Remote-controlled engineering vehicle testing platform

Abstract

This invention discloses a remote-controlled engineering vehicle testing platform, comprising a platform body and a tracked device. The platform body contains a sealed testing chamber for housing the remote-controlled engineering vehicle. The tracked device is disposed within the testing chamber and is used to carry the remote-controlled engineering vehicle. The platform body is provided with an injection structure communicating with the testing chamber, which allows liquids and gases to pass through and be injected into the testing chamber. This remote-controlled engineering vehicle testing platform, through the platform body and its internal testing chamber, can simulate the rated pressure of an actual working environment. Combined with the tracked device, it expands the driving range of the remote-controlled engineering vehicle, enabling the testing of the vehicle's operational capabilities.

Description

Technical Field

[0001] This invention relates to the field of underwater equipment testing technology, and in particular to a remote-controlled engineering vehicle testing platform. Background Technology

[0002] In nuclear power plants, remote-controlled engineering vehicles are used for special operations on the reactors. Before their official use, it is necessary to test the vehicle's own weight and its ability to perform designated actions under rated pressure. Due to the special nature of boric acid liquid in nuclear power plants and the special environment of the reactors, it is impossible to test the remote-controlled engineering vehicles on-site at the nuclear power plant. Therefore, it is necessary to design a test platform that can simulate the rated pressure of the reactor and fully test the designated operational capabilities of the remote-controlled engineering vehicles. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a remote control engineering vehicle test platform that can simulate the rated pressure of the working environment and test the operation capability of the remote control engineering vehicle.

[0004] The technical solution adopted by the present invention to solve its technical problem is: to provide a remote-controlled engineering vehicle test platform, including a platform body and a track device;

[0005] The platform body has a sealed test chamber for housing a remote-controlled engineering vehicle; the track device is installed in the test chamber for carrying the remote-controlled engineering vehicle.

[0006] The platform body is provided with an injection structure that connects to the test chamber. The injection structure is used for liquids and gases to pass through and be injected into the test chamber.

[0007] Preferably, within the test chamber, the track device is movable relative to the bottom surface of the test chamber, for adjusting the pitch gradient of the remote-controlled engineering vehicle mounted thereon.

[0008] Preferably, the remote-controlled engineering vehicle test platform further includes at least one lifting mechanism and at least one support column;

[0009] The lifting mechanism corresponds to one side of the track device and is connected between the bottom surface of the track device and the test chamber. It drives one side of the track device to move up and down through the lifting action.

[0010] The support column corresponds to the opposite side of the track device and is connected between the bottom surface of the track device and the test chamber.

[0011] Preferably, the bottom surface of the test chamber is provided with a first hinge and a second hinge corresponding to the lifting mechanism and the support column, respectively;

[0012] One end of the lifting mechanism is connected to the first hinge, and the other end is connected to the track device; one end of the support column is connected to the second hinge, and the other end is connected to the track device.

[0013] Preferably, the platform body includes a tank with an open top and a top cover; the internal space of the tank forms the test chamber;

[0014] The top cover is detachable and sealed to the top of the tank, thereby sealing the top of the tank.

[0015] Preferably, the top cover includes a top cover body and an injection cover body, and the injection structure is disposed on the injection cover body;

[0016] The top cover body is provided with a window communicating with the test chamber. The injection cover body is fitted on the window and can be opened and closed on the top cover body by means of a hinge mechanism and a movable buckle.

[0017] Preferably, the lower part of the platform body is provided with a drain port and a tank cover; the drain port is connected to the test chamber, and the tank cover is closable on the drain port to close or open the drain port.

[0018] Preferably, the track device includes a track support and a track mechanism disposed on the track support and used to carry a remote-controlled engineering vehicle.

[0019] Preferably, the track mechanism includes a drive motor, a drive wheel, several driven wheels, and a transmission track;

[0020] The driving wheel and the driven wheel are arranged parallel to each other and spaced apart, and the transmission track is wrapped around the outer periphery of the driving wheel and the driven wheel;

[0021] The drive motor is connected to and drives the drive wheel to rotate, which in turn drives the transmission track and the driven wheel to rotate synchronously.

[0022] Preferably, the remote-controlled engineering vehicle testing platform further includes at least one pressure detection device and a speed and distance detection device;

[0023] The pressure detection device is installed on the track device and is used to detect the pressure at the water depth where the remote-controlled engineering vehicle is located;

[0024] The speed and distance detection device is installed on the track device and is used to detect the walking speed and distance of the remote-controlled engineering vehicle.

[0025] Preferably, the remote-controlled engineering vehicle test platform further includes at least one modular slot; the modular slot is disposed on the track device and is used for the insertion of functional modules for testing.

[0026] Preferably, the remote-controlled engineering vehicle test platform further includes a plug-in module disposed on the platform body; the plug-in module is electrically connected to the track device, and the plug-in module is provided with a socket for connecting to a control terminal; and / or,

[0027] The remote-controlled engineering vehicle testing platform also includes a control terminal; the control terminal is connected to the tracked device and controls the start and stop of the tracked device.

[0028] The beneficial effects of this invention are: by setting up the platform body and its internal test chamber, the rated pressure of the actual working environment can be simulated, and the driving range of the remote-controlled engineering vehicle can be expanded by combining the track device, so as to realize the test of the operation capability of the remote-controlled engineering vehicle. Attached Figure Description

[0029] The present invention will be further described below with reference to the accompanying drawings and embodiments. In the accompanying drawings:

[0030] Figure 1 This is a schematic diagram of the connection structure of a remote-controlled engineering vehicle test platform according to an embodiment of the present invention;

[0031] Figure 2 yes Figure 1 A schematic diagram of the exploded structure of the main body of the platform;

[0032] Figure 3 yes Figure 2 A schematic diagram of the injection cap structure of the top cover;

[0033] Figure 4 yes Figure 2 Schematic diagram of the middle tank;

[0034] Figure 5 yes Figure 2 A schematic diagram of the tracked device on the bottom surface of the test chamber;

[0035] Figure 6 yes Figure 5 Schematic diagram of the track mechanism;

[0036] Figure 7 yes Figure 2 A schematic diagram of the tracked device in an inclined state on the bottom surface of the test chamber;

[0037] Figure 8 yes Figure 7 Side view. Detailed Implementation

[0038] To provide a clearer understanding of the technical features, objectives, and effects of the present invention, specific embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0039] like Figure 1 ,2 As shown, a remote-controlled engineering vehicle test platform according to an embodiment of the present invention includes a platform body 10 and a track device 20.

[0040] The platform body 10 has a sealed test chamber 100 for housing a remote-controlled engineering vehicle, so as to test the specified operational capabilities of the remote-controlled engineering vehicle according to test requirements. The track device 20 is set in the test chamber 100 to carry the remote-controlled engineering vehicle, thereby expanding its driving range. The remote-controlled engineering vehicle can travel on the track device 20 at the required speed and distance according to test requirements.

[0041] The platform body 10 is equipped with an injection structure that connects to the test chamber 100. The injection structure allows liquids and gases to pass through and be injected into the test chamber 100, creating an underwater environment with a rated pressure for the remote-controlled engineering vehicle. This simulates the actual working environment of the remote-controlled engineering vehicle, enabling the testing of various performance parameters of the vehicle under rated pressure. The rated pressure is set according to the rated pressure of the remote-controlled engineering vehicle in its actual working environment.

[0042] Specifically, the platform body 10 may include a top-open tank 11 and a top cover 12. The internal space of the tank 11 forms a test chamber 100; the top cover 12 is detachably and sealingly connected to the top of the tank 11, sealing the top of the tank 11. The opening and closing of the top cover 12 at the top of the tank 11 also realizes the opening or sealing of the test space 100.

[0043] The tank 11, as a container structure, provides the basis for the formation of the test space 100. The tank 11 can be made of materials such as concrete and / or metal, and its outer shape can be, but is not limited to, polygonal, circular, etc. The top of the tank 11 is open, which facilitates the entry and exit of remote-controlled engineering vehicles, and also facilitates the maintenance of the interior of the tank 11, the tracked device 20, etc.

[0044] The top cover 12 is fitted to the top of the tank body 11, sealing it closed. To secure the top cover 12 to the top of the tank body 11, the top end faces of both the top cover 12 and the tank body 11 may have communicating fastening holes. Bolts, screws, or other fasteners are used to lock the top cover 12 onto the top of the tank body 11. A sealing ring is further provided between the top end faces of the top cover 12 and the tank body 11 to seal the gap between them, enhancing the sealing performance between the top cover 12 and the tank body 11.

[0045] The injection structure is preferably located on the top cover 12 of the platform body 10. During testing, liquid (usually water) is injected into the test space 100 through the injection structure, filling the test space 100 and submerging the entire remote-controlled engineering vehicle underwater. Then, the test space 100 is pressurized by air injection through the injection structure, so that the underwater environment within the test space 100 has the pressure required for the water depth. For example, for an actual working environment with a water depth of 20 meters, the height of the tank 11 (the depth of the test space 100) does not need to be set according to the water depth; it only needs to be able to accommodate the entire remote-controlled engineering vehicle. The required pressure for the water depth is achieved through water injection and pressurization.

[0046] exist Figure 2 In the illustrated embodiment, the injection structure includes a liquid injection port 101 and a gas injection port 102. The liquid injection port 101 and the gas injection port 102 are independent of each other, allowing liquid and gas to pass through respectively. In other embodiments, the injection structure may include a single injection port for sequentially injecting liquid and gas.

[0047] Furthermore, the liquid injection port 101 and the gas injection port 102, or the form of the injection port, can each be formed by an opening opened on the top cover 12, or by a pipe section or interface connected to the top cover 12.

[0048] Alternatively, the top cover 12 may further include a top cover body 121 and an injection cover 122. The top cover body 121 has a window (not shown) communicating with the test chamber 100. The injection cover 122 fits onto the window and is connected to the top cover body 121, with an injection structure disposed on the injection cover 122. The injection cover 122 and its placement on the top cover body 121 create an additional small space between the inner surface of the injection cover 122 facing the test chamber 100 and the window, facilitating the injection and pressurization of the test chamber 100 through this small space after the test chamber 100 is filled with liquid.

[0049] Combination Figure 2 , Figure 3 The injection cover 122 can be opened and closed on the top cover body 121 via a hinge mechanism 123 and a movable latch 124. A sealing ring (not shown) is provided between the injection cover 122 and the top cover body 121 to achieve a tight seal. When it is necessary to open the injection cover 122, open the movable latch 124, rotate the injection cover 122 relative to the top cover body 121 using the hinge mechanism 123 as the pivot, and flip it open from the top cover body 121 to open the window. When closing, rotate the injection cover 122 relative to the top cover body 121 using the hinge mechanism 123 as the pivot, close it on the top cover body 121, and then fasten the movable latch 124 to lock the injection cover 122 on the top cover body 121.

[0050] Furthermore, such as Figure 2-4As shown, the lower part of the platform body 10 is provided with a drain port (not shown) and a tank cover 13. The drain port is connected to the test chamber 100 and is used to drain the liquid in the test chamber 100. The tank cover 13 is closable on the drain port to close or open the drain port. In combination with the structural composition of the platform body 10, the drain port and the tank cover 13 are specifically located at the lower part of the tank body 11.

[0051] The tank cover 13 can be locked onto the lower part of the tank body 11 with screws or other fasteners, thus allowing the tank cover 13 to be detached from the tank body 11. Alternatively, the tank cover 13 has a column 131 adapted to the drain port. The outer periphery of the column 131 and the inner wall of the drain port are provided with matching threads. The column 131 is locked inside the drain port through threaded engagement, fixing the tank cover 13 to the outside of the drain port and simultaneously sealing the drain port.

[0052] The tank cover 13 and its upper column 131 are designed to form a screw-like structure. During assembly and disassembly, the column 131 can be easily moved into or out of the drain port by rotating the tank cover 13, making the operation simple.

[0053] Inside the platform body 10, the track device 20 is mounted on the bottom surface 110 of the test chamber 100 (which is also the inner bottom surface of the platform body 10). The track device 20 provides a support surface for mounting the remote-controlled engineering vehicle and provides a travel surface for the remote-controlled engineering vehicle to extend its travel range.

[0054] like Figure 5 , 6 As shown, structurally, the track device 20 may include a track support 21 and a track mechanism 20, the track mechanism 20 being mounted on the track support 21 and used to carry a remote-controlled engineering vehicle.

[0055] The track mechanism 22 may further include a drive motor 221, a drive wheel 222, several driven wheels 223, and a transmission track 224. The drive wheel 222 and the driven wheels 223 are parallel and spaced apart, and the transmission track 224 is wrapped around the outer periphery of the drive wheel 222 and the driven wheels 223; the drive motor 221 is connected to the drive wheel 222 and drives the drive wheel 222 to rotate, and the rotation of the drive wheel 222 drives the transmission track 224 and the driven wheels 223 to rotate synchronously.

[0056] The track support 21 may be provided with a groove 210 adapted to the track mechanism 21. The track mechanism 21 can be accommodated in the groove 210. It is movably engaged in the inner side of the groove 210 at least through the shafts protruding from the ends of the drive wheel 222 and the driven wheel 223, so that the track mechanism 21 can be embedded in the track support 21 without affecting the operation of the track mechanism 21 itself.

[0057] Furthermore, to simulate some pitch situations that the remote-controlled engineering vehicle may encounter in actual work, the track device 20 is movably installed in the test chamber 100, so that the track device 20 is movable relative to the bottom surface 110 of the test chamber 100, adjusting its own pitch slope, and thus adjusting the pitch slope of the remote-controlled engineering vehicle mounted on it, so as to simulate the pitch state caused by the various slopes of the bearing bottom surface of the remote-controlled engineering vehicle in the actual working environment.

[0058] To enable the track device 20 to move within the test chamber 100, combined with Figure 2 and Figure 7 , 8 The remote-controlled engineering vehicle test platform of the present invention further includes at least one lifting mechanism 30 and at least one support column 40.

[0059] The lifting mechanism 30 is located on one side of the track device 20 and is connected between the track device 20 and the bottom surface 110 of the test chamber 100. The lifting mechanism 30 drives one side of the track device 20 to move up and down. The support column 40 is located on the opposite side of the track device 20 and is connected between the track device 20 and the bottom surface 110 of the test chamber 100.

[0060] The bottom surface 110 of the test chamber 100 is provided with a first hinge 121 and a second hinge 122 corresponding to the lifting mechanism 30 and the support column 40, respectively.

[0061] One end of the lifting mechanism 30 is connected to the first hinge lug 121, enabling the lifting mechanism 30 to be hinged to the bottom surface 110 of the test chamber 100, allowing the lifting mechanism 30 to rotate relative to the bottom surface 110. The other end of the lifting mechanism 30 is connected to the track device 20. The lifting mechanism 30, through its own lifting action, drives one side of the connected track device 20 to move up and down relative to the other side, thereby causing the track device 20 to tilt relative to the bottom surface 110. Figure 8 As shown.

[0062] exist Figure 7 In the illustrated embodiment, the lifting mechanism 30 includes an electric actuator. The electric actuator has cylindrical shafts at both ends, which engage with the first hinge lug 121 and the hinge lugs at the bottom of the track device 20 to achieve hinge connection.

[0063] One end of the support column 40 is connected to the second hinge lug 122, enabling the support column 40 to be hinged to the bottom surface 110 of the test chamber 100, allowing the support column 40 to rotate relative to the bottom surface 110. The other end of the support column 40 is connected to the track device 20. When the track device 20 tilts relative to the bottom surface 110, the support column 40 rotates with the movement of the track device 20, always supporting the track device 20.

[0064] Understandably, the lifting mechanism 30 and the support column 40 are specifically connected to the track support 21 of the track device 20, and the lifting of the track device 20 can be achieved by driving the track support 21 to lift.

[0065] Furthermore, such as Figure 5 As shown, the remote-controlled engineering vehicle test platform of the present invention may further include at least one pressure detection device 50, a speed and distance detection device 60, and at least one modular slot 70.

[0066] A pressure detection device 50 is mounted on the track assembly 20 to detect the water pressure at which the remote-controlled engineering vehicle is located. The detected pressure information helps determine whether the remote-controlled engineering vehicle is under the predetermined pressure required for testing and whether it meets the pressure requirements of simulating the actual working environment. The pressure detection device 50 can be, but is not limited to, a pressure sensor, and is mainly mounted on the track support 21.

[0067] A speed and distance detection device 60 is mounted on the track device 20 to detect the travel speed and distance of the remote-controlled engineering vehicle, facilitating real-time monitoring and adjustment of the vehicle's speed and distance during testing. The speed and distance detection device 60 can be a speed and distance sensor with integrated speed and distance detection functions, and is primarily mounted on the track support 21.

[0068] Modular slots 70 are provided on the track device 20 for inserting functional modules for testing, satisfying the verification of various performance characteristics of the remote-controlled engineering vehicle. For example, to verify the hole grinding performance, endoscope imaging performance, or measurement performance of the remote-controlled engineering vehicle, a conduit is used as a functional module to simulate the equipment that the remote-controlled engineering vehicle needs to grind, photograph, or measure in the actual working environment.

[0069] The modular design of the modular slot 70 makes it versatile and allows for the insertion of various functional modules.

[0070] For example Figure 1 , 2 As shown, the remote-controlled engineering vehicle test platform of the present invention may further include a gas-liquid input device 80, a control terminal 90, and a plug-in module 120 as needed.

[0071] The gas-liquid input device 80 serves as a gas-liquid source and is used to connect with the injection structure to deliver liquid and gas to the test chamber 100 through the injection structure.

[0072] exist Figure 1 In the illustrated embodiment, the gas-liquid input device 80 includes a liquid supply tank 81 and a gas supply tank 82. The liquid supply tank 81 is connected to the liquid injection port 101 of the injection structure via a liquid delivery pipe 811, and the gas supply tank 82 is connected to the gas injection port 102 of the injection structure via a gas delivery pipe 821.

[0073] Understandably, the liquid delivery pipe 811 and the gas delivery pipe 821 can be connected before testing. After testing, the liquid delivery pipe 811 and the gas delivery pipe 821 can be removed separately for easy storage.

[0074] The control terminal 90 is connected to the track device 20 and controls the start and stop of the track device 20. In addition, the control terminal 90 is also communicatively connected to the pressure detection device 50 and the speed and distance detection device 60, and receives pressure information from the pressure detection device 50 and speed and distance information from the speed and distance detection device 60.

[0075] The plug-in module 120 is mounted on the platform body 10, preferably on the tank 11 of the platform body 10. The plug-in module 120 is electrically connected to the track device 20, and the plug-in module 120 is provided with a socket 130. The control terminal 90 can be plugged into the socket 130 through the plug on its own configured power cord to connect to the plug-in module 120.

[0076] As an optional implementation, the control terminal 90 can be connected to the track device 20, the pressure detection device 50, and the speed and distance detection device 60 via the plug-in module 120. This allows the control terminal 90 to start and stop the track device 20 and receive pressure information from the pressure detection device 50 and speed and distance information from the speed and distance detection device 60 via the plug-in module 120.

[0077] The control terminal 90 can also be connected to the drive pump of the gas-liquid input device 80, and the start and stop of the gas-liquid input can be controlled by controlling the start and stop of the drive pump.

[0078] In addition, the control terminal 90 preferably integrates a fuzzy PID control program to achieve precise control during testing using the fuzzy PID control method, which has a faster response speed and stronger anti-interference capability compared to the control method of traditional liquid pressure test benches.

[0079] When the remote-controlled engineering vehicle test platform of the present invention is in operation, after the control terminal 90 receives the power-on command, the system begins initialization. It starts and operates the track device 20 to adjust the position of the remote-controlled engineering vehicle under test and initializes each sensor. When the control terminal 90 receives the test start command, the remote-controlled engineering vehicle under test begins to execute each tested control item. Simultaneously, each sensor collects data such as the speed and position of the remote-controlled engineering vehicle and confirms the pressure data at the location of the remote-controlled engineering vehicle.

[0080] If the remote-controlled engineering vehicle under test needs to perform a hole grinding performance test, it will generate a discharge operation containing impurities (liquid contaminated by grinding debris in the test chamber 100). At this time, an instantaneous liquid supply and drainage program will be executed immediately, followed by the activation of fuzzy PID control to precisely control the pressure in the test chamber 100 before and after the liquid discharge. The instantaneous liquid supply and drainage program refers to immediately replenishing the test chamber 100 with liquid to roughly balance the pressure difference while the remote-controlled engineering vehicle discharges the impurities generated from hole grinding.

[0081] The remote-controlled engineering vehicle testing platform of the present invention is not only applicable to the performance testing of remote-controlled engineering vehicles in nuclear power plants, but also applicable to the performance testing of remote-controlled engineering vehicles in other occasions.

[0082] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A remote-controlled engineering vehicle testing platform for testing remote-controlled engineering vehicles performing special operations on nuclear power plant reactors, characterized in that, Including the platform body and tracked device; The platform body includes an open-top tank and a top cover; the internal space of the tank forms a sealed test chamber for housing a remote-controlled engineering vehicle; the track device is installed in the test chamber for carrying the remote-controlled engineering vehicle. The top cover includes a top cover body and an injection cover body. The top cover body has a window communicating with the test chamber, and the injection cover body is fitted onto the window. The injection cover body has an injection structure communicating with the test chamber. The injection structure is used for liquid and gas to pass through and be injected into the test chamber. A space is formed between the inner surface of the injection cover body facing the test space and the window, which is used to pressurize the test chamber by injecting gas through the space after the test chamber is filled with liquid. The lower part of the platform body is provided with a drain port and a tank cover; the drain port is connected to the test chamber, and the tank cover is closable on the drain port to close or open the drain port; The remote-controlled engineering vehicle testing platform also includes at least one modular slot; the modular slot is disposed on the track device and is used to insert functional modules for testing hole grinding performance, endoscope imaging performance or measurement performance. The remote-controlled engineering vehicle test platform also includes a control terminal; the control terminal is connected to the track device, controls the start and stop of the track device, and is used to execute the instantaneous liquid supply and drainage program; The remote-controlled engineering vehicle test platform also includes at least one pressure detection device and a speed and distance detection device; The pressure detection device is installed on the track device and is used to detect the pressure at the water depth where the remote-controlled engineering vehicle is located; The speed and distance detection device is installed on the track device and is used to detect the walking speed and distance of the remote-controlled engineering vehicle.

2. The remote-controlled engineering vehicle testing platform according to claim 1, characterized in that, Inside the test chamber, the track device is movable relative to the bottom surface of the test chamber to adjust the pitch gradient of the remote-controlled engineering vehicle mounted thereon.

3. The remote-controlled engineering vehicle testing platform according to claim 2, characterized in that, The remote-controlled engineering vehicle test platform also includes at least one lifting mechanism and at least one support column; The lifting mechanism corresponds to one side of the track device and is connected between the bottom surface of the track device and the test chamber. It drives one side of the track device to move up and down through the lifting action. The support column corresponds to the opposite side of the track device and is connected between the bottom surface of the track device and the test chamber.

4. The remote-controlled engineering vehicle testing platform according to claim 3, characterized in that, The bottom surface of the test chamber is provided with a first hinge and a second hinge corresponding to the lifting mechanism and the support column, respectively; One end of the lifting mechanism is connected to the first hinge, and the other end is connected to the track device; one end of the support column is connected to the second hinge, and the other end is connected to the track device.

5. The remote-controlled engineering vehicle testing platform according to claim 1, characterized in that, The top cover is detachable and sealed to the top of the tank, thereby sealing the top of the tank.

6. The remote-controlled engineering vehicle testing platform according to claim 5, characterized in that, The injection cap can be opened and closed on the top cover body via a hinge mechanism and a movable buckle.

7. The remote-controlled engineering vehicle testing platform according to claim 1, characterized in that, The track device includes a track support and a track mechanism mounted on the track support for mounting a remote-controlled engineering vehicle. The track mechanism includes a drive motor, a drive wheel, several driven wheels, and a transmission track; The driving wheel and the driven wheel are arranged parallel to each other and spaced apart, and the transmission track wraps around the outer periphery of the driving wheel and the driven wheel; The drive motor is connected to and drives the drive wheel to rotate, which in turn drives the transmission track and the driven wheel to rotate synchronously.

8. The remote-controlled engineering vehicle testing platform according to any one of claims 1 to 7, characterized in that, The remote-controlled engineering vehicle test platform also includes a plug-in module disposed on the main body of the platform; the plug-in module is electrically connected to the track device, and the plug-in module is provided with a socket for connecting to a control terminal.

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