Composite repair robot applied to fission reactor special chamber environment

Abstract

The invention relates to the technical field of nuclear engineering equipment, in particular to a composite repair robot applied to a fission reactor special chamber environment. Comprising a crawler trolley; the composite mechanical arm comprises a three-axis arm and a six-axis arm, one end of the three-axis arm is connected with the crawler trolley, and the other end of the three-axis arm is connected with the six-axis arm; the manipulator is fixed at the tail end of the six-axis arm and is used for executing repairing operation in the fission reactor special box chamber; according to the composite type repairing robot for the fission reactor special box chamber, through the unique design and the innovative technical scheme, the safety, efficiency, stability and practicability of repairing operation on a process pipeline in an extreme environment are remarkably improved, and the composite type repairing robot has important application value and social significance.

Description

Technical Field

[0001] The invention relates to the technical field of nuclear energy engineering equipment, in particular to a composite-resistant repair robot applied to a special chamber environment of a fission reactor. Background Art

[0002] As an important facility for nuclear power generation, the special process chambers in fission reactors often face extreme working environments during operation, including strong radioactivity, strong acidity, and unstructured workspaces. These special conditions pose severe challenges to the process pipelines in the chambers. After long-term service, the process pipelines may crack, break, or even leak due to various extreme working conditions such as irradiation, pressure, and corrosion. Once a process pipeline leaks, it will not only affect the normal operation of the fission reactor, but may also pose a serious threat to the environment and personnel safety.

[0003] Traditionally, for such damaged process pipelines, repair work mainly relies on manual operation directly in the special process chamber. However, this method has many shortcomings: first, the high radioactive environment in the chamber poses a great threat to the health of operators, and long-term exposure may cause serious radiation damage; second, the strong acidic environment in the chamber has a corrosive effect on equipment and personnel that cannot be ignored, increasing the difficulty and risk of operation; in addition, the internal space of the special process chamber is complex, and the process pipelines are intricate, making it difficult for manual operation to reach all the locations that need to be repaired, and the efficiency is low.

[0004] In order to overcome the above difficulties, the industry has begun to explore the use of robotics to repair special chambers in fission reactors. However, the application of existing robotics in this field still faces many challenges: first, how to ensure the stability and durability of robots in strong radiation and strong corrosion environments; second, how to achieve flexible and precise operations in unstructured workspaces; and third, how to design a manipulator that can effectively fix and operate repair devices (such as grinding devices, welding devices, etc.) to adapt to process pipelines of different sizes and shapes.

[0005] At present, although some robot technologies for nuclear power facility repair have been proposed, these technologies often focus on a single function or a specific scenario, and it is difficult to meet the complex and changeable working requirements of the special chamber of the fission reactor. Therefore, it is of great significance to develop a special chamber resistant composite repair robot for fission reactors that can work stably in extreme environments, has multi-degree-of-freedom operation capabilities, and can effectively fix and operate the repair device, in order to improve the safety and operation efficiency of fission reactors. Summary of the invention

[0006] In view of the above technical background and problems, the present invention aims to solve the problem of repairing damage to process pipelines in special process chambers of fission reactors caused by extreme working conditions, with particular focus on achieving safe and efficient repair operations through automated, remotely controlled robots in highly radioactive, highly acidic and unstructured workspace environments, thereby providing a composite-resistant repair robot for use in special chamber environments of fission reactors.

[0007] The technical solution adopted to solve the technical problem is: a composite repair robot applied to the special chamber environment of a fission reactor, comprising:

[0008] Tracked trolley;

[0009] A composite robotic arm, comprising a three-axis arm and a six-axis arm, wherein one end of the three-axis arm is connected to the crawler vehicle, and the other end is connected to the six-axis arm;

[0010] A manipulator is fixed at the end of a six-axis arm and is used to perform repair operations in a special chamber of a fission reactor.

[0011] The manipulator includes: a connecting seat, which is connected to the end of the six-axis arm; a driving component, which is installed on the connecting seat, and the driving component includes a gear 1, a rack 1 meshingly arranged on both sides of the gear 1, a connecting block connected to the rack 1 and two brackets fixed on the connecting seat, the bracket has an arc-shaped slide groove, and both sides of the connecting block have pulleys slidably arranged in the slide groove; the clamping jaws, the connecting block and the rack 1 are connected in sequence, and the rotation of the gear 1 drives the two clamping jaws to synchronously extend out of the bracket and enclose with the bracket to form a closed or non-closed annular clamping area for clamping the repair device.

[0012] The manipulator further comprises a connecting rod, both ends of which are respectively fixed on two brackets arranged at intervals, and the connecting rod is arranged at both ends of the brackets to enhance the structural stability of the manipulator.

[0013] The clamping claw comprises: a claw body having an inner arc surface coaxial with the slide groove and a groove arranged on the inner arc surface, the groove extending along an arc shape, a receiving groove coaxial with the inner arc surface in the claw body, one end of the receiving groove extending to the end of the claw body to form a pin hole;

[0014] A flipping member is flipably installed in the groove, and the flipping member is distributed along the arc-shaped extension direction of the claw body, a second gear is fixed on the flipping shaft of the flipping member, and the flipping member can be flipped to be completely embedded in the groove or extended out of the groove to press the clamped surface;

[0015] Rack 2 is slidably disposed in the receiving groove, and the rack 2 is meshed with gear 2;

[0016] A first ejector pin is arranged at the front end of the claw body along the direction in which the claw body extends out of the bracket;

[0017] Spring 1, arranged in the receiving groove and located at the rear end of rack 2;

[0018] When the gear 1 rotates to drive the two clamping claws to synchronously extend out of the bracket and form a closed clamping area, the top pins 1 on the two claws are respectively inserted into the pin holes of each other, squeezing the rack 2 to make it slide, thereby driving the flipping member to synchronously flip out of the groove to press the clamped surface.

[0019] A locking assembly is provided in the rack 2, and the locking assembly includes:

[0020] A fixed rod, fixed in the second rack;

[0021] A movable rod, the middle part of which is rotatably connected to the fixed rod;

[0022] A second top pin is connected to one end of the movable rod and is arranged on one side of the pin hole;

[0023] A limit pin is connected to the other end of the movable rod and is arranged on one side of the second rack. The end of the limit pin is a wedge-shaped tooth, and the side of the second rack close to the end of the limit pin has a tooth groove;

[0024] Spring 2 is arranged on one side of the top pin 2, and the end of the top pin 2 is pressed into the pin hole under normal conditions;

[0025] When the first push pin is inserted into the pin hole, the second push pin is pressed out of the pin hole, so that the wedge-shaped teeth of the limit pin are embedded in the tooth grooves of the second rack, thereby limiting the sliding of the second rack in the opposite direction of the claw body extending out of the bracket, and maintaining the locking state of the flip member on the clamped surface.

[0026] One end of the ejector pin 2 extending into the pin hole is an arcuate surface or a spherical surface, so that the ejector pin 1 can be smoothly inserted into the pin hole and the ejector pin 2 can be pressed out.

[0027] A rotatably adjustable end support is installed below the connection between the three-axis arm and the six-axis arm to enhance the stability and flexibility of the robot in an unstructured workspace.

[0028] The crawler vehicle is driven by crawlers and has strong obstacle-crossing capability and stability to adapt to the complex terrain inside the special chamber of the fission reactor.

[0029] The six-axis arm has multiple degrees of freedom and can flexibly adjust the position and posture of the manipulator within a certain spatial range to meet the needs of repair operations at different angles and positions.

[0030] The annular clamping area formed by the clamping claws and the bracket of the manipulator and the annular groove on the clamped fixed component form a structural limit, which improves the stability and reliability of clamping and avoids the problem of clamping failure caused by vibration and reaction force.

[0031] The beneficial effects of the present invention are as follows: the fission reactor special chamber resistant composite repair robot of the present invention significantly improves the safety, efficiency, stability and practicality of process pipeline repair operations in extreme environments through its unique design and innovative technical solutions, and has important application value and social significance, which are specifically embodied as follows:

[0032] (1) Improve the safety of repairing process pipelines in extreme environments inside special process chambers. The crawler trolley provides driving power, the composite robotic arm provides multi-angle and wide-range operation control, and the robotic arm fixes the repair device to grind and weld the process pipelines, avoiding the problem of radiation shielding of fission reactors during traditional repairs.

[0033] (2) Improve the freedom of the manipulator during the repair process. The three-axis arm provides a long reach, which can avoid the problem of limited driving of the crawler in an unstructured workspace environment. The six-axis arm has a large degree of freedom within a certain space range, and can grind and weld equipment and process pipelines from multiple directions and angles;

[0034] (3) Improving the stability of the repair device during the repair process, by extending the clamping claws from the bracket to form a closed or non-closed annular clamping area, and forming a structural limit with the annular groove on the clamped fixed part, thereby avoiding the problem of clamping failure caused by the vibration and reaction force of the clamped fixed part caused by the traditional clamping claw manipulator clamping the fixed part by pressure;

[0035] (4) The clamping applicability of the clamped fixed parts of different sizes within a certain range is improved. The flipping piece arranged in the clamping jaw can be flipped and stretched inwards during operation, so as to fix and press the clamping surface of the clamped fixed part. When the clamped surface has different sizes within a certain range, the manipulator can also clamp stably.

[0036] (5) The stability of the system during the process of the mechanical claw clamping repair device is improved. After the push pin 1 is inserted into the pin hole, the push pin 2 is pressed out of the pin hole, driving the wedge-shaped teeth of the limit pin to be embedded in the tooth groove of the rack 2. The wedge-shaped teeth and the tooth groove cooperate to limit the sliding of the rack 2. In this state, even if the motor does not continue to work and apply torque, the flip part will still maintain a complete locking state for the clamped component. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 What is shown is a schematic diagram of the structure of the robot in the embodiment;

[0038] Figure 2 What is shown is the structural schematic diagram of the crawler vehicle;

[0039] Figure 3 Shown is a schematic diagram of the structure of the composite robotic arm;

[0040] Figure 4 What is shown is the structural schematic diagram of the manipulator;

[0041] Figure 5 What is shown is a schematic diagram of the structure of the connecting seat;

[0042] Figure 6 Shown is a schematic diagram of the exploded state of the drive assembly;

[0043] Figure 7 Shown is a schematic diagram of the connection state of the drive assembly and the clamping jaws;

[0044] Figure 8 What is shown is the structural schematic diagram of the clamping jaw;

[0045] Fig. 9 It shows a schematic diagram of the connection state of the claw body, the flip member, the second gear and the second rack;

[0046] Fig.10 The figure shows the installation state of rack 2 and gear 2 in the claw body;

[0047] Fig.11 Shown is a schematic structural diagram of the locking assembly of rack 2;

[0048] Fig.12 It is shown that Fig.11 A partial enlarged view of the middle A;

[0049] Description of the accompanying drawings: 10, crawler trolley; 11, crawler; 12, electrical cabinet; 20, composite robot arm; 21, three-axis arm; 211, arm one; 212, arm two; 213, arm three; 23, end support; 24, connecting frame; 30, robot arm; 31, connecting seat; 311, connecting plate one; 312, connecting plate two; 313, connecting plate three; 32, driving assembly; 321, motor; 322, gear one; 323. Bracket; 324. Slide groove; 325. Rack 1; 326. Connecting block; 327. Pulley; 328. Connecting rod; 33. Clamp; 331. Claw; 332. Flipping piece; 333. Gear 2; 334. Rack 2; 335. Top pin 1; 336. Slot; 337. Pin hole; 338. Spring 1; 41. Movable rod; 42. Fixed rod; 43. Top pin 2; 44. Limit pin; 45. Spring 2. DETAILED DESCRIPTION

[0050] In order to make the purpose, technical solution and advantages of the embodiments of the present invention more clear, the technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments.

[0051] Figure 1What is shown is a schematic diagram of the structure of the robot in this embodiment, which includes a tracked vehicle 10, a compound robotic arm 20 and a manipulator 30, wherein the compound robotic arm 20 is installed on the tracked vehicle 10, and the manipulator 30 is installed at the end of the compound robotic arm 20, and the tracked vehicle 10 provides drive to achieve the purpose of driving. The compound robotic arm 20 has multiple degrees of freedom, and the position and state of the manipulator 30 at the end can be adjusted as needed.

[0052] Figure 2 What is shown is a schematic diagram of the structure of the crawler trolley 10 , which is driven by a crawler 11 , and an electrical cabinet 12 is fixedly installed on the top of the crawler trolley 10 to provide control integration and circuit installation for the operation of the composite robot arm 20 and the robot hand 30 .

[0053] Figure 3 What is shown is a schematic diagram of the structure of the composite robot arm 20, which includes a three-axis arm 21 and a six-axis arm 22, wherein one end of the three-axis arm 21 is installed on the crawler vehicle 10, and the six-axis arm 22 is installed as a whole at the other end of the three-axis arm 21; the three-axis arm 21 includes arm one 211, arm two 212 and arm three 213, wherein arm one 211 and arm two 212 are telescopically connected, an electric cylinder is installed inside the arm one 211, and arm two 212 is driven to telescope by the electric cylinder, arm two 212 and arm three 213 are rotationally connected, a motor is installed at the connection between arm two 212 and arm three 213, and arm two 212 and arm three 213 are driven to rotate by the motor.

[0054] Combination Figure 3 A rotatable and adjustable end support 23 is also installed under the arm three 213. The top of the end support 23 and the arm three 213 are rotatably connected by setting a motor, and an electric cylinder is also set in the end support 23 to connect with the support foot. The motor drives the end support 23 to rotate, and the electric cylinder drives the support foot to extend and retract to contact the support surface, thereby realizing the function of fixed support.

[0055] Combination Figure 1 to Figure 3 In order to meet the requirements of the unstructured working space environment in the special process box room of the fission reactor, the six-axis arm 22 is not directly fixed on the tracked trolley 10, but is installed on the three-axis arm 21, and then the three-axis arm 21 is fixed to the tracked trolley 10. The three-axis arm 21 provides a long-distance extension stroke, which can avoid the problem of limited driving of the tracked trolley 10 in the unstructured working space environment. The six-axis arm 22 has a large degree of freedom within a certain spatial range, and can grind and weld equipment and process pipelines from multiple directions and angles.

[0056] It should be noted that the specific implementation structure of the crawler vehicle 10, the composite robot arm 20 and the robot 30 in this embodiment is not limited to the above-mentioned contents, and structures or devices in the prior art that can achieve the same technical purpose can also be adopted.

[0057] Figure 4 The structure diagram of the robot 30 is shown. The robot 30 is used to fix the grinding and welding device and control the position of the grinding and welding device through the drive of the composite robot arm 20. Figure 4 The manipulator 30 includes a connecting seat 31, a driving assembly 32 and a clamp 33. The driving assembly 32 is installed on the connecting seat 31, the clamp 33 is installed on the driving assembly 32 and driven by the driving assembly 32, and the connecting seat 31 is fixedly connected to the connecting frame 24 at the end of the six-axis arm 22.

[0058] Figure 5 The structural schematic diagram of the connecting seat 31 is shown, and the connecting seat 31 includes a connecting plate 1 311, a connecting plate 2 312 and a connecting plate 313. The connecting plate 2 312 is set in two pieces. The connecting plate 1 311, the connecting plate 2 312 and the connecting plate 3 313 together enclose a rectangle with a hollow middle. A motor 321 is installed on the connecting plate 313. The output shaft of the motor 321 passes through the connecting plate 3 313 to fix the gear 1 322. The motor 321 is located in the hollow part of the connecting seat 31.

[0059] Figure 6 The driving assembly 32 is shown in a schematic diagram of an exploded state. The driving assembly 32 includes a motor 321, a gear 322, a bracket 323, a rack 325, a connecting block 326, a pulley 327 and a connecting rod 328. Figure 6 The motor 321 is mounted on the connecting plate 313, the output shaft of the motor 321 passes through the connecting plate 313 to fix the gear 1 322, the bracket 323 is fixedly mounted on the connecting plate 313, and two brackets 323 are provided, and the two brackets 323 are spaced to accommodate the installation of the rack 1 325 and the connecting block 326; the bracket 323 is provided with an arc-shaped slide groove 324 (or slide hole), and pulleys 327 are installed on both sides of the connecting block 326. The pulleys 327 are slidably or rollingly arranged in the slide groove 324, and the connecting block 326 The top is fixedly connected to the rack 1 325. Similarly, the rack 1 325 is also arranged to be arc-shaped coaxially with the slide groove 324. The side of the rack 1 325 has teeth meshing with the gear 1 322. In this embodiment, the number of racks 1 325 and connecting blocks 326 is also arranged in pairs, one of which is fixed to the connecting block 326, and the other is also fixed to the connecting block 326. The two racks 1 325 are respectively located on both sides of the gear 1 322 and are driven by the motor 321 to move in opposite directions.

[0060] Combination Figure 6 In order to improve the stability of the overall structure, a connecting rod 328 is arranged between the two brackets 323 , and both ends of the connecting rod 328 are respectively fixed to the brackets 323 , and the connecting rod 328 is arranged at both ends of the brackets 323 .

[0061] Combination Figure 4 and Figure 6 When the motor 321 is powered on and drives the gear 1 322 to rotate, the gear 1 322 will mesh with the rack 1 325. Since the rack 1 325 and the connecting block 326 are fixed, and the connecting block 326 is limited by the pulley 327 and the slide groove 324 and can only make an arc motion within the track of the slide groove 324, the two racks 1 325 will move toward the two ends of the bracket 323 or the middle of the bracket 323 at the same time under the drive of the gear 1 322, that is, the connecting block 326 will move toward the two ends of the bracket 323 or the middle of the bracket 323 at the same time under the drive of the gear 1 322.

[0062] Figure 7 What is shown is a schematic diagram of the connection status of the drive assembly 32 and the clamp 33, the clamp 33 is arranged corresponding to the connecting block 326, a clamp 33 is fixed at the bottom of each connecting block 326, and the clamp 33 is arranged to be an arc coaxial with the slide groove 324, and the inner arc surface of the clamp 33 is equal to the inner arc surface diameter of the bracket 323, when the clamp 33 is extended out of the bracket 323 by the driving of the connecting block 326, the clamp 33 and the bracket 323 jointly form a closed or non-closed annular clamping area, which is used to match and fix shaft parts or shaft-shaped parts.

[0063] Figure 8 The structure diagram of the clamping jaw 33 is shown. The clamping jaw 33 includes a claw body 331, a flipping member 332, a second gear 333, a second rack 334 and a first pin 335. The claw body 331 is an arc coaxial with the bracket 323 and the slide groove 324. A groove 336 is provided on the inner arc surface of the claw body 331. The flipping member 332 is flippably installed in the groove 336. The flipping members 332 are distributed along the arc extension direction of the claw body 331. When the claw body 331 is flipped to be completely embedded in the groove 336, the adjacent flipping members 332 do not overlap and interfere with each other. Figure 7 and Figure 8 It can be seen that the flip member 332 has different flip states in the groove 336, one state is as follows Figure 7 The flip member 332 shown in FIG. 3 is flipped to be completely embedded in the groove 336. Another state is as shown in FIG. Figure 8 The flip member 332 shown in FIG. 3 is flipped to the outside of the groove 336 .

[0064] In the unstructured working space environment of the special process box room of the fission reactor, it is necessary to use robots to grind and weld the process pipelines, which not only requires the robots to be miniaturized, integrated and multifunctional, but also because grinding and welding both require the manipulator 30 to fix the device, that is to say, the manipulator 30 needs to simultaneously satisfy the fixation of the grinding device and the welding device, which puts higher requirements on the applicability of the fixing function of the manipulator 30. Although the familiar claw manipulator can clamp and fix the components, the contact area between the claw and the fixed component is small, and temporary clamping and fixing is feasible, but the stability of fixation cannot be guaranteed for long-term work such as pipeline repair, especially when it comes to the vibration and reaction force generated during the grinding process of the grinding device, which will cause the clamping failure of the claw manipulator; the purpose of the structural design of the claw 33 in this embodiment is to use the claw 3 3 extends out from the bracket 323 to form a closed or non-closed annular clamping area. At the same time, an annular groove corresponding to the clamping area is set on the grinding and welding device, which is usually set in a circular shape. The grinding and welding device is fixed by the matching relationship between the clamping area and the annular groove. Since the fixation relies on the clamping claw 33 and the bracket 323 to be embedded in the annular groove, it is a structural limit, thereby avoiding the problem that the traditional clamping claw type manipulator may fail to clamp the fixed part by pressure due to the vibration and reaction force of the clamped fixed part; on the other hand, in order to improve the clamping stability and applicability of the manipulator 30 for different clamped fixed parts, the flip piece 332 set in the clamping claw 33 can be flipped and stretched inwardly during the operation, so as to fix and press the clamping surface of the clamped fixed part, and when the clamped surface has different sizes within a certain range, the manipulator 30 can also stably clamp.

[0065] Fig. 9 It is a schematic diagram showing the connection state of the claw body 331, the flip member 332, the second gear 333, and the second rack 334. Fig. 9The cross section of the claw body 331 is used as an illustration, and the cross section is a cross section perpendicular to the inner and outer arc surfaces of the claw body 331. The two ends of the flip member 332 are rotatably connected to the claw body 331 through a rotating pin. One of the rotating pin ends of the flip member 332 is fixedly connected to the second gear 333. The inside of the claw body 331 is provided with an arc-shaped second rack 334 coaxial with the claw body 331, and the second rack 334 is meshed with the second gear 333. The end of the claw body 331 is provided with a pin hole 337 corresponding to the second rack 334. The end of the claw body 331 is also provided with a push pin 335 protruding from the cross section; as mentioned above, two clamping jaws 33 are provided, and are relatively mirror-imaged, so that when the two clamping jaws 33 are in the assembled state, the positions of the rack 2 334 and the push pin 1 335 on the two clamping jaws 33 are opposite, so that when the clamping jaws 33 are extended and move toward each other, the push pins 1 335 on the two clamping jaws 33 can be correspondingly inserted into the pin hole 337 and contact the internal rack 2 334, thereby synchronously changing the state of the flip member 332.

[0066] Fig.10 The figure shows the installation state of the rack 2 334 and the gear 2 333 in the claw body 331. Fig.10 As shown in a partial view, the claw body 331 is provided with a cavity for accommodating the rack 2 334 and the gear 2 333, wherein the cavity for accommodating the rack 2 334 is arc-shaped, and the cavity for accommodating the gear 2 333 is columnar, and the two cavities are connected. A spring 1 338 is also provided in the claw body 331 to press against the rack 2 334. When the push pin 1 335 contacts the rack 2 334 and pushes it in, the spring 1 338 will be compressed. When the push pin 1 335 is withdrawn, the elastic potential energy stored in the compression of the spring 1 338 will reset the rack 2 334.

[0067] Fig.11 The structure diagram of the locking assembly of the rack 2 334 is shown. Fig.11 The figure shows a partial view, in which the locking assembly is installed on the side of the pin hole 337 corresponding to the second rack 334. The locking assembly is a lever structure as a whole, including a movable rod 41, a fixed rod 42, a second top pin 43, a limit pin 44, and a second spring 45. The claw body 331 has a cavity for accommodating the installation of the locking assembly, wherein the fixed rod 42 is fixed in the claw body 331, and the fixed rod 42 is rotatably connected to the middle part of the movable rod 41, so that the movable rod 41 forms a lever structure through the fixed rod 42, and the top pin The second push pin 43 and the limit pin 44 are fixed at both ends of the movable rod 41, wherein the second push pin 43 is arranged on one side of the pin hole 337, and the limit pin 44 is arranged on one side of the rack 334. The second push pin 43 and the limit pin 44 can both extend out of the cavity of the claw body 331. A spring 45 is also arranged at one end of the second push pin 43. The spring 45 presses the second push pin 43 out so that the end of the second push pin 43 extends into the pin hole 337. The part of the second push pin 43 extending into the pin hole 337 is an arc surface or a spherical surface.

[0068] Combination Figure 7 and Fig.11 When the motor 321 drives the two claw bodies 331 to extend out of the bracket 323, the top pins 335 on the two brackets 323 correspond to the pin holes 337 respectively. When the two claw bodies 331 are close to each other and fit together, the top pin 335 will be inserted into the pin hole 337. When the top pin 335 contacts the top pin 43, the top pin 43 will be pushed out of the pin hole 337. The spring 45 is compressed. Under the lever action of the movable rod 41, the limit pin 44 will be pressed into the tooth groove of the rack 2 334, and the end of the limit pin 44 is set as a wedge-shaped tooth. As the top pin 335 continues to be pressed into and contacts the rack 2 334, the rack 2 334 will mesh with the gear 2 333 to drive the flipping member 332 to flip and be clamped and fixed by the clamping component. At the same time, during the sliding process of the rack 2 334, the rack 2 334 is matched with the inclined surface of the limit pin 44 through the tooth groove. When the rack 334 is fully pressed and fixed, the pressing of the rack 334 will be restricted. However, at this time, the contact surface between the limit pin 44 and the rack 334 is perpendicular to the sliding direction of the rack 334, and the sliding out of the rack 334 is restricted, so this state will be maintained. Even if the claw body 331 retracts to a certain extent, the flip member 332 will still maintain a complete locking state for the clamped part; when the top pin 1 335 completely withdraws from the pin hole 337, the spring 2 45 presses the top pin 2 43 out again, and under the lever action of the movable rod 41, the limit pin 44 will withdraw from the tooth groove of the rack 2 334, and the rack 2 334 will be reset under the action of the spring 1 338 after losing the restriction of the limit pin 44.

[0069] Embodiment: A composite repair robot for use in a fission reactor special chamber environment, the robot comprising a crawler vehicle, a composite mechanical arm and a manipulator, the following is a detailed description of each part:

[0070] Tracked vehicle: Tracked vehicle 10 is the mobile platform of the entire robot. Figure 2 As shown, it is driven by crawlers 11, has strong obstacle-crossing ability and stability, and can move flexibly in the complex terrain of the special chamber of the fission reactor. An electrical cabinet 12 is fixedly installed on the top of the crawler trolley 10 to provide control integration and circuit installation for the operation of the composite mechanical arm 20 and the manipulator 30.

[0071] Composite robot arm: The composite robot arm 20 includes a three-axis arm 21 and a six-axis arm 22. Figure 3As shown. One end of the three-axis arm 21 is connected to the crawler trolley 10, and the other end is connected to the six-axis arm 22. The three-axis arm 21 is composed of arm one 211, arm two 212 and arm three 213, wherein arm one 211 and arm two 212 are telescopically connected, and arm two 212 is driven to telescope by an electric cylinder; arm two 212 and arm three 213 are rotationally connected, and arm two 212 and arm three 213 are driven to rotate by a motor. The six-axis arm 22 is installed on arm three 213 of the three-axis arm 21, has multiple degrees of freedom, and can flexibly adjust the position and posture of the manipulator 30 within a certain spatial range.

[0072] The end support member 23 which can be rotated and adjusted is also installed below the arm 3 213. Figure 3 The top of the end support 23 and the arm three 213 are connected to each other by a motor, and an electric cylinder is also provided in the end support 23 to connect with the support foot. The motor drives the end support 23 to rotate, and the electric cylinder drives the support foot to extend and retract to contact with the support surface, thereby achieving the function of fixed support and enhancing the stability and flexibility of the robot in the unstructured workspace.

[0073] Robot: The robot 30 is fixed at the end of the six-axis arm 22, such as Figure 4 As shown, the device for fixing grinding and welding is controlled in position by driving the composite robot arm 20. The robot arm 30 includes a connecting seat 31, a driving assembly 32 and a clamping claw 33.

[0074] Connecting seat: The connecting seat 31 is connected to the end of the six-axis arm 22, such as Figure 5 The connection seat 31 includes a connection plate 1 311, a connection plate 2 312 and a connection plate 3 313, which together form a rectangular structure with a hollow middle. A motor 321 is installed on the connection plate 3 313, and the output shaft of the motor 321 passes through the connection plate 3 313 to fix the gear 1 322.

[0075] Drive assembly: The drive assembly 32 is mounted on the connecting seat 31, such as Figure 6As shown. The driving assembly 32 includes a motor 321, a gear 1 322, a bracket 323, a rack 1 325, a connecting block 326, a pulley 327 and a connecting rod 328. The bracket 323 is fixedly mounted on the connecting plate 3 313 and is provided in two pieces. The two brackets 323 are arranged at intervals to accommodate the installation of the rack 1 325 and the connecting block 326. An arc-shaped slide groove 324 is provided on the bracket 323, and pulleys 327 are installed on both sides of the connecting block 326. The pulleys 327 are slidably or rollingly arranged in the slide groove 324. The top of the connecting block 326 is fixedly connected to the rack 1 325, and the side of the rack 1 325 has teeth meshing with the gear 1 322. When the motor 321 is powered on, it drives the gear 1 322 to rotate. The gear 1 322 meshes with the rack 1 325, so that the two racks 1 325 move toward the two ends of the bracket 323 or move toward the middle of the bracket 323 at the same time under the drive of the gear 1 322.

[0076] In order to improve the stability of the overall structure, a connecting rod 328 is further provided between the two brackets 323 , and both ends of the connecting rod 328 are respectively fixed to the brackets 323 .

[0077] Clamp: The clamp 33 is mounted on the drive assembly 32 and driven by it, such as Figure 7 The clamping claw 33 includes a claw body 331, a flip member 332, a second gear 333, a second rack 334, a first pin 335 and a first spring 338, as shown in FIG. Figure 8 As shown. The claw body 331 is an arc-shaped structure coaxial with the bracket 323 and the slide groove 324. A groove 336 is provided on the inner arc surface. The flip member 332 can be flipped and installed in the groove 336 and is distributed along the arc extension direction of the claw body 331. A receiving groove coaxial with the inner arc surface is provided inside the claw body 331. One end of the receiving groove extends to the end of the claw body 331 to form a pin hole 337. The second rack 334 is slidably provided in the receiving groove and meshes with the second gear 333. The first pin 335 is provided at the front end of the claw body along the direction in which the claw body 331 extends out of the bracket. The first spring 338 is provided in the receiving groove and is located at the rear end of the second rack 334.

[0078] When gear 1 322 rotates to drive the two clamping claws 33 to synchronously extend out of the bracket and enclose the bracket to form a closed clamping area, the top pin 1 335 on the two claw bodies 331 is respectively inserted into the pin hole 337 of each other, squeezing the rack 2 334 to make it slide, thereby driving the flip member 332 to synchronously flip and extend out of the groove to press the clamped surface.

[0079] Locking assembly: A locking assembly is also provided in the rack 2 334, such as Fig.11As shown. The locking assembly includes a fixed rod 42, a movable rod 41, a second top pin 43, a limit pin 44 and a second spring 45. The fixed rod 42 is fixed in the second rack 334, and the middle part of the movable rod 41 is rotatably connected to the fixed rod 42 to form a lever structure. The second top pin 43 and the limit pin 44 are fixed at both ends of the movable rod 41, the second top pin 43 is arranged on one side of the pin hole 337, the limit pin 44 is arranged on one side of the second rack 334, and the end of the limit pin 44 is a wedge-shaped tooth. The second spring 45 is arranged on one side of the second top pin 43, and the end of the second top pin 43 is pressed into the pin hole 337 under normal conditions. When the ejector pin 1 335 is inserted into the pin hole 337 , the ejector pin 2 43 is pressed out of the pin hole 337 , so that the wedge-shaped teeth of the limit pin 44 are embedded in the tooth grooves of the rack 2 334 , thereby limiting the rack 2 334 from sliding in the opposite direction of the claw body extending out of the bracket, thereby maintaining the locking state of the flip member 332 on the clamped component.

[0080] Working principle and execution process of the embodiment of this invention: The fission reactor special chamber resistant composite repair robot, through its unique structural design, realizes the efficient and safe repair of the process pipeline in the special process chamber of the fission reactor under extreme environment; the specific working principle and process are as follows:

[0081] S1. Initial state

[0082] When the robot is in the initial state, the crawler trolley 10 is parked outside the special box of the fission reactor, the three-axis arm 21 and the six-axis arm 22 of the composite robot arm 20 are both in a retracted state, and the gripper 33 of the robot hand 30 is also completely retracted into the bracket 323. At this time, the control system in the electrical cabinet 12 is in a standby state, waiting for an operation instruction.

[0083] S2. Enter the work area

[0084] The operator sends a command through the remote control system, and the crawler trolley 10 starts and drives into the special chamber of the fission reactor along the preset path. The arm 1 211 and the arm 2 212 of the three-axis arm 21 gradually extend according to the spatial layout in the chamber to meet the repair work requirements at different locations. At the same time, the six-axis arm 22 remains in a retracted state to reduce space occupation.

[0085] S3. Positioning and support

[0086] When the crawler trolley 10 drives near the process pipeline to be repaired, the three-axis arm 21 continues to extend until the six-axis arm 22 can cover the position of the process pipeline. At this time, the motors of the three-axis arm 21 and the six-axis arm 22 work together to adjust the precise position of the manipulator 30. At the same time, the end support 23 is started, and the electric cylinder drives the support foot to extend and contact the support surface, thereby enhancing the stability of the robot in the unstructured workspace.

[0087] S4, Robotic gripping repair device

[0088] The driving component starts: the operator sends a clamping instruction through the remote control system, the motor 321 of the driving component 32 starts, and the driving gear 1 322 rotates.

[0089] Extension of the clamping jaws: The rotation of the gear 1 322 drives the connecting block 326 to slide along the slide groove 324 on the bracket 323 through the rack 1 325, thereby driving the clamping jaws 33 to extend from the bracket 323. Since the two clamping jaws 33 are arranged in pairs, they will extend synchronously to form a closed or non-closed annular clamping area.

[0090] Turning of the flipping member: As the clamping jaws 33 extend, the top pins 335 on the two jaw bodies 331 gradually approach and insert into each other's pin holes 337. The insertion of the top pin 335 squeezes the rack 2 334, causing it to slide along the receiving groove. The sliding of the rack 2 334 drives the gear 2 333 to rotate through the meshing relationship, thereby driving the flipping member 332 to flip and extend out of the groove 336, pressing the clamped repair device (such as a grinding device or a welding device).

[0091] Working of the locking assembly: When the ejector pin 1 335 is inserted into the pin hole 337, the ejector pin 2 43 in the locking assembly will be ejected at the same time. The movement of the ejector pin 2 43 drives the limit pin 44 to be pressed into the tooth groove of the rack 2 334 through the movable rod 41. Since the end of the limit pin 44 is a wedge-shaped tooth, it will form a self-locking structure with the tooth groove of the rack 2 334, ensuring that the rack 2 334 will not slide in the opposite direction during the clamping process, thereby maintaining the locking state of the flip member 332 on the clamped component.

[0092] S5. Perform repair work

[0093] After the manipulator 30 stably clamps the repair device, the operator sends an operation instruction through the remote control system. The composite robot arm 20 adjusts the position and posture of the manipulator 30 according to the operation requirements, so that the repair device is aligned with the process pipeline to be repaired. Subsequently, the repair device is started to perform operations such as grinding, welding or post-weld quality inspection.

[0094] S6. Completion of work and evacuation

[0095] After the repair operation is completed, the operator sends an evacuation command through the remote control system. The motor 321 of the drive assembly 32 reverses, driving the gear 1 322 to rotate in the opposite direction. The reverse rotation of the gear 1 322 drives the clamp 33 to be retracted into the bracket 323 through the rack 1 325 and the connecting block 326. At the same time, the limit pin 44 of the locking assembly withdraws from the tooth groove of the rack 2 334 under the action of the spring 2 45, allowing the rack 2 334 to slide in the opposite direction and reset. After the manipulator 30 releases the repair device, the crawler trolley 10 starts and drives out of the special chamber of the fission reactor, completing the entire repair operation process.

[0096] The fission reactor special chamber resistant composite repair robot in this embodiment realizes efficient and safe repair operations in extreme environments, improving the safety and efficiency of the repair operations; the driving power is provided by the crawler trolley, the composite robotic arm provides multi-angle and wide-range operation control, and the manipulator fixes the repair device to grind and weld the process pipeline for repair, effectively avoiding the problem of radiation shielding of the fission reactor during traditional repair. The manipulator adopts a special clamping claw structure, and the annular clamping area formed by the clamping claw and the bracket and the annular groove on the clamped fixed component form a structural limit, which improves the stability and reliability of the clamping. At the same time, the design of the flip part and the locking assembly in the clamping claw enables the manipulator to stably clamp components of different sizes and maintain the stability of the system during the clamping process.

Claims

1. A composite repair robot used in a special chamber environment of a fission reactor, characterized in that: include: Tracked trolley; A composite robotic arm, comprising a three-axis arm and a six-axis arm, wherein one end of the three-axis arm is connected to the crawler vehicle, and the other end is connected to the six-axis arm; A manipulator is fixed at the end of a six-axis arm and is used to perform repair operations in a special chamber of a fission reactor.

2. The composite repair robot used in the special chamber environment of a fission reactor according to claim 1, characterized in that: The manipulator comprises: A connecting seat, the connecting seat is connected to the end of the six-axis arm; A driving assembly, the driving assembly is installed on the connecting seat, the driving assembly includes a gear 1, a rack 1 meshingly arranged on both sides of the gear 1, a connecting block connected to the rack 1 and two brackets fixed on the connecting seat, the bracket has an arc-shaped slide groove, and both sides of the connecting block have pulleys slidably arranged in the slide groove; The clamping jaws, the connecting block and the rack are connected in sequence, and the rotation of the gear drives the two clamping jaws to synchronously extend out of the bracket and enclose with the bracket to form a closed or non-closed annular clamping area for clamping the repair device.

3. The composite repair robot used in the special chamber environment of a fission reactor according to claim 1, characterized in that: The manipulator further comprises a connecting rod, both ends of which are respectively fixed on two brackets arranged at intervals, and the connecting rod is arranged at both ends of the brackets to enhance the structural stability of the manipulator.

4. The composite repair robot used in the special chamber environment of a fission reactor according to claim 2, characterized in that: The clamping jaws include: The claw body has an inner arc surface coaxial with the slide groove and a groove arranged on the inner arc surface, the groove extends along an arc shape, and the claw body has a receiving groove coaxial with the inner arc surface, one end of the receiving groove extends to the end of the claw body to form a pin hole; A flipping member is flipably installed in the groove, and the flipping member is distributed along the arc-shaped extension direction of the claw body, a second gear is fixed on the flipping shaft of the flipping member, and the flipping member can be flipped to be completely embedded in the groove or extended out of the groove to press the clamped surface; Rack 2 is slidably disposed in the receiving groove, and the rack 2 is meshed with gear 2; A first ejector pin is arranged at the front end of the claw body along the direction in which the claw body extends out of the bracket; Spring 1, arranged in the receiving groove and located at the rear end of rack 2; When the gear 1 rotates to drive the two clamping claws to synchronously extend out of the bracket and form a closed clamping area, the top pins 1 on the two claws are respectively inserted into the pin holes of each other, squeezing the rack 2 to make it slide, thereby driving the flipping member to synchronously flip out of the groove to press the clamped surface.

5. The composite repair robot used in the special chamber environment of a fission reactor according to claim 4, characterized in that: A locking assembly is provided in the rack 2, and the locking assembly includes: A fixed rod, fixed in the second rack; A movable rod, the middle part of which is rotatably connected to the fixed rod; A second top pin is connected to one end of the movable rod and is arranged on one side of the pin hole; A limit pin is connected to the other end of the movable rod and is arranged on one side of the second rack. The end of the limit pin is a wedge-shaped tooth, and the side of the second rack close to the end of the limit pin has a tooth groove; Spring 2 is arranged on one side of the top pin 2, and the end of the top pin 2 is pressed into the pin hole under normal conditions; When the first push pin is inserted into the pin hole, the second push pin is pressed out of the pin hole, so that the wedge-shaped teeth of the limit pin are embedded in the tooth grooves of the second rack, thereby limiting the sliding of the second rack in the opposite direction of the claw body extending out of the bracket, and maintaining the locking state of the flip member on the clamped surface.

6. The composite repair robot used in the special chamber environment of a fission reactor according to claim 5, characterized in that: One end of the ejector pin 2 extending into the pin hole is an arcuate surface or a spherical surface, so that the ejector pin 1 can be smoothly inserted into the pin hole and the ejector pin 2 can be pressed out.

7. The composite repair robot used in a special chamber environment of a fission reactor according to claim 1, characterized in that: A rotatably adjustable end support is installed below the connection between the three-axis arm and the six-axis arm to enhance the stability and flexibility of the robot in an unstructured workspace.

8. The composite repair robot used in a fission reactor special chamber environment according to claim 1 is characterized in that: The crawler vehicle is driven by crawlers and has strong obstacle-crossing capability and stability to adapt to the complex terrain inside the special chamber of the fission reactor.

9. The composite repair robot used in a fission reactor special chamber environment according to claim 1 is characterized in that: The six-axis arm has multiple degrees of freedom and can flexibly adjust the position and posture of the manipulator within a certain spatial range to meet the needs of repair operations at different angles and positions.

10. The composite repair robot used in a fission reactor special chamber environment according to claim 1, characterized in that: The annular clamping area formed by the clamping claws and the bracket of the manipulator and the annular groove on the clamped fixed component form a structural limit, which improves the stability and reliability of clamping and avoids the problem of clamping failure caused by vibration and reaction force.

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