side wall of the radiation-resistant shell. The traction rope 1 is wound around the first roller 3, the rope winch 2, the second roller 4 and the third roller 6 in sequence from top to bottom, and the traction rope 1 is passed between the clamping wheel 5 and the second roller 4.

[0048] The traction rope 1 enters the rope winch 2 through the first roller 3, and after passing around the rope winch 2, the traction rope 1 is clamped to the second roller 4 through the clamping wheel 5, and then rewound through the third roller 6 to form a transmission loop.

[0049] A further optimized solution is that the drive assembly includes a drive motor 8 installed on the connecting plate 7, the output shaft of the drive motor 8 is installed with a reducer 9, the rope winch 2 is rotatably connected to the connecting plate 7 through a rotating shaft 10, and the rotating shaft 10 is axially connected to the output shaft of the reducer 9 through a coupling.

[0050] A further optimized solution is that the rope winch 2 includes two conical disc structures, the conical surfaces of the two conical disc structures are arranged opposite to each other, the traction rope 1 is wound between the two conical disc structures, and the two conical disc structures are fixedly mounted on the rotating shaft 10 through the capstan threaded disc; the axial movement of the rope winch 2 is limited by the capstan threaded disc.

[0051] According to a further optimized solution, the radiation-resistant housing includes a metal frame 11 and a radiation-resistant shield plate 12. The radiation-resistant shield plate 12 is covered on the outer wall of the metal frame 11, and the radiation-resistant shield plate 12 is bonded to the metal frame 11 by a polyimide adhesive.

[0052] The propeller device and the suction cup assembly are respectively installed on the two opposite outer walls of the radiation-resistant protective cover plate 12, and the gas control system and the connecting plate 7 are fixedly installed on the metal frame 11; the top of the traction rope 1 extends out of the top wall of the radiation-resistant protective cover plate 12, and the bottom extends out of the bottom wall of the radiation-resistant protective cover plate 12.

[0053] A further optimized solution is that the suction cup assembly includes at least two suction cups 13, which are installed at intervals on the outer wall of the radiation-resistant protective cover plate 12; the suction cups 13 are made of radiation-resistant fluororubber material, and the outer wall of the suction cup 13 is provided with an annular anti-slip groove;

[0054] The gas control system includes a vacuum pump 14 fixedly mounted on the metal frame 11. The vacuum pump 14 is fixedly connected and communicated with the two suction cups 13 through air pipes, forming a closed air circuit system.

[0055] The vacuum pump 14 can provide both vacuuming and inflation functions. In the vacuuming mode, the vacuum pump 14 extracts the air from the two suction cups 13, creating a negative pressure environment so that the two suction cups 13 are firmly attached to the wall surface, ensuring the stability of the device during operation. In the inflation mode, the vacuum pump 14 inflates air into the two suction cups 13, releasing the adsorption state and allowing the two suction cups 13 to quickly detach from the wall, facilitating the adjustment or movement of the device.

[0056] The annular anti-slip groove structure further increases the friction in contact with the wall, thereby improving the adsorption effect.

[0057] Further optimizing the solution, the propeller device includes a propeller motor 15 and a propeller body 16, the propeller motor 15 is mounted on the outer wall of the radiation-resistant shield plate 12, and the propeller body 16 is fixedly mounted on the output shaft of the propeller motor 15, and the propeller body 16 adopts a propeller or blade structure;

[0058] The propeller body 16 is fixed to the output shaft of the propeller body 16 through a precise connection mechanism. The propeller body 16 is made of a high-temperature resistant and fatigue-resistant composite material, which not only reduces the overall weight but also improves durability. The propeller body 16 is designed in the shape of a propeller or blade, which optimizes aerodynamic performance and can provide strong thrust or suction when rotating at high speed.

[0059] During operation, the paddle motor 15 can control the rotation direction of the paddle body 16 by rotating it forward or reverse. When the paddle motor 15 rotates forward, the paddle body 16 rotates to generate negative pressure, pushing the wall-climbing device toward the wall and enhancing adhesion. When the paddle motor 15 rotates reversely, the paddle body 16 rotates to generate positive pressure, pulling the wall-climbing device away from the wall, allowing it to detach or adjust its position. In addition, the output power and speed of the propeller device can be precisely adjusted by a motor controller (not shown) to ensure that the appropriate thrust is provided in different operating scenarios.

[0060] Further optimized, the top wall of the radiation-resistant protective cover plate 12 is provided with a rope inlet hole, and the bottom wall is provided with a rope outlet hole, and the two ends of the traction rope 1 pass through the rope inlet hole and the rope outlet hole respectively;

[0061] A motor connection hole and a suction cup connection hole are respectively provided on the two opposite outer side walls of the radiation-resistant protective cover plate 12. There are two suction cup connection holes, and two suction cups 13 are respectively installed on the two suction cup connection holes. The paddle motor 15 is installed on the motor connection hole. Fluororubber sealing rings are used to seal the paddle motor 15 and the motor connection hole, and the suction cup 13 and the suction cup connection hole.

[0062] Further optimizing the solution, a blocking ring 17 is installed on the first roller 3, the second roller 4 and the third roller 6, and an adjusting sleeve 18 is installed on the clamping wheel 5;

[0063] The positions of the first roller 3, the second roller 4 and the third roller 6 are all adjusted by the blocking ring 17, and the position of the clamping wheel 5 is adjusted by the adjusting sleeve 18 to ensure that the clamping wheel 5, the first roller 3, the second roller 4 and the third roller 6 are located in the same plane, thereby ensuring the precise alignment of the transmission system. The clamping wheel 5 and the bearing are precisely matched to ensure the stable operation of the traction rope 1, reduce friction, and improve system efficiency and stability.

[0064] To further optimize the solution, the outer wall of the propeller motor 15, the outer wall of the propeller body 16 and the surface of the traction rope 1 are coated with a layer of radiation-resistant polyurethane coating to isolate radiation, reduce the direct effect of rays on the outer wall of the propeller motor 15, the outer wall of the propeller body 16 and the traction rope 1, and improve the service life.

[0065] According to a further optimization solution, the metal frame 11 is made of stainless steel.

[0066] To further optimize the solution, the propeller motor 15 adopts a high-power, small-volume DC brushless motor to ensure smooth operation and high reliability.

[0067] To further optimize the solution, drive motor 8 utilizes a servo motor, offering high torque, low energy consumption, and fast response. Reducer 9 utilizes a multi-stage planetary gear reduction structure, boasting a high transmission ratio and efficiency, providing strong traction at relatively low motor output speeds. The necessary traction is generated by frictionally wrapping the traction rope 1 around the rotating winch 2, as it rotates or stops, enabling the wall-climbing device to achieve precise climbing, descending, or hovering operations.

[0068] In the description of the present invention, it should be understood that the terms "longitudinal", "transverse", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0069] Obviously, the above embodiments of the present invention are merely examples for the purpose of clearly illustrating the present invention and are not intended to limit the embodiments of the present invention. A person skilled in the art will be able to make other variations or modifications based on the above description. It is not necessary and impossible to enumerate all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the claims of the present invention.

Claims

1. A special robot self-climbing module, characterized in that: include: a radiation-resistant shell, wherein a propeller device is installed on the outer side wall of the radiation-resistant shell; An adsorption device, the adsorption device comprising a gas control system and a suction cup assembly, the suction cup assembly being mounted on an outer side wall of the radiation-resistant housing away from the propeller device, the gas control system being mounted within the radiation-resistant housing, and the gas control system being in communication with the suction cup assembly; A rope climbing device, comprising a drive assembly, a positioning guide wheel assembly, and a rope winding winch (2); the drive assembly is installed in the radiation-resistant housing, the rope winding winch (2) is installed at the output end of the drive assembly, and the positioning guide wheel assembly is rotatably connected in the radiation-resistant housing; A traction rope (1) is wound around the rope winch (2) and the positioning guide wheel assembly, and both ends of the traction rope (1) extend out of the radiation-resistant housing.

2. The special robot self-climbing module according to claim 1, characterized in that: The positioning guide wheel group comprises a first roller (3), a second roller (4), a clamping wheel (5) and a third roller (6) arranged in sequence from top to bottom; The first roller (3), the second roller (4), the clamping wheel (5) and the third roller (6) are all rotatably connected to a connecting plate (7), and the connecting plate (7) is fixedly mounted on the inner side wall of the radiation-resistant shell. The traction rope (1) is sequentially wound around the first roller (3), the rope winch (2), the second roller (4) and the third roller (6) from top to bottom, and the traction rope (1) is passed between the clamping wheel (5) and the second roller (4).

3. The special robot self-climbing module according to claim 2, characterized in that: The drive assembly comprises a drive motor (8) mounted on the connecting plate (7), an output shaft of the drive motor (8) being mounted with a reducer (9), the coiling winch (2) being rotatably connected to the connecting plate (7) via a rotating shaft (10), and the rotating shaft (10) being axially connected to the output shaft of the reducer (9) via a coupling.

4. The special robot self-climbing module according to claim 3, characterized in that: The rope winch (2) comprises two conical disc structures, the conical surfaces of the two conical disc structures are arranged opposite to each other, the traction rope (1) is wound between the two conical disc structures, and the two conical disc structures are fixedly mounted on the rotating shaft (10) through the capstan threaded disc.

5. The special robot self-climbing module according to claim 2, characterized in that: The radiation-resistant housing comprises a metal frame (11) and a radiation-resistant protective cover plate (12), wherein the radiation-resistant protective cover plate (12) is covered on the outer wall of the metal frame (11), and the radiation-resistant protective cover plate (12) is bonded to the metal frame (11) by a polyimide adhesive; The propeller device and the suction cup assembly are respectively installed on the two opposite outer walls of the radiation-resistant protective cover plate (12), and the gas control system and the connecting plate (7) are both fixedly installed on the metal frame (11); the top of the traction rope (1) extends out of the top wall of the radiation-resistant protective cover plate (12), and the bottom extends out of the bottom wall of the radiation-resistant protective cover plate (12).

6. The special robot self-climbing module according to claim 5, characterized in that: The suction cup assembly includes at least two suction cups (13), and the two suction cups (13) are installed at intervals on the outer side wall of the radiation-resistant protective cover plate (12); the suction cups (13) are made of radiation-resistant fluororubber material, and the outer wall of the suction cup (13) is provided with an annular anti-slip groove; The gas control system comprises a vacuum pump (14) fixedly mounted on the metal frame (11), and the vacuum pump (14) is fixedly connected to and communicated with the two suction cups (13) through air pipes.

7. The special robot self-climbing module according to claim 6, characterized in that: The propeller device comprises a propeller motor (15) and a propeller body (16), wherein the propeller motor (15) is mounted on the outer side wall of the radiation-resistant protective cover plate (12), and the propeller body (16) is fixedly mounted on the output shaft of the propeller motor (15), and the propeller body (16) adopts a propeller or blade structure.

8. The special robot self-climbing module according to claim 7, characterized in that: The top wall of the radiation-resistant protective cover plate (12) is provided with a rope inlet hole, and the bottom wall is provided with a rope outlet hole, and both ends of the traction rope (1) pass through the rope inlet hole and the rope outlet hole respectively; A motor connection hole and a suction cup connection hole are respectively provided on the two opposite outer side walls of the radiation-resistant protective cover plate (12), two suction cup connection holes are provided, the two suction cups (13) are respectively installed on the two suction cup connection holes, the paddle motor (15) is installed on the motor connection hole, and the paddle motor (15) and the motor connection hole, and the suction cup (13) and the suction cup connection hole are respectively sealed by fluororubber sealing rings.

9. The special robot self-climbing module according to claim 2, characterized in that: The first roller (3), the second roller (4) and the third roller (6) are all equipped with blocking rings (17), and the clamping wheel (5) is equipped with a positioning sleeve (18).

10. The special robot self-climbing module according to claim 7, characterized in that: The outer wall of the paddle motor (15), the outer wall of the paddle body (16) and the surface of the traction rope (1) are all coated with a radiation-resistant polyurethane coating.

Images