Oiling robot capable of moving on all terrains in complex nuclear environment

Abstract

The invention provides an oil injection robot capable of moving in all terrains in a complex nuclear environment. The oil injection robot capable of moving in all terrains in the complex nuclear environment comprises a wheel-track combined type moving system, a six-axis mechanical arm, a control system, an oil supplementing system and a camera system. The six-axis mechanical arm, the control system, the oil supplementing system and the camera shooting system are arranged on a supporting plane of the wheel-track combined type moving system. And the oil supplementing system is connected with the six-axis mechanical arm. The wheel-track combined type moving system is used for moving positions. The camera system is used for shooting the surrounding environment and the operation environment of the six-axis mechanical arm. And the six-axis mechanical arm is used for identifying an oil injection hole site. The control system is used for controlling the oil supplementing system to inject oil into the nuclear main pump. According to the robot, all the parts are modularly designed, so that the technical problem of how to do not have a robot in the aspect of nuclear main pump overhaul and maintenance in the prior art is solved.

Description

Technical Field

[0001] The present application belongs to the technical field of mobile robots, and specifically relates to an oil injection robot that can move in all terrains in a complex nuclear environment. Background Art

[0002] Nuclear safety is the lifeline of nuclear power development. As the "heart" of the nuclear island's primary circuit system, whether the nuclear main pump can operate safely, stably and reliably during its service life will directly affect the safety of the entire nuclear power unit. During the long-term operation of the nuclear main pump, on the one hand, the high-temperature and high-pressure multi-condition coupling environment and the complex and changeable working conditions will lead to various component-level damages and even the probability of major accidents. On the other hand, due to the complex structure and interlocking of the nuclear main pump, the degree of coupling of the components is high. The damage of one component may lead to the damage of another component, and the risk of major failures or even shutdowns caused by minor failures is increasing. Therefore, it is necessary to regularly inspect and maintain the nuclear main pump.

[0003] The equipment inside the nuclear island of a nuclear power plant is densely arranged. During the overhaul of refueling and daily operation and maintenance, when personnel enter the nuclear island to inspect and maintain the nuclear main pump, they need to work in an irradiated environment for a long time due to the small space. This not only threatens the life and health of personnel, but is also not conducive to the control of collective and personal doses. It also wastes a lot of main line maintenance time, labor costs, and brings personnel safety risks.

[0004] As the installed capacity of nuclear power plants continues to expand, the demand for robot applications will become increasingly urgent. How to design robots for use in the inspection and maintenance of nuclear main pumps has become a technical problem that needs to be solved urgently. Summary of the invention

[0005] In view of this, the present application is dedicated to providing an all-terrain mobile oil injection robot in a complex nuclear environment, and through modular design of various components, to solve the technical problem that the existing technology does not have a robot for nuclear main pump inspection and maintenance.

[0006] The present application provides an all-terrain mobile oil filling robot in a complex nuclear environment, which includes a wheel-track composite mobile system, a six-axis robotic arm, a control system, an oil filling system, and a camera system. The six-axis robotic arm, the control system, the oil filling system, and the camera system are respectively arranged on the support plane of the wheel-track composite mobile system. The oil filling system is connected to the six-axis robotic arm. The wheel-track composite mobile system is used to move the position. The camera system is used to shoot the surrounding environment and the operating environment of the six-axis robotic arm. The six-axis robotic arm is used to identify the hole position for oil filling. The control system is used to control the oil filling system to fill the nuclear main pump with oil.

[0007] In a specific embodiment of the present application, the six-axis robot arm and the camera system are configured to have a height-adjustable function.

[0008] In a specific implementation of the present application, the six-axis robotic arm is a six-axis robotic arm with 2 translation pairs and 4 rotation pairs.

[0009] In a specific embodiment of the present application, the wheel-track hybrid mobile system, the six-axis robotic arm, the control system, the oil replenishment system and the camera system are all designed to be radiation-resistant.

[0010] In a specific embodiment of the present application, the wheel-track composite mobile system includes a chassis, a pickpocket, a front shock-absorbing column, a front shock-absorbing sleeve, a front wheel suspension, a front wheel bogie, a wheel, a front rocker arm, a crawler body, a middle wheel bogie, a middle wheel side bogie, a lifting column, a rear shock-absorbing column, a rear shock-absorbing sleeve, a rear wheel suspension, a rear rocker arm, a rear wheel bogie, a rear wheel side bogie and a battery pack. The pickpocket is connected to the chassis through a rotating pair driven by a motor. The front shock-absorbing column is connected to the chassis through a rotating pair. The front shock-absorbing sleeve is connected to the front wheel suspension through a rotating pair. The front shock-absorbing column is connected to the front shock-absorbing sleeve through a spring-driven moving pair. The front wheel suspension is connected to the chassis through a rotating pair driven by a motor. The front wheel bogie is connected to the front wheel suspension through a rotating pair driven by a motor. The wheel is connected to the front wheel bogie through a rotating pair driven by a motor. The front rocker arm is connected to the crawler body through a rotating pair driven by a motor. The crawler body is fixedly connected to the lifting column. The lifting column is connected to the chassis through a mobile pair driven by a motor. The rear wheel suspension is connected to the chassis through a rotating pair driven by a motor. The rear shock absorber cylinder is connected to the rear wheel suspension through a rotating pair. The rear shock absorber column is connected to the chassis through a rotating pair. The rear shock absorber column is connected to the rear shock absorber sleeve through a mobile pair driven by a spring. The middle wheel side bogie is connected to the rear wheel suspension through a rotating pair driven by a motor. The middle wheel bogie is connected to the middle wheel side bogie through a rotating pair driven by a motor. The rear wheel side bogie is connected to the rear wheel suspension through a rotating pair driven by a motor. The rear wheel bogie is connected to the rear wheel side bogie through a rotating pair driven by a motor. The rear rocker arm is connected to the track body through a rotating pair driven by a motor. The battery pack is fixedly connected to the chassis.

[0011] In a specific embodiment of the present application, the six-axis robot arm includes a base, a large arm sleeve, a large arm, a small arm sleeve, a support cylinder, a support rod, a small arm, a first end wrist joint, a second end wrist joint, a terminal support frame, a 3D visual sensor and an oil gun. The large arm sleeve is connected to the base through a rotating pair driven by a motor. The large arm is connected to the large arm sleeve through a moving pair driven by a motor. The small arm sleeve is connected to the large arm through a rotating pair driven by a motor. The support cylinder is connected to the small arm sleeve through a rotating pair. The support rod is connected to the small arm through a rotating pair. The support rod is connected to the support cylinder through a moving pair. The small arm is connected to the small arm sleeve through a moving pair driven by a motor. The first end wrist joint is connected to the small arm through a rotating pair driven by a motor. The second end wrist joint is connected to the first end wrist joint through a rotating pair driven by a motor. The terminal support frame is connected to the second end wrist joint through a rotating pair driven by a motor. The 3D visual sensor is fixedly connected to the terminal support frame. The oil gun is fixedly connected to the terminal support frame.

[0012] In a specific embodiment of the present application, the oil replenishment system includes an oil tank, an oil circuit control valve, an oil pump, an oil pipe interface, an oil pipe and an oil tank cap. The oil circuit control valve is fixedly connected to the oil tank; the oil pump is fixedly connected to the oil circuit control valve and the oil tank; the oil pipe interface is fixedly connected to the oil pump; the oil pipe is fixedly connected to the oil pipe interface; and the oil tank cap is fixedly connected to the oil tank.

[0013] In a specific embodiment of the present application, the camera system includes a camera system lifting sleeve, a camera system lifting column, a two-degree-of-freedom pan-tilt and a robot camera. The camera system lifting column is connected to the camera system lifting sleeve through a moving pair driven by a motor; the two-degree-of-freedom pan-tilt is fixedly connected to the camera system lifting column; and the robot camera is fixedly connected to the two-degree-of-freedom pan-tilt.

[0014] The beneficial effect of the technical solution of this application is that each part of the oil filling robot that can move in all terrains under complex nuclear environments adopts a modular design, and uses the cooperation between the wheel-track composite mobile system, the six-axis mechanical arm, the control system, the oil filling system and the camera system to realize the detection and maintenance of the nuclear main pump equipment, which can reduce the cost and management cost of artificial protective equipment on the one hand, and reduce the radiation dose and labor intensity of the staff on the other hand. In addition, the robot adopts a wheel-track composite mobile system, which has high flexibility and strong obstacle crossing ability. It can pass through different terrains such as stairs, gullies, slopes, etc., and is suitable for the complex and changeable terrain inside the nuclear island. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 Shown is a schematic diagram of the overall structure of an all-terrain mobile oil injection robot in a complex nuclear environment provided by an embodiment of the present application.

[0016] Figure 2 Shown is a schematic structural diagram of a wheel-track composite mobile system in an all-terrain mobile oil injection robot in a complex nuclear environment provided by an embodiment of the present application.

[0017] Figure 3 Shown is a schematic structural diagram of a six-axis robotic arm in an all-terrain mobile oil injection robot in a complex nuclear environment provided by an embodiment of the present application.

[0018] Figure 4 Shown is a schematic structural diagram of an oil replenishment system in an all-terrain mobile oil injection robot in a complex nuclear environment provided by an embodiment of the present application.

[0019] Figure 5 The figure is a schematic diagram of the structure of a camera system in an all-terrain mobile oil injection robot in a complex nuclear environment provided by an embodiment of the present application.

[0020] Figure 6 The figure is a schematic diagram of the first working principle of a wheel-track composite mobile system in an all-terrain mobile oil injection robot in a complex nuclear environment provided by an embodiment of the present application.

[0021] Figure 7 The figure shows a second working principle schematic diagram of a wheel-track composite mobile system in an all-terrain mobile oil injection robot in a complex nuclear environment provided by an embodiment of the present application.

[0022] Figure 8 The figure shows a third working principle schematic diagram of a wheel-track composite mobile system in an all-terrain mobile oil injection robot in a complex nuclear environment provided by an embodiment of the present application.

[0023] Fig. 9 The figure is a schematic diagram of the fourth working principle of a wheel-track composite mobile system in an all-terrain mobile oil injection robot in a complex nuclear environment provided by an embodiment of the present application.

[0024] Fig.10 The figure shows the fifth working principle schematic diagram of a wheel-track composite mobile system in an all-terrain mobile oil injection robot in a complex nuclear environment provided by an embodiment of the present application.

[0025] Fig.11 The figure shows a schematic diagram of the working principles of an oil replenishment system, a camera system and a six-axis robotic arm in an all-terrain mobile oil injection robot in a complex nuclear environment provided by an embodiment of the present application.

[0026] Fig.12 The figure shows a schematic diagram of the first working process of an all-terrain mobile oil injection robot in a complex nuclear environment provided by an embodiment of the present application.

[0027] Fig.13 The figure shows a schematic diagram of the second working process of an all-terrain mobile oil injection robot in a complex nuclear environment provided by an embodiment of the present application.

[0028] Fig.14 Shown is a schematic diagram of the third working process of an all-terrain mobile oil injection robot in a complex nuclear environment provided by an embodiment of the present application.

[0029] Fig.15 Shown is a schematic diagram of the fourth working process of an all-terrain mobile oil injection robot in a complex nuclear environment provided by an embodiment of the present application. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0031] At least one embodiment of the present application provides an all-terrain mobile oil filling robot in a complex nuclear environment. The all-terrain mobile oil filling robot in a complex nuclear environment is mainly used in the nuclear power industry, for example, to detect and fill oil for the main pump in a nuclear power plant to ensure the normal operation of the nuclear main pump. Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 The all-terrain mobile oil filling robot in a complex nuclear environment includes a wheel-track composite mobile system 1, a six-axis robotic arm 2, a control system 3, an oil filling system 4 and a camera system 5. The six-axis robotic arm 2, the control system 3, the oil filling system 4 and the camera system 5 are respectively arranged on the supporting plane of the wheel-track composite mobile system 1. The oil filling system 4 is connected to the six-axis robotic arm 2. The wheel-track composite mobile system 1 is used for moving position. The camera system 5 is used to shoot the surrounding environment and the operating environment of the six-axis robotic arm 2. The six-axis robotic arm 2 is used to identify the hole position for oil filling. The control system 3 is used to control the oil filling system 4 to fill the nuclear main pump with oil.

[0032] According to the technical solution provided in the embodiment of the present application, each part of the oil filling robot that can move in all terrains under complex nuclear environments adopts a modular design, and the cooperation between the wheel-track composite mobile system 1, the six-axis mechanical arm 2, the control system 3, the oil filling system 4 and the camera system 5 is used to realize the detection and maintenance of the nuclear main pump equipment, which can reduce the cost and management cost of artificial protective equipment on the one hand, and reduce the radiation dose and labor intensity of the staff on the other hand. In addition, the robot adopts a wheel-track composite mobile system, which has high flexibility and strong obstacle crossing ability. It can pass through different terrains such as stairs, gullies, slopes, etc., and is suitable for the complex and changeable terrain inside the nuclear island.

[0033] In at least one embodiment of the present application, the six-axis robot arm 2 and the camera system 5 are configured to have a height adjustable function. In this way, when the robot is driving on a rough road or crossing an obstacle, the six-axis robot arm 2 and the camera system 5 can adjust the height to ensure the balance of the center of gravity of the robot as a whole.

[0034] In at least one embodiment of the present application, the six-axis robot 2 adopts a six-axis robot with two moving pairs and four rotating pairs. In this way, by adopting a six-axis robot with two moving pairs and four rotating pairs, the unique robot type design can avoid product homogeneity and effectively reduce singular points in robot motion. Its unique kinematic structure can give the robot extremely high flexibility.

[0035] In at least one embodiment of the present application, the wheel-track composite mobile system 1, the six-axis robot 2, the control system 3, the oil filling system 4 and the camera system 5 are all designed to be radiation-resistant. In this way, by adopting the overall radiation-resistant design, the electrical appliances are selected to be radiation-resistant, and the electrical-related control modules are assembled in the isolation box, which has good radiation resistance and corrosion resistance, can effectively cope with the operating requirements in a complex nuclear environment, and greatly improves the reliability and safety of performing oil filling tasks under special working conditions.

[0036] In at least one embodiment of the present application, the wheel-track composite mobile system 1 includes a chassis 11, a pickpocket 12, a front shock-absorbing column 13, a front shock-absorbing sleeve 14, a front wheel suspension 15, a front wheel bogie 16, a wheel 17, a front rocker arm 18, a track body 19, a middle wheel bogie 110, a middle wheel side bogie 111, a lifting column 112, a rear shock-absorbing column 113, a rear shock-absorbing sleeve 114, a rear wheel suspension 115, a rear rocker arm 116, a rear wheel bogie 117, a rear wheel side bogie 118 and a battery pack 119. The pickpocket 12 is connected to the chassis 11 through a motor-driven revolving pair. The front shock-absorbing column 13 is connected to the chassis 11 through a revolving pair. The front shock-absorbing sleeve 14 is connected to the front wheel suspension 15 through a revolving pair. The front shock-absorbing column 13 is connected to the front shock-absorbing sleeve 14 through a spring-driven moving pair. The front wheel suspension 15 is connected to the chassis 11 through a rotating pair driven by a motor. The front wheel bogie 16 is connected to the front wheel suspension 15 through a rotating pair driven by a motor. The wheel 17 is connected to the front wheel bogie 16 through a rotating pair driven by a motor. The front rocker arm 18 is connected to the track body 19 through a rotating pair driven by a motor. The track body 19 is fixedly connected to the lifting column 112. The lifting column 112 is connected to the chassis 11 through a moving pair driven by a motor. The rear wheel suspension 115 is connected to the chassis 11 through a rotating pair driven by a motor. The rear shock-absorbing cylinder 114 is connected to the rear wheel suspension 115 through a rotating pair. The rear shock-absorbing column 113 is connected to the chassis 11 through a rotating pair. The rear shock-absorbing column 113 is connected to the rear shock-absorbing sleeve 114 through a moving pair driven by a spring. The middle wheel side bogie 111 is connected to the rear wheel suspension 115 through a rotating pair driven by a motor. The middle wheel bogie 110 is connected to the middle wheel side bogie 111 through a motor-driven rotating pair. The rear wheel side bogie 118 is connected to the rear wheel suspension 115 through a motor-driven rotating pair. The rear wheel bogie 117 is connected to the rear wheel side bogie 118 through a motor-driven rotating pair. The rear swing arm 116 is connected to the track body 19 through a motor-driven rotating pair. The battery pack 119 is fixedly connected to the chassis 11.

[0037] In at least one embodiment of the present application, the six-axis robot arm 2 includes a base 21, a large arm sleeve 22, a large arm 23, a small arm sleeve 24, a support cylinder 25, a support rod 26, a small arm 27, a first end wrist joint 28, a second end wrist joint 29, an end support frame 210, a 3D visual sensor 211 and an oil gun 312. The large arm sleeve 22 is connected to the base 21 through a motor-driven revolving pair. The large arm 23 is connected to the large arm sleeve 22 through a motor-driven moving pair. The small arm sleeve 24 is connected to the large arm 23 through a motor-driven revolving pair. The support cylinder 25 is connected to the small arm sleeve 24 through a revolving pair. The support rod 26 is connected to the small arm 27 through a revolving pair. The support rod 26 is connected to the support cylinder 25 through a moving pair. The small arm 27 is connected to the small arm sleeve 24 through a motor-driven moving pair. The first end wrist joint 28 is connected to the small arm 27 through a motor-driven revolving pair. The second end wrist joint 29 is connected to the first end wrist joint 28 through a revolute pair driven by a motor. The end support frame 210 is connected to the second end wrist joint 29 through a revolute pair driven by a motor. The 3D vision sensor 211 is fixedly connected to the end support frame 210. The oil gun 312 is fixedly connected to the end support frame 210.

[0038] In the above embodiment, by integrating 3D vision sensors, oil filling guns and other equipment at the end of the six-axis robot arm 2, and matching the oil filling system, the surrounding environment can be well observed to avoid obstacles, successfully reach the designated position, and perform surface inspection and oil filling on the nuclear main pump, so as to reduce the risks faced by traditional manual operations in a nuclear radiation environment.

[0039] In at least one embodiment of the present application, the oil replenishment system 4 includes an oil tank 41, an oil circuit control valve 42, an oil pump 43, an oil pipe interface 44, an oil pipe 45, and an oil tank cap 46. The oil circuit control valve 42 is fixedly connected to the oil tank 41; the oil pump 43 is fixedly connected to the oil circuit control valve 42 and the oil tank 41; the oil pipe interface 44 is fixedly connected to the oil pump 43; the oil pipe 45 is fixedly connected to the oil pipe interface 44; and the oil tank cap 46 is fixedly connected to the oil tank 41.

[0040] In at least one embodiment of the present application, the camera system 5 includes a camera system lifting sleeve 51, a camera system lifting column 52, a two-degree-of-freedom pan-tilt 53, and a robot camera 54. The camera system lifting column 52 is connected to the camera system lifting sleeve 51 through a moving pair driven by a motor; the two-degree-of-freedom pan-tilt 53 is fixedly connected to the camera system lifting column 52; and the robot camera 54 is fixedly connected to the two-degree-of-freedom pan-tilt 53.

[0041] The connection relationship between each part is as follows: the base 21 in the six-axis robot 2 is fixedly connected to the chassis 11 in the wheel-track combined mobile system 1; the control system 3 is fixedly connected to the chassis 11 in the wheel-track combined mobile system 1; the oil tank 41 in the oil replenishing system 4 is fixedly connected to the chassis 11 in the wheel-track combined mobile system 1; the camera system lifting sleeve 51 in the camera system 5 is fixedly connected to the chassis 11 in the wheel-track combined mobile system 1; the oil pipe 45 in the oil replenishing system 4 is fixedly connected to the oil gun 312 in the six-axis robot 2.

[0042] The working principle of the all-terrain mobile oil injection robot in a complex nuclear environment is described below with examples in conjunction with specific implementation methods.

[0043] Reference Figure 1 , Figure 2 , Figure 6 , Figure 7 , Fig.12 The oil injection robot for all-terrain mobility in a complex nuclear environment mainly uses wheels to move in a relatively flat environment without obvious large obstacles, and has efficient mobility, flexible operation and steering. When the robot encounters a small obstacle, the motor in the wheel-track composite mobile system 1 drives the front wheel suspension 15 to rotate a certain angle, driving the front wheel bogie 16 and the wheel 17 to lift up a certain height, and the wheel 17 can be placed on the upper surface of the obstacle. After driving forward for a distance, the motor drives the rear wheel suspension 115 to rotate a certain angle, thereby adjusting the height of the middle wheel and the rear wheel, keeping the wheel in contact with the obstacle at all times, and ensuring that the robot passes the obstacle smoothly. When the robot passes through a rugged road surface, the front shock-absorbing column 13 and the front shock-absorbing sleeve 14 driven by the spring and the rear shock-absorbing column 113 and the rear shock-absorbing sleeve 114 driven by the spring can absorb and buffer the impact force transmitted to the vehicle body by the road surface, protect key components from damage by vibration and impact, and enable the robot to pass smoothly. When the robot needs to turn, the motor drives the front wheel bogie 16 and the rear wheel bogie 117 to rotate a certain angle, driving the front wheels and the rear wheels to turn to one side, while the middle wheels keep driving in a straight line, so that the robot can turn 360 degrees on the spot with extremely high flexibility.

[0044] Reference Figure 1 , Figure 2 , Figure 8 , Fig.13 , an all-terrain oil injection robot that can move in complex nuclear environments. In the face of complex environments with uneven roads, the wheel-track composite mobile system 1 needs to switch from a wheeled mobile mode to a tracked mobile mode. First, the motor drives the lifting column 112 to move, thereby driving the track body 19, the front rocker arm 18 and the rear rocker arm 116 to move linearly downward until

[0045] The crawler body 19 contacts the ground, and the wheel 17 is suspended. In order to ensure that the wheel suspension, wheel bogie, wheel side bogie and wheel structures do not interfere with obstacles during the forward movement, the motor drives the front wheel suspension 15 to rotate a certain angle, driving the front wheel bogie 16 and the wheel 17 to be lifted up to a certain height, and the motor drives the middle wheel side bogie 111 and the rear wheel side bogie 118 to rotate a certain angle, driving the middle wheel and the rear wheel to rise to both sides, so that the wheels are away from the ground.

[0046] Reference Figure 1 , Figure 2 , Fig. 9 , Fig.10 , Fig.14 , an oil injection robot capable of all-terrain mobility in a complex nuclear environment, can provide greater traction and adhesion when using crawler tracks on complex terrain and rugged surfaces, and has good environmental adaptability. When the crawler track mobile mode is adopted, the robot changes different postures through the coordinated cooperation of the front rocker arm 18, the pickpocket 12 and the rear rocker arm 116, so as to achieve all-terrain obstacle crossing. For example, when the robot passes a large obstacle, the pickpocket 12 is supplemented by the pickpocket 12, and the front and rear rocker arms are mainly used, and the three cooperate to complete the obstacle crossing. First, the motor in the wheel-track composite mobile system 1 drives the pickpocket 12 to rotate a certain angle so that it contacts the upper surface of the obstacle, and the motor continues to apply pressure so that the pickpocket 12 props up the entire robot to a certain height. Then, the motor drives the front rocker arm 18 to rotate a certain angle so that it is lifted up and placed on the obstacle, and the crawler provides a strong traction to travel forward. Subsequently, the motor drives the rear rocker arm 116 to rotate a certain angle so that it props up the entire robot downward, ensuring the contact between the crawler track and the obstacle, and finally passing the large obstacle smoothly. At the same time, in the process of overcoming obstacles, the upper arm 23 and the lower arm 27 in the six-axis robot arm 2 are extended and retracted to the minimum distance under the drive of the motor; the camera system lifting column 52 in the camera system 5 is also extended and retracted to the minimum distance under the drive of the motor to achieve the overall center of gravity balance of the robot.

[0047] Reference Figure 1 , Figure 3 , Figure 4 , Figure 5 , Fig.11When the robot is driving, the six-axis robot arm 2 and the various parts of the camera system 5 constantly change their postures, so that it can observe the surrounding environment in all directions, ensuring that it can smoothly reach the designated position for inspection, oiling and other work. The 3D visual sensor 211 at the end of the six-axis robot arm 2 is mainly used to identify the location of the oil hole and collect close-range environmental information. The robot camera 54 at the end of the camera system 5 is mainly used to observe the surrounding environment of the car and the operating environment of the six-axis robot arm 2, and provide video evidence for the operator. When the robot is driving on a rough road or crossing an obstacle, the six-axis robot arm 2 and the camera system 5 can adjust the height to ensure the overall center of gravity balance of the robot.

[0048] Reference Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Fig.11 , Fig.14 , Fig.15 , an all-terrain mobile oil filling robot in a complex nuclear environment, the special configuration of the 2 moving pairs plus 4 rotating pairs of the six-axis manipulator 2, and the large telescopic ratio of the big arm 23 and the small arm 27 can avoid singular points, improve flexibility and a larger working range. And the oil pipe 45 in the oil replenishment system 4 is connected to the oil gun 312 in the six-axis manipulator 2, and the oil filling operation can be realized by controlling the oil circuit control valve 42, which is simple to operate. In addition, the oil tank 41 has a large volume and can realize the continuous operation of multiple main pumps. For example, when the robot reaches the specified position, first, the various parts of the six-axis manipulator 2 cooperate to make the 3D visual sensor 211 at the end approach the main pump, detect the surface of the main pump through the 3D visual sensor 211, and identify the oil injection hole position, so as to guide the manipulator to automatically complete the oil filling operation. When the end oil gun 312 is aligned with the oil injection hole on the main pump, the nuclear main pump can be oiled by controlling the oil circuit control valve 42 in the oil replenishment system 4 to ensure the operation of the nuclear main pump.

[0049] The above-mentioned embodiment proposes an all-terrain mobile oil filling robot in a complex nuclear environment, which has good adaptability to complex terrains and has the function of automatically identifying the oil filling port. It is mainly used to realize operations such as oil changing and oil replenishing of the upper and lower double boxes of the nuclear main pump motor under automatic or human-machine collaborative operation mode, so as to form an oil film between high-speed running components to enhance the lubrication effect, reduce the friction coefficient, extend the service life of the components and ensure the stable and efficient operation of the main pump; at the same time, it can take away the heat generated by the operation of the motor and mechanical friction to prevent the components from being damaged by high temperature; in addition, it can also enhance the sealing performance, prevent coolant leakage and impurities from entering, and form a protective film on the surface of parts to prevent corrosion and oxidation, thereby ensuring the normal service life cycle of the main pump and the entire nuclear power plant.

[0050] It should be noted that the combination of the various technical features in the embodiments of the present application is not limited to the combination described in the embodiments of the present application or the combination described in the specific embodiments, and all technical features described in the present application can be freely combined or combined in any way unless there is a contradiction between them.

[0051] As shown in this application and claims, unless the context clearly indicates an exception, the words "a", "an" and / or "the" do not refer to the singular and may also include the plural. Generally speaking, the term "comprising" only indicates that the steps and elements that have been clearly identified are included, and these steps and elements do not constitute an exclusive list. The method or device may also include other steps or elements.

[0052] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. An all-terrain mobile oil injection robot in a complex nuclear environment, characterized in that: It includes a wheel-track composite mobile system, a six-axis robotic arm, a control system, an oil replenishment system and a camera system. The six-axis robotic arm, control system, oil replenishment system and camera system are respectively arranged on the supporting plane of the wheel-track composite mobile system. The oil replenishment system is connected to the six-axis robotic arm, the wheel-track composite mobile system is used to move the position, the camera system is used to shoot the surrounding environment and the operating environment of the six-axis robotic arm, the six-axis robotic arm is used to identify the oil injection hole position, and the control system is used to control the oil replenishment system to inject oil into the nuclear main pump.

2. The all-terrain mobile oil injection robot in a complex nuclear environment according to claim 1, characterized in that: The six-axis robot arm and camera system are configured with a height-adjustable function.

3. The all-terrain mobile oil injection robot in a complex nuclear environment according to claim 1, characterized in that: The six-axis robotic arm adopts a six-axis robotic arm with 2 moving pairs and 4 rotating pairs.

4. The all-terrain mobile oil injection robot in a complex nuclear environment according to claim 1, characterized in that: The wheel-track composite mobile system, six-axis robotic arm, control system, oil replenishment system and camera system are all designed to be radiation-resistant.

5. The all-terrain mobile oil injection robot in a complex nuclear environment according to claim 1, characterized in that: The wheel-track composite mobile system includes a chassis, a pickpocket, a front shock-absorbing column, a front shock-absorbing sleeve, a front wheel suspension, a front wheel bogie, a wheel, a front rocker arm, a track body, a middle wheel bogie, a middle wheel side bogie, a lifting column, a rear shock-absorbing column, a rear shock-absorbing sleeve, a rear wheel suspension, a rear rocker arm, a rear wheel bogie, a rear wheel side bogie and a battery pack. The pickpocket is connected to the chassis through a rotating pair driven by a motor, the front shock-absorbing column is connected to the chassis through a rotating pair, the front shock-absorbing sleeve is connected to the front wheel suspension through a rotating pair, the front shock-absorbing column is connected to the front shock-absorbing sleeve through a spring-driven moving pair, the front wheel suspension is connected to the chassis through a rotating pair driven by a motor, the front wheel bogie is connected to the front wheel suspension through a rotating pair driven by a motor, the wheel is connected to the front wheel bogie through a rotating pair driven by a motor, and the front rocker arm is connected to the front wheel bogie through a rotating pair driven by a motor. The arm is connected to the track body through a rotating pair driven by a motor, the track body is fixedly connected to the lifting column, the lifting column is connected to the chassis through a mobile pair driven by a motor, the rear end wheel suspension is connected to the chassis through a rotating pair driven by a motor, the rear end shock absorber cylinder is connected to the rear end wheel suspension through a rotating pair, the rear end shock absorber column is connected to the chassis through a rotating pair, the rear end shock absorber column is connected to the rear end shock absorber sleeve through a spring-driven mobile pair, the middle wheel side bogie is connected to the rear end wheel suspension through a rotating pair driven by a motor, the middle wheel bogie is connected to the middle wheel side bogie through a rotating pair driven by a motor, the rear wheel side bogie is connected to the rear end wheel suspension through a rotating pair driven by a motor, the rear wheel bogie is connected to the rear wheel side bogie through a rotating pair driven by a motor, the rear rocker arm is connected to the track body through a rotating pair driven by a motor, and the battery pack is fixedly connected to the chassis.

6. The all-terrain mobile oil injection robot in a complex nuclear environment according to claim 1, characterized in that: The six-axis robotic arm includes a base, an upper arm sleeve, an upper arm, a lower arm sleeve, a supporting tube, a supporting rod, a lower arm, a first terminal wrist joint, a second terminal wrist joint, an terminal supporting frame, a 3D vision sensor and an oil gun, wherein the upper arm sleeve is connected to the base through a rotating pair driven by a motor, the upper arm is connected to the upper arm sleeve through a moving pair driven by a motor, the lower arm sleeve is connected to the upper arm through a rotating pair driven by a motor, the supporting tube is connected to the lower arm sleeve through a rotating pair, the supporting rod is connected to the lower arm through a rotating pair, the supporting rod is connected to the supporting tube through a moving pair, the lower arm is connected to the lower arm sleeve through a moving pair driven by a motor, the first terminal wrist joint is connected to the lower arm through a rotating pair driven by a motor, the second terminal wrist joint is connected to the first terminal wrist joint through a rotating pair driven by a motor, the terminal supporting frame is connected to the second terminal wrist joint through a rotating pair driven by a motor, the 3D vision sensor is fixedly connected to the terminal supporting frame, and the oil gun is fixedly connected to the terminal supporting frame.

7. The all-terrain mobile oil injection robot in a complex nuclear environment according to claim 1, characterized in that: The oil replenishment system includes an oil tank, an oil circuit control valve, an oil pump, an oil pipe interface, an oil pipe and an oil tank cap, wherein the oil circuit control valve is fixedly connected to the oil tank; the oil pump is fixedly connected to the oil circuit control valve and the oil tank; the oil pipe interface is fixedly connected to the oil pump; the oil pipe is fixedly connected to the oil pipe interface; and the oil tank cap is fixedly connected to the oil tank.

8. An all-terrain mobile oil injection robot in a complex nuclear environment according to any one of claims 1 to 7, characterized in that: The camera system includes a camera system lifting sleeve, a camera system lifting column, a two-degree-of-freedom pan-tilt head and a robot camera, wherein the camera system lifting column is connected to the camera system lifting sleeve through a moving pair driven by a motor; the two-degree-of-freedom pan-tilt head is fixedly connected to the camera system lifting column; and the robot camera is fixedly connected to the two-degree-of-freedom pan-tilt head.

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