Hydraulic manipulator system for nuclear power plant

Abstract

The application discloses a hydraulic mechanical arm system for nuclear power station, which comprises a mechanical arm assembly, an openable and closable mechanical claw, a rotary motor assembly and a pump station assembly. The pump station assembly is arranged at one end of the mechanical arm assembly, and the hydraulic mechanical arm assembly is driven to perform pitching action. The mechanical claw is arranged at the other end of the mechanical arm assembly away from the pump station assembly, and is driven to open and close under the hydraulic drive of the pump station assembly. The rotary motor assembly is arranged on the pump station assembly, and is connected to and drives the mechanical arm assembly to rotate relative to the pump station assembly. The pump station assembly is connected with a vertical long-distance conveying assembly, and can move up and down along the length direction of the vertical long-distance conveying assembly. The hydraulic mechanical arm system for nuclear power station can drive the mechanical arm assembly and the mechanical claw to move up and down by moving the pump station assembly up and down along the vertical long-distance conveying assembly, and can clamp and carry workpieces. The mechanical arm assembly and the pump station assembly are integrated, the structure is compact, and the length of the hydraulic pipe arranged between the mechanical arm assembly and the pump station assembly is reduced.

Description

Technical Field

[0001] This invention relates to robotic arm systems, and more particularly to a hydraulic robotic arm system for nuclear power plants. Background Technology

[0002] Based on similar emergency response events and theoretical analyses of power plants both domestically and internationally, there is a possibility of replacing nuclear equipment during emergency response operations at nuclear power plants, such as replacing the irradiated sample holder on the outer wall of the lower reactor internals.

[0003] Taking the replacement of the irradiated sample holder on the outer wall of the lower reactor internals as an example, it is necessary to transfer the old irradiated sample holder to the receiving container (due to the radioactivity of the irradiated sample holder, this process must be carried out in shielded water), and then transfer the new irradiated sample holder from the water surface to the outer wall of the lower reactor internals underwater for installation. Therefore, a device is needed to perform the above-mentioned transfer (handling) work. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a hydraulic robotic arm system for nuclear power plants.

[0005] The technical solution adopted by the present invention to solve its technical problem is: to provide a hydraulic robotic arm system for nuclear power plants, which includes a robotic arm assembly, an openable and closable robotic claw, a rotary motor assembly, a pump station assembly, and a vertical long-distance conveying assembly;

[0006] The pump station assembly is located at one end of the robotic arm assembly, and the robotic arm assembly is hydraulically driven to perform pitching motion; the robotic gripper is located at the end of the robotic arm assembly away from the pump station assembly, and is opened and closed under the hydraulic drive of the pump station assembly.

[0007] The rotary motor assembly is mounted on the pump station assembly, and is connected to and drives the robotic arm assembly to rotate relative to the pump station assembly;

[0008] The pump station assembly is connected to the vertical long-distance conveying assembly and can move up and down along the length of the vertical long-distance conveying assembly.

[0009] Preferably, the robotic arm assembly includes a plurality of robotic arm units connected in sequence and a set of joint hydraulic cylinders for driving the robotic arm units to perform pitching movements respectively, the set of joint hydraulic cylinders being connected to the pump station assembly via hydraulic pipelines.

[0010] Preferably, the number of robotic arm units is three, namely a first robotic arm unit, a second robotic arm unit, and a third robotic arm unit connected in sequence, and the joint hydraulic cylinder group includes a first joint hydraulic cylinder, a second joint hydraulic cylinder, and a third joint hydraulic cylinder;

[0011] The first joint hydraulic cylinder is connected between the main shaft of the rotary motor assembly and the first robotic arm unit, driving the first robotic arm unit to perform a pitching motion relative to the pump station assembly;

[0012] The second joint hydraulic cylinder is connected between the first robotic arm unit and the second robotic arm unit, driving the second robotic arm unit to perform a pitching motion relative to the first robotic arm unit;

[0013] The third joint hydraulic cylinder is connected between the second robotic arm unit and the third robotic arm unit, driving the third robotic arm unit to perform a pitching motion relative to the second robotic arm unit.

[0014] Preferably, the first joint hydraulic cylinder is connected to the main shaft of the rotary motor assembly at its end away from the piston rod, and connected to the second robotic arm unit at its piston rod end;

[0015] The second joint hydraulic cylinder is connected to the first robotic arm unit at its end furthest from the piston rod, and to the second robotic arm unit at its piston rod end.

[0016] The third joint hydraulic cylinder is connected to the second robotic arm unit at its piston rod end and to the third robotic arm unit at its end away from the piston rod.

[0017] Preferably, angle encoders are provided between the main shaft of the rotary motor assembly and the first robotic arm unit, between the first robotic arm unit and the second robotic arm unit, and between the second robotic arm unit and the third robotic arm unit.

[0018] Preferably, the pump station assembly includes a mounting plate, a plunger pump mounted on the mounting plate, an accumulator, a waterproof tank, and a control valve assembly for controlling the flow of high-pressure water in the hydraulic pipeline;

[0019] The control valve assembly is housed inside the waterproof tank. The input end of the accumulator is connected to the output end of the plunger pump, and the output end of the accumulator is connected to the inlet of the control valve assembly. The first outlet of the control valve assembly is connected to the joint hydraulic cylinder group through the hydraulic pipeline.

[0020] Preferably, the control valve assembly includes a base, a proportional solenoid valve disposed on the base, and a pressure reducing valve;

[0021] The proportional solenoid valve is connected to the hydraulic pipeline and is used to control the flow rate of liquid entering the force chamber of the joint hydraulic cylinder group; the pressure reducing valve is connected to the hydraulic pipeline and is used to control the hydraulic pressure in the back pressure chamber of the joint hydraulic cylinder group.

[0022] Preferably, the hydraulic pipeline includes a first pipeline and a second pipeline;

[0023] The input end of the first pipeline is connected to the first outlet of the control valve assembly, the output end of the first pipeline is connected to the force-receiving chamber of the joint hydraulic cylinder group, and the proportional solenoid valve is connected to the first pipeline.

[0024] The input end of the second pipeline is connected to the first outlet of the control valve assembly, the output end of the second pipeline is connected to the back pressure chamber of the joint hydraulic cylinder assembly, and the pressure reducing valve is connected to the second pipeline.

[0025] Preferably, the control valve assembly further includes a plurality of pressure sensors connected to the hydraulic lines.

[0026] Preferably, the control valve assembly further includes an unloading valve disposed on the base and used to control the unloading of the hydraulic line, and / or a safety valve disposed on the base and used to set the ultimate pressure of the hydraulic line.

[0027] Preferably, the hydraulic pipeline further includes a third pipeline, the pump station assembly further includes a water storage tank, the inlet of the water storage tank is connected to the second outlet of the control valve assembly through the third pipeline, and the outlet of the water storage tank is connected to the input end of the plunger pump.

[0028] Preferably, the pump station assembly further includes a filter connected to the inlet of the water storage tank, and the third pipeline is connected to the inlet of the water storage tank through the filter.

[0029] Preferably, the pump station assembly further includes an air inlet valve connected to the water storage tank.

[0030] Preferably, the nuclear power plant hydraulic robotic arm system further includes a robotic claw hydraulic cylinder for driving the opening and closing of the robotic claw. The first outlet of the control valve assembly is connected to the robotic claw hydraulic cylinder through the hydraulic pipeline. By controlling the flow of liquid into and out of the robotic claw hydraulic cylinder, power is provided for the opening and closing of the robotic claw.

[0031] Preferably, the rotary motor assembly includes a servo motor, a spindle, and a housing;

[0032] The lower end of the housing is mounted on the mounting plate of the pump station assembly, and one end of the servo motor near its output shaft is connected to the upper end of the housing to form a waterproof space.

[0033] One end of the main shaft is located within the waterproof space and is connected to the output shaft of the servo motor. The other end of the main shaft extends out of the waterproof space and is connected to the robotic arm assembly via a flange, driving the robotic arm assembly to rotate relative to the pump station assembly.

[0034] Preferably, the housing includes a cylindrical outer shell and a lower end cap;

[0035] The lower end of the housing is mounted on the mounting plate of the pump station assembly. The end of the servo motor near its output shaft is tightly fitted with the upper end of the housing. The lower end cover is disposed on the end face of the lower end of the housing and is sealed between the main shaft and the housing.

[0036] Preferably, the nuclear power plant hydraulic robotic arm system further includes a camera disposed on one side of the robotic gripper.

[0037] Preferably, the vertical long-distance conveying assembly includes at least one vertically extending conveying unit and at least one vertically extending linear guide rail unit disposed on the conveying unit. The mounting plate of the pump station assembly is provided with a slider assembly that slides with the linear guide rail unit. The pump station assembly can move up and down along the length direction of the conveying unit.

[0038] The nuclear power plant hydraulic robotic arm system of the present invention has at least the following beneficial effects: The nuclear power plant hydraulic robotic arm system of the present invention, by moving the pump station assembly up and down along a vertical long-distance conveying assembly, drives the robotic arm assembly and the robotic gripper to move up and down, and can be used to grip and transport workpieces. Connecting the robotic arm assembly to the pump station assembly via a rotary motor assembly integrates the robotic arm assembly and the pump station assembly into one unit, making the overall structure of the nuclear power plant hydraulic robotic arm system of the present invention compact. Attached Figure Description

[0039] The present invention will be further described below with reference to the accompanying drawings and embodiments. In the accompanying drawings:

[0040] Figure 1 This is a schematic diagram of the structure of a nuclear power plant hydraulic robotic arm system according to an embodiment of the present invention;

[0041] Figure 2 This is a schematic diagram of the vertical long-distance conveying component of a nuclear power plant hydraulic robotic arm system according to an embodiment of the present invention in the component pool;

[0042] Figure 3 This is a schematic diagram of the structure of an irradiation sample holder of a nuclear power plant hydraulic robotic arm system according to an embodiment of the present invention;

[0043] Figure 4 This is a schematic diagram of the mechanical arm assembly and mechanical gripper combination of a nuclear power plant hydraulic mechanical arm system according to an embodiment of the present invention;

[0044] Figure 5 This is a schematic diagram of the pump station component of a nuclear power plant hydraulic robotic arm system according to an embodiment of the present invention, viewed from a single perspective.

[0045] Figure 6This is a schematic diagram of the pump station component of a nuclear power plant hydraulic robotic arm system according to an embodiment of the present invention from another perspective;

[0046] Figure 7 This is a schematic diagram of the control valve assembly of a nuclear power plant hydraulic robotic arm system according to an embodiment of the present invention, viewed from one perspective.

[0047] Figure 8 This is a schematic diagram of the control valve assembly of a nuclear power plant hydraulic robotic arm system according to an embodiment of the present invention from another perspective;

[0048] Figure 9 This is a hydraulic pipeline system diagram of a nuclear power plant hydraulic robotic arm system according to an embodiment of the present invention;

[0049] Figure 10 This is a vertical cross-sectional view of the rotary motor assembly of a nuclear power plant hydraulic robotic arm system according to an embodiment of the present invention;

[0050] Figure 11 This is a schematic diagram of the conveying unit structure of the vertical long-distance conveying component of a nuclear power plant hydraulic robotic arm system according to an embodiment of the present invention. Detailed Implementation

[0051] 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.

[0052] A component is referred to as being "fixed to" or "set on" another component, and it may be located directly or indirectly on that other component. When a component is referred to as being "connected to" another component, it may be directly or indirectly connected to that other component.

[0053] The terms "axial" and "radial" refer to the length of the entire device or component as "axial" and the direction perpendicular to the axial direction as "radial".

[0054] The terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or specifying the number of technical features. "Multiple" means two or more, unless otherwise explicitly defined.

[0055] The terms used above are for ease of description only and should not be construed as limitations on this technical solution.

[0056] like Figure 1-11 As shown, a nuclear power plant hydraulic robotic arm system according to an embodiment of the present invention includes a robotic arm assembly 345, an openable robotic claw 6, a rotary motor assembly 2, a pump station assembly 1, and a vertical long-distance conveying assembly 9.

[0057] Please see Figure 1Pump station component 1 is located at one end of robotic arm component 345, and hydraulically drives robotic arm component 345 to perform pitching motion; robotic gripper 6 is located at the end of robotic arm component 345 away from pump station component 1, and opens and closes under the hydraulic drive of pump station component 1.

[0058] The rotary motor assembly 2 is mounted on the pump station assembly 1, and is connected to and drives the robotic arm assembly 345 to rotate relative to the pump station assembly 1.

[0059] See also Figure 2-3 The pump station assembly 1 is connected to the vertical long-distance conveying assembly 9 and can move up and down along the length of the vertical long-distance conveying assembly 9, driving the robotic arm assembly 345 and the robotic claw 6 to move up and down, which can be used to clamp and transport workpieces. The workpiece can be an irradiation sample holder 99 located on the outer wall of the lower stack inner component 3.

[0060] The robotic arm assembly 345 of this invention is hydraulically driven, relying on hydraulic cylinders that control the flow of hydraulic medium into and out of the robotic arm assembly 345 and the robotic gripper 6 to control the pitching motion of the robotic arm assembly 345 and the opening and closing motion of the robotic gripper 6. Compared to an electric robotic arm, the hydraulically driven robotic arm assembly 345 has a much higher power-to-weight ratio. Based on preliminary evaluation results, under the same load and arm span, the hydraulic robotic arm assembly 345 weighs 100 kg, while an electric robotic arm would weigh approximately 600 kg.

[0061] To fully consider the impact of excessively long hydraulic medium transmission pipelines on the motion control accuracy of the robotic arm assembly 345 and the robotic gripper 6, the robotic arm assembly 345 is connected to the pump station assembly 1 via the rotary motor assembly 2, integrating the robotic arm assembly 345 and the pump station assembly 1 into a single unit. This results in a compact overall structure for the nuclear power plant hydraulic robotic arm system of the present invention, reducing the length of the hydraulic pipes laid between the robotic arm assembly 345 and the pump station assembly 1, thereby improving the control accuracy of the movement of the robotic arm assembly 345 and the robotic gripper 6. Reducing the length of the hydraulic pipes also reduces the number of auxiliary equipment required for managing the hydraulic pipes during the movement of the hydraulic robotic arm system, lowering the workload of on-site personnel in managing the pipelines. It also reduces the workload of cleaning and decontaminating the hydraulic robotic arm system after it leaves the component water tank, and reduces the space required for subsequent storage of the hydraulic robotic arm system.

[0062] For example, in some embodiments, the length of the hydraulic pipe laid between the robotic arm assembly 345 and the pump station assembly 1 is only about 20 meters.

[0063] Considering that during nuclear power plant overhauls, equipment operating in the nuclear island component pool needs to meet the cleanliness requirements of the primary loop, using conventional hydraulic oil as the hydraulic medium poses a risk of contaminating the shielding water of the nuclear island component pool due to the reciprocating extension and retraction of the hydraulic cylinders. Therefore, the hydraulic medium in the nuclear power plant hydraulic robotic arm system of this invention is preferably water, and more preferably deionized water.

[0064] In some embodiments, the robotic arm assembly 345 includes a plurality of robotic arm units connected in sequence and a set of joint hydraulic cylinders for driving the robotic arm units to perform pitching motions respectively. The set of joint hydraulic cylinders is connected to the pump station assembly 1 through hydraulic lines.

[0065] Specifically, "multiple robotic arm units connected in sequence" refers to two or more robotic arm units connected in sequence. Correspondingly, the outermost robotic arm unit closest to the pump station assembly 1 is connected to the rotary motor assembly 2 and rotates relative to the pump station assembly 1 under the drive of the rotary motor assembly 2. The outermost robotic arm unit furthest from the pump station assembly 1 is connected to the robotic gripper 6.

[0066] It is understood that there are two or more robotic arm units, and one end of the robotic arm assembly 345 is connected to the rotary motor assembly 2. Accordingly, in order to achieve relative pitch movement between the various robotic arm units, and between the outermost robotic arm unit closest to the pump station assembly 1 and the rotary motor assembly 2, the articulated hydraulic cylinder group consists of two or more articulated hydraulic cylinders. The articulated hydraulic cylinders are arranged between the various robotic arm units or between the outermost robotic arm unit closest to the pump station assembly 1 and the rotary motor assembly 2, so as to achieve relative pitch movement between the various robotic arm units, and between the outermost robotic arm unit closest to the pump station assembly 1 and the rotary motor assembly 2.

[0067] By controlling the rotary motor assembly 2, the robotic arm assembly 345, and the robotic gripper 6 to perform translation, pitch, and grasping actions, the piston length of the joint hydraulic cylinder group and the rotation angle of the robotic arm assembly 345 relative to the pump station assembly 1 can be adjusted according to different command requirements, so that the robotic arm assembly 345 and the robotic gripper 6 have multiple degrees of freedom of movement in a certain space, with high positioning accuracy and flexible movement.

[0068] Please refer to the following: Figure 4 , Figure 9 Furthermore, in some embodiments, the number of robotic arm units is three, namely a first robotic arm unit 3, a second robotic arm unit 4, and a third robotic arm unit 5 connected in sequence, and the joint hydraulic cylinder group includes a first joint hydraulic cylinder 33, a second joint hydraulic cylinder 42, and a third joint hydraulic cylinder 52.

[0069] The main shaft 24 of the rotary motor assembly 2 is connected to the first robotic arm unit 3 via a connecting flange 31.

[0070] The first joint hydraulic cylinder 33 is connected between the connecting flange 31 and the first robotic arm unit 3, driving the first robotic arm unit 3 to perform pitching and swinging motions relative to the pump station assembly 1.

[0071] The second joint hydraulic cylinder 42 is connected between the first robotic arm unit 3 and the second robotic arm unit 4, driving the second robotic arm unit 4 to perform pitching and swinging motions relative to the first robotic arm unit 3.

[0072] The third joint hydraulic cylinder 52 is connected between the second robotic arm unit 4 and the third robotic arm unit 5, driving the third robotic arm unit 5 to perform pitching and swinging motions relative to the second robotic arm unit 4.

[0073] Specifically, through calculation and testing, when the number of robotic arm joints is three and it is used for gripping and handling heavier workpieces in the lower reactor internals (water environment) of a nuclear power plant, the robotic arm assembly 345 weighs 100kg under a load handling requirement of 150kg, which has a high power-to-weight ratio and a relatively lightweight structure.

[0074] Furthermore, in some embodiments, the main shaft 24 of the rotary motor assembly 2 is connected to the first robotic arm unit 3 via a connecting flange 31.

[0075] The first joint hydraulic cylinder 33 is connected to the connecting flange 31 at its end away from the piston rod, and is connected to the second robotic arm unit 4 at its piston rod end.

[0076] The second joint hydraulic cylinder 42 is connected to the first robotic arm unit 3 at its end away from the piston rod, and to the second robotic arm unit 4 at its piston rod end.

[0077] The third joint hydraulic cylinder 52 is connected to the second robotic arm unit 4 with its piston rod end, and to the third robotic arm unit 5 with its end away from the piston rod.

[0078] Therefore, the rodless chamber of the first joint hydraulic cylinder 33, the rod chamber of the second joint hydraulic cylinder 42, and the rodless chamber of the third joint hydraulic cylinder 52 are the main force-bearing chambers c. By controlling the flow rate of the liquid entering and exiting the three force-bearing chambers c, the pitching motion of the robotic arm assembly 345 can be precisely controlled.

[0079] The end of each joint hydraulic cylinder furthest from the piston rod is referred to as the cylinder end below.

[0080] Specifically, such as Figure 4As shown, the first robotic arm unit 3 includes a first robotic arm backbone 32, a first fixed shaft 35, a second fixed shaft 36, a third fixed shaft 37, a fourth fixed shaft 38, and a fifth fixed shaft 39. A connecting flange 31 connects the first robotic arm unit 3 to the main shaft 24. The connecting flange 31 is rotatably connected to the cylinder end of the first joint hydraulic cylinder 33 via the first fixed shaft 35, and rotatably connected to the first robotic arm backbone 32 via the second fixed shaft 36.

[0081] The main body 32 of the first robotic arm is rotatably connected to the cylinder end of the second joint hydraulic cylinder 42 via the third fixed shaft 37, rotatably connected to the piston rod end of the first robotic arm hydraulic cylinder 33 via the fourth fixed shaft 38, and rotatably connected to the main body 41 of the second robotic arm via the fifth fixed shaft 39.

[0082] When the piston rod of the hydraulic cylinder 33 of the first robotic arm extends or retracts, it drives the first robotic arm unit 3 to perform pitching and swinging motions around the second fixed axis 36.

[0083] like Figure 4 As shown, the second robotic arm unit 4 includes a second robotic arm trunk 41, a second joint hydraulic cylinder 42, a sixth fixed shaft 44, a seventh fixed shaft 45, and an eighth fixed shaft 46.

[0084] The second robotic arm trunk 41 is connected to the piston rod end of the third joint hydraulic cylinder 52 via the sixth fixed shaft 44, is rotatably connected to the piston rod end of the second joint hydraulic cylinder 42 via the seventh fixed shaft 45, and is rotatably connected to the third robotic arm trunk 54 via the eighth fixed shaft 46.

[0085] When the piston rod of the second joint hydraulic cylinder 42 extends or retracts, it drives the second robotic arm unit 4 to perform a pitching motion around the fifth fixed axis 39.

[0086] like Figure 4 As shown, the third robotic arm unit 5 includes a third joint hydraulic cylinder 52, a ninth fixed shaft 53, and a third robotic arm trunk 54;

[0087] The main body 54 of the third robotic arm is rotatably connected to the cylinder end of the hydraulic cylinder 52 of the third joint via the ninth fixed shaft 53; the robotic claw 6 is fixedly connected to the main body 54 of the third robotic arm; when the piston rod of the hydraulic cylinder 52 of the third joint extends or retracts, it drives the third robotic arm unit 5 to perform pitching motion around the eighth fixed shaft 46.

[0088] Furthermore, in some embodiments, angle encoders are respectively provided between the main shaft 24 of the rotary motor assembly 2 and the first robotic arm unit 3, between the first robotic arm unit 3 and the second robotic arm unit 4, and between the second robotic arm unit 4 and the third robotic arm unit 5.

[0089] Specifically, such as Figure 4As shown, angle encoders are installed on the second fixed shaft 36, the fifth fixed shaft 39, and the eighth fixed shaft 46. Each angle encoder monitors the angle of the first robotic arm trunk 32 relative to the main shaft 24, the angle of the second robotic arm trunk 41 relative to the first robotic arm trunk 32, and the angle of the third robotic arm trunk 54 relative to the second robotic arm trunk 41, thereby determining the spatial position of the robotic claw 6 located at one end of the robotic arm assembly 345.

[0090] Please refer to the following: Figure 5-6 Furthermore, in some embodiments, the pump station assembly 1 includes a mounting plate 13, a plunger pump 16 disposed on the mounting plate 13, an accumulator 17, a waterproof tank 11, and a control valve assembly 12 for controlling the flow of high-pressure water in the hydraulic pipeline.

[0091] To meet underwater sealing requirements, the control valve assembly 12 is installed inside the waterproof tank 11. The input end of the accumulator 17 is connected to the output end of the plunger pump 16, and the output end of the accumulator 17 is connected to the inlet 126 of the control valve assembly 12. The first outlet 124 of the control valve assembly 12 is connected to the joint hydraulic cylinder group through a hydraulic pipeline.

[0092] In some embodiments, the pump station assembly 1 also includes a pump station motor 15 connected to the plunger pump 16, which drives the plunger pump 16 to rotate and generate high-pressure liquid.

[0093] Specifically, the mounting plate 13 is the supporting base of the pump station assembly 1, providing mounting support for components such as the plunger pump 16, accumulator 17, waterproof tank 11, and control valve assembly 12. Various components are arranged closely on the mounting plate 13, making the pump station assembly 1 have a compact structure.

[0094] The high-pressure liquid output from the plunger pump 16 enters the accumulator 17. When the robotic arm assembly 345 and the robotic gripper 6 are not in motion, the accumulator 17 stores the high-pressure liquid generated by the plunger pump 16. When the robotic arm assembly 345 and the robotic gripper 6 are in motion, the accumulator 17 outputs high-pressure liquid to provide hydraulic energy.

[0095] When using a piston pump 16 in conjunction with an accumulator 17 as a hydraulic drive scheme, a small displacement piston pump 16 with a large capacity accumulator 17 can be used to provide energy, making the structure of the pump station component 1 more compact, smaller in size, lighter in weight, and with higher energy density, which has excellent prospects for engineering applications.

[0096] Please refer to the following: Figure 7-8 Furthermore, in some embodiments, the control valve assembly 12 includes a base 121, a proportional solenoid valve 129 disposed on the base 121, and a pressure reducing valve 125.

[0097] The proportional solenoid valve 129 is connected to the hydraulic line and is used to control the flow rate of liquid entering the force chamber c of the joint hydraulic cylinder group. The pressure reducing valve 125 is connected to the hydraulic line and is used to control the hydraulic pressure in the back pressure chamber d of the joint hydraulic cylinder group.

[0098] For details, please refer to the following: Figure 5-9 The control valve assembly 12 is provided with at least three types of pipe interfaces: a first outlet 124 for connecting the joint hydraulic cylinder group and the mechanical claw hydraulic cylinder 60, a second outlet 122 for connecting the water storage tank 14, and an inlet 126 for connecting the accumulator 17.

[0099] Furthermore, in some embodiments, reference may be made to Figure 9 The diagram shows the connection of the hydraulic pipeline system. The hydraulic pipeline includes a first pipeline a and a second pipeline b. The first pipeline a is used to control the entry and exit of high-pressure liquid into the force chamber c of the joint hydraulic cylinder group. The pitching motion of the robotic arm assembly 345 is controlled by precisely controlling the flow rate of the force chamber c of the joint hydraulic cylinder group.

[0100] The input end of the first pipe a is connected to the first outlet 124 of the control valve assembly 12, and the output end of the first pipe a is connected to the force chamber c of the joint hydraulic cylinder assembly. The proportional solenoid valve 129 is connected to the first pipe a. By controlling the flow rate of the liquid entering and exiting the force chamber c of the joint hydraulic cylinder assembly from the first pipe a, the pitching motion of the robotic arm assembly 345 is precisely controlled.

[0101] Specifically, the first pipeline a can be one or more hydraulic pipes, and the force-bearing chamber c of the articulated hydraulic cylinder group (multiple articulated hydraulic cylinders) can be connected to the same hydraulic pipe or to multiple hydraulic pipes respectively. The number of the first outlets 124 can be one or more.

[0102] The number of fittings, branching, and parallel or series connection of branching in the first pipeline a can be adjusted according to the number of first outlets 124 and other actual needs, as long as at least one input end is connected to the first outlet 124 to access high-pressure liquid, and at least one output end is connected to the force-bearing chamber c of the joint hydraulic cylinder group to output high-pressure liquid.

[0103] The input end of the second pipeline b is connected to the first outlet 124 of the control valve assembly 12, and the output end of the second pipeline b is connected to the back pressure chamber d of the joint hydraulic cylinder group. The pressure reducing valve 125 is connected to the second pipeline b. The back pressure of the back pressure chamber d of the joint hydraulic cylinder group is adjusted by controlling the liquid pressure entering and exiting the back pressure chamber d of the joint hydraulic cylinder group from the second pipeline b.

[0104] For example, the back pressure chambers d of the first joint hydraulic cylinder 33, the second joint hydraulic cylinder 42, and the third joint hydraulic cylinder 52 can be connected to a hydraulic pipe to achieve flow distribution. A constant pressure can be output to the back pressure chambers d of multiple joint hydraulic cylinder groups through a pressure reducing valve 125 to simplify the hydraulic pipeline.

[0105] Furthermore, in some embodiments, the control valve assembly 12 also includes a plurality of pressure sensors 123 connected to hydraulic lines to monitor the pressure in the force chamber c or back pressure chamber d of the joint hydraulic cylinder assembly.

[0106] Furthermore, in some embodiments, the control valve assembly 12 further includes an unloading valve 1210 disposed on the base 121 for controlling the unloading of the hydraulic line, and / or a safety valve 1211 disposed on the base 121 for setting the ultimate pressure of the hydraulic line.

[0107] Furthermore, in some embodiments, the control valve assembly 12 further includes a throttle valve 1212 disposed on the base 121 and used for controlling the on / off state of the hydraulic line. This can be as follows: Figure 9 As shown, a throttle valve 1212 is installed on the first pipeline a and the second pipeline b respectively.

[0108] Specifically, safety valve 1211 connects to the hydraulic pipeline, and also to the water tank 14 or other containers, or the external environment, to set the ultimate pressure of the hydraulic pipeline. For example, if the ultimate pressure is set to 15 MPa, when the pressure in the hydraulic pipeline exceeds 15 MPa, safety valve 1211 opens, diverting the liquid in the hydraulic pipeline to the water tank 14 or other containers, or the external environment, thus providing pressure limit control for the hydraulic pipeline. The safety valve can be a relief valve.

[0109] The unloading valve 1210 connects to the hydraulic pipeline and also to the water tank 14 or other containers, or the external environment, to control the unloading of the hydraulic pipeline. In some embodiments, the unloading valve 1210 is a two-position, two-way solenoid valve. When the unloading valve 1210 is energized, it opens, leading the liquid in the hydraulic pipeline to the water tank 14 or other containers, or the external environment, thus unloading the hydraulic pipeline.

[0110] Safety valve 1211 and unloading valve 1210 can be used simultaneously, or only one of them can be used, depending on the actual needs of the hydraulic pipeline.

[0111] Furthermore, in some embodiments, the pump station assembly 1 further includes a water storage tank 14, the inlet of which is connected to the second outlet 122 of the control valve assembly 12 via a third pipeline e to receive the return liquid output from the control valve assembly 12, and the outlet of the water storage tank 14 is connected to the input end of the plunger pump 16 to provide a liquid source for the plunger pump 16.

[0112] Furthermore, the control valve assembly 12 may also include an overflow valve 127, which can be used in conjunction with the pressure reducing valve 125 to control the liquid pressure in the second pipeline b.

[0113] The control valve assembly 12 may also include a check valve 8 that connects the plunger pump 16 and the accumulator 17.

[0114] Specifically, the return fluid output from the control valve assembly 12 can be the fluid from either the first pipe a or the second pipe b. That is, as... Figure 9 As shown, the third pipeline can connect to the first pipeline a and the second pipeline b.

[0115] Specifically, the base 121 of the control valve assembly 12 can be a hollow box structure, with auxiliary connecting pipes (not shown) provided in its cavity. Valves such as pressure reducing valve 125, relief valve 127, unloading valve 1210, and safety valve 1211, as well as various control components such as pressure sensor 123 used to control the flow of high-pressure liquid in the hydraulic pipeline, can be connected to the corresponding hydraulic pipelines (including but not limited to the first pipeline a, the second pipeline b, and the third pipeline e) through the auxiliary connecting pipes in the cavity, thereby realizing the control of the flow of high-pressure liquid in the hydraulic pipeline.

[0116] Control components such as pressure reducing valve 125, relief valve 127, unloading valve 1210, safety valve 1211, and pressure sensor 123, used to control the flow of high-pressure liquid in hydraulic pipelines, can be integrated on the base 121 of the control valve assembly 12. By setting corresponding water inlets (including but not limited to the first water outlet 124, the second water outlet 122, and the water inlet 126) on the base 121, the control components used to control the flow of high-pressure liquid in hydraulic pipelines can be connected to control the movement of the robotic arm assembly 345 and / or the robotic claw 6. The structure is compact and reliable, and has excellent engineering application prospects.

[0117] Furthermore, in some embodiments, the pump station assembly 1 further includes a filter 18 connected to the inlet of the water storage tank 14, and the third pipeline e is connected to the inlet of the water storage tank 14 through the filter 18.

[0118] Specifically, the inlet of the water storage tank 14 is not limited to being connected only to the third pipeline e. Any liquid entering the water storage tank 14 can be connected to the inlet of the water storage tank 14 through the filter 18. Excess impurities in the liquid entering the water storage tank 14 are filtered by the filter 18 before entering the water storage tank 14, ensuring the purity of the hydraulic medium in the hydraulic pipeline. Especially in the field of nuclear power plant applications, equipment operating in the component pool needs to meet the cleanliness requirements of the primary loop of the nuclear island. The filter 18 ensures that the hydraulic medium in the water storage tank 14 has good purity to meet the cleanliness requirements of the primary loop of the nuclear island.

[0119] Furthermore, a level gauge 20 for monitoring the water level in the water storage tank 14 can be installed on the water storage tank 14.

[0120] Furthermore, in some embodiments, the pump station assembly 1 also includes an air inlet valve 19 connected to the water storage tank 14. The air inlet valve 19 pressurizes the inside of the water storage tank 14 to prevent negative pressure from occurring during the operation of the plunger pump 16.

[0121] Furthermore, in some embodiments, the nuclear power plant hydraulic robotic arm system also includes a robotic claw hydraulic cylinder 60 for driving the opening and closing of the robotic claw 6. The first outlet 124 of the control valve assembly 12 is connected to the robotic claw hydraulic cylinder 60 through a hydraulic pipeline, and the opening and closing of the robotic claw 6 is powered by controlling the flow of liquid into and out of the robotic claw hydraulic cylinder 60.

[0122] Correspondingly, the control valve assembly 12 may be equipped with a control solenoid valve 128 for communicating with the first outlet 124 and for controlling the entry and exit of liquid from the mechanical gripper hydraulic cylinder 60. (Reference) Figure 9 In the hydraulic pipeline system layout, the control solenoid valve 128 can be connected to the first pipeline a, the third pipeline e, and the mechanical claw hydraulic cylinder 60 respectively. Therefore, the control solenoid valve 128 can be a two-position three-way proportional solenoid valve.

[0123] Furthermore, such as Figure 10 As shown, in some embodiments, the rotary motor assembly 2 includes a servo motor 21, a spindle 24, and a housing;

[0124] The lower end of the housing is mounted on the mounting plate 13 of the pump station assembly 1, and the end of the servo motor 21 near its output shaft is connected to the upper end of the housing to form a waterproof space.

[0125] One end of the main shaft 24 is located in the waterproof space and is connected to the output shaft of the servo motor 21. The other end of the main shaft 24 extends out of the waterproof space and is connected to the robotic arm assembly 345 through the connecting flange 31, driving the robotic arm assembly 345 to rotate relative to the pump station assembly 1.

[0126] Furthermore, in some embodiments, the housing includes a cylindrical outer shell 23 and a lower end cap 29;

[0127] The lower end of the housing 23 is mounted on the mounting plate 13 of the pump station assembly 1. The end of the servo motor 21 near its output shaft is tightly fitted with the upper end of the housing 23. The lower end cover 29 is provided on the end face of the lower end of the housing 23 and can be sealed between the main shaft 24 and the housing 23 by a sealing ring.

[0128] Furthermore, such as Figure 10 As shown, the rotary motor assembly 2 may also include connecting parts: coupling 22, deep groove ball bearing 25, semi-circular key retaining sleeve 26, semi-circular key 27, and thrust ball bearing 28.

[0129] Specifically, the outer casing 23 is mounted on the mounting plate 13, and the main shaft 24 and connecting parts are housed inside the outer casing 23. The main shaft 24 is axially and radially fixed via a semi-circular key 27, a semi-circular key fixing sleeve 26, a thrust ball bearing 28, and two deep groove ball bearings 25, enabling it to withstand various loads generated by the robotic arm assembly 345. A sealing ring is provided between the lower end cover 29 and the outer casing 23 to achieve a housing seal, forming a waterproof space between the housing and the servo motor 21 to prevent water from entering the housing. The servo motor 21 is connected to the main shaft 24 via a coupling 22, controlling the entire robotic arm assembly 345 to rotate around the central axis of the servo motor 21.

[0130] Furthermore, in some embodiments, such as Figure 1 As shown, the nuclear power plant hydraulic robotic arm system also includes a camera 7 installed on one side of the robotic gripper 6, used to monitor and provide feedback on image information located on one side of the robotic gripper 6, such as the position of the robotic gripper 6 relative to the workpiece to be gripped and transported.

[0131] See also Figure 11 In some embodiments, the vertical long-distance conveying assembly 9 includes at least one vertically extending conveying unit 90 and at least one vertically extending linear guide unit 95 disposed on the conveying unit 90. The linear guide unit 95 provides linear guidance for the vertical up-and-down movement of the pump station assembly. The mounting plate of the pump station assembly is provided with a slider assembly (not shown) that slides in cooperation with the linear guide unit 95. The pump station assembly can move up and down along the length of the conveying unit 90 to drive the robotic arm assembly 345 and the robotic gripper 6 to move up and down.

[0132] The vertical long-distance conveying assembly 9 can be pre-installed on one side of the lower reactor internals 3. The nuclear power plant hydraulic robotic arm system slides with the linear guide unit 95 via a slider assembly on the mounting plate 13 of its pump station assembly 1. In conjunction with an underwater lifting device (not shown), the nuclear power plant hydraulic robotic arm system is vertically conveyed underwater and moves up and down along one side of the lower reactor internals 3 to grip and transport heavy objects such as the irradiation sample holder 99 on the outer wall of the lower reactor internals 3. A structural diagram of the irradiation sample holder 99 is shown in Figure 3. In some embodiments, the irradiation sample holder 99 is a stainless steel workpiece with a length of 1541 mm, a width of 233 mm, a height of 300 mm, and a certain weight.

[0133] Furthermore, there can be multiple conveying units 90, which are segmented and spliced ​​vertically, and two adjacent conveying units 90 can be connected by flanges. There can also be multiple linear guide rail units 95, which can be spliced ​​onto one conveying unit 90 for easy assembly and transportation.

[0134] Furthermore, the conveying unit 90 includes a main body 91 extending vertically and arranged in parallel opposite directions, a connecting plate 92 connected laterally between the main bodies 91, and a linear guide rail unit 95 disposed on the main body 91.

[0135] Specifically, the main body 91 has a groove-shaped structure, and multiple connecting plates 92 are distributed vertically at intervals between the main body 91, such as... Figure 11 As shown, the conveying unit 90 is roughly ladder-shaped. Among the multiple connecting plates 92, the first connecting plate 92 located at the edge can be used for hoisting, and its edge shape can be set to correspond to the hoisting mechanism to facilitate the connection between the hoisting mechanism and it.

[0136] Furthermore, a reference plate 94 extending vertically is installed on the main body 91, and the linear guide rail unit 95 is connected to the main body 91 through the reference plate 94.

[0137] Specifically, the reference plate 94 is fixed to the main body 91 with screws to enhance the stability of the connection between the linear guide rail unit 95 and the main body 91. At the same time, the flatness of the linear guide rail unit 95 installed on the main body 91 can be adjusted by the reference plate 94.

[0138] Two sets of reference plates 94 can be set on two mutually symmetrical surfaces of the main body 91.

[0139] Furthermore, the main body 91 is made of aluminum profile. Using aluminum profile as the material for the main body 91 provides sufficient strength to meet the supporting function while allowing for reasonable control of the structural weight of the main body 91, ensuring that the working pressure generated by the conveying unit 90 on the bottom of the nuclear island (RX) component pool of the nuclear power plant remains within the allowable pressure range of the pool bottom.

[0140] The above are merely some specific embodiments of the present invention and do not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention 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 hydraulic robotic arm system for a nuclear power plant, characterized in that, Includes a robotic arm assembly (345), an openable robotic gripper (6), a rotary motor assembly (2), a pump station assembly (1), and a vertical long-distance conveying assembly (9); The pump station assembly (1) is located at one end of the robotic arm assembly (345), and the robotic arm assembly (345) is hydraulically driven to perform pitching motion; the robotic gripper (6) is located at the end of the robotic arm assembly (345) away from the pump station assembly (1), and opens and closes under the hydraulic drive of the pump station assembly (1); the rotary motor assembly (2) is located on the pump station assembly (1), connected to and drives the robotic arm assembly (345) to rotate relative to the pump station assembly (1); the pump station assembly (1) is connected to the vertical long-distance conveying assembly (9), and can move up and down along the length direction of the vertical long-distance conveying assembly (9); The robotic arm assembly (345) includes multiple robotic arm units connected in sequence and a set of joint hydraulic cylinders for driving the robotic arm units to perform pitching motions respectively. The pump station assembly (1) includes a water storage tank (14), a mounting plate (13), a plunger pump (16) mounted on the mounting plate (13), an accumulator (17), a waterproof tank (11), and a control valve assembly (12); the control valve assembly (12) is located inside the waterproof tank (11); The control valve assembly (12) is provided with a first outlet (124), a second outlet (122), and an inlet (126); the input end of the accumulator (17) is connected to the output end of the plunger pump (16), and the output end of the accumulator (17) is connected to the inlet (126); the first outlet (124) is connected to the joint hydraulic cylinder group through a hydraulic pipeline; the input port of the water storage tank (14) is connected to the second outlet (122), and the output port of the water storage tank (14) is connected to the input end of the plunger pump (16).

2. The nuclear power plant hydraulic robotic arm system according to claim 1, characterized in that, The number of robotic arm units is three, namely the first robotic arm unit (3), the second robotic arm unit (4), and the third robotic arm unit (5) connected in sequence. The joint hydraulic cylinder group includes the first joint hydraulic cylinder (33), the second joint hydraulic cylinder (42), and the third joint hydraulic cylinder (52). The first joint hydraulic cylinder (33) is connected between the main shaft (24) of the rotary motor assembly (2) and the first robotic arm unit (3), driving the first robotic arm unit (3) to perform pitching motion relative to the pump station assembly (1); The second joint hydraulic cylinder (42) is connected between the first robotic arm unit (3) and the second robotic arm unit (4), driving the second robotic arm unit (4) to perform pitching motion relative to the first robotic arm unit (3); The third joint hydraulic cylinder (52) is connected between the second robotic arm unit (4) and the third robotic arm unit (5), driving the third robotic arm unit (5) to perform pitching motion relative to the second robotic arm unit (4).

3. The nuclear power plant hydraulic robotic arm system according to claim 2, characterized in that, The first joint hydraulic cylinder (33) is connected to the main shaft (24) of the rotary motor assembly (2) at its end away from the piston rod, and connected to the second robotic arm unit (4) at its piston rod end. The second joint hydraulic cylinder (42) is connected to the first robotic arm unit (3) at its end away from the piston rod, and to the second robotic arm unit (4) at its piston rod end. The third joint hydraulic cylinder (52) is connected to the second robotic arm unit (4) with its piston rod end, and to the third robotic arm unit (5) with its end away from the piston rod.

4. The nuclear power plant hydraulic robotic arm system according to claim 2, characterized in that, Angle encoders are respectively provided between the main shaft (24) of the rotary motor assembly (2) and the first robotic arm unit (3), between the first robotic arm unit (3) and the second robotic arm unit (4), and between the second robotic arm unit (4) and the third robotic arm unit (5).

5. The nuclear power plant hydraulic robotic arm system according to claim 1, characterized in that, The control valve assembly (12) includes a base (121), a proportional solenoid valve (129) disposed on the base (121), and a pressure reducing valve (125). The proportional solenoid valve (129) is connected to the hydraulic pipeline and is used to control the flow rate of liquid entering the force chamber (c) of the joint hydraulic cylinder group, and the pressure reducing valve (125) is connected to the hydraulic pipeline and is used to control the hydraulic pressure in the back pressure chamber (d) of the joint hydraulic cylinder group.

6. The nuclear power plant hydraulic robotic arm system according to claim 5, characterized in that, The hydraulic pipeline includes a first pipeline (a) and a second pipeline (b); The input end of the first pipeline (a) is connected to the first outlet (124) of the control valve assembly (12), the output end of the first pipeline (a) is connected to the force chamber (c) of the joint hydraulic cylinder group, and the proportional solenoid valve (129) is connected to the first pipeline (a). The input end of the second pipeline (b) is connected to the first outlet (124) of the control valve assembly (12), the output end of the second pipeline (b) is connected to the back pressure chamber (d) of the joint hydraulic cylinder assembly, and the pressure reducing valve (125) is connected to the second pipeline (b).

7. The nuclear power plant hydraulic robotic arm system according to claim 5, characterized in that, The control valve assembly (12) also includes a plurality of pressure sensors (123) connected to the hydraulic lines.

8. The nuclear power plant hydraulic robotic arm system according to claim 5, characterized in that, The control valve assembly (12) further includes an unloading valve (1210) disposed on the base (121) for controlling the unloading of the hydraulic line, and / or a safety valve (1211) disposed on the base (121) for setting the ultimate pressure of the hydraulic line.

9. The nuclear power plant hydraulic robotic arm system according to claim 5, characterized in that, The hydraulic pipeline also includes a third pipeline (e), through which the inlet of the water tank (14) is connected to the second outlet (122) of the control valve assembly (12).

10. The nuclear power plant hydraulic robotic arm system according to claim 9, characterized in that, The pump station assembly (1) also includes a filter (18) connected to the inlet of the water storage tank (14), and the third pipeline (e) is connected to the inlet of the water storage tank (14) through the filter (18).

11. The nuclear power plant hydraulic robotic arm system according to claim 9, characterized in that, The pump station assembly (1) also includes an air inlet valve (19) connected to the water storage tank (14).

12. The nuclear power plant hydraulic robotic arm system according to claim 1, characterized in that, The nuclear power plant hydraulic robotic arm system also includes a mechanical claw hydraulic cylinder (60) for driving the mechanical claw (6) to open and close. The first outlet (124) of the control valve assembly (12) is connected to the mechanical claw hydraulic cylinder (60) through the hydraulic pipeline. By controlling the liquid to enter and exit the mechanical claw hydraulic cylinder (60), power is provided for the opening and closing of the mechanical claw (6).

13. The nuclear power plant hydraulic robotic arm system according to any one of claims 1-12, characterized in that, The rotary motor assembly (2) includes a servo motor (21), a spindle (24), and a housing; The lower end of the housing is mounted on the mounting plate (13) of the pump station assembly (1), and the end of the servo motor (21) near its output shaft is connected to the upper end of the housing to form a waterproof space. One end of the main shaft (24) is located in the waterproof space and is connected to the output shaft of the servo motor (21). The other end of the main shaft (24) extends out of the waterproof space and is connected to the robotic arm assembly (345) through a flange, driving the robotic arm assembly (345) to rotate relative to the pump station assembly (1).

14. The nuclear power plant hydraulic robotic arm system according to claim 13, characterized in that, The housing includes a cylindrical outer shell (23) and a lower end cap (29). The lower end of the outer casing (23) is mounted on the mounting plate (13) of the pump station assembly (1). The end of the servo motor (21) near its output shaft is tightly fitted with the upper end of the outer casing (23). The lower end cover (29) is disposed on the end face of the lower end of the outer casing (23) and is sealed between the main shaft (24) and the outer casing (23).

15. The nuclear power plant hydraulic robotic arm system according to any one of claims 1-12, characterized in that, The nuclear power plant hydraulic robotic arm system also includes a camera (7) mounted on one side of the robotic claw (6).

16. The nuclear power plant hydraulic robotic arm system according to any one of claims 1-12, characterized in that, The vertical long-distance conveying assembly (9) includes at least one vertically extending conveying unit (90) and at least one vertically extending linear guide rail unit (95) disposed on the conveying unit (90). The mounting plate (13) of the pump station assembly (1) is provided with a slider assembly that slides with the linear guide rail unit (95). The pump station assembly (1) can move up and down along the length direction of the conveying unit (90).

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