A composite-resistant repair robot applied to a special box chamber environment of a fission reactor

Abstract

The application relates to the technical field of nuclear power engineering equipment, in particular to a composite-resistant repair robot applied to a fissile reactor special box chamber environment; the composite-resistant repair robot comprises a crawler trolley, a composite mechanical arm, 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 is connected with the six-axis arm, and a manipulator, the manipulator is fixed at the tail end of the six-axis arm and is used for performing repair work in the fissile reactor special box chamber; the fissile reactor special box chamber composite-resistant repair robot has the advantages that through the unique design and the innovative technical scheme, the safety, the efficiency, the stability and the practicability of repair work on a process pipeline in an extreme environment are remarkably improved, and the fissile reactor special box chamber composite-resistant repair robot has important application value and social significance.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of nuclear power engineering equipment, in particular to a composite-resistant repair robot applied to a fissile reactor special chamber environment. BACKGROUND

[0002] As an important facility for nuclear power generation, the fissile reactor often faces extreme working environments, including strong radioactivity, strong acidity, and unstructured working space, during the operation of its internal special process chamber. These special conditions pose a severe challenge to the process pipes inside the chamber. After long-term service, the process pipes may crack, break, or even leak due to radiation, pressure, corrosion, and other extreme conditions. Once the process pipes leak, not only will it affect the normal operation of the fissile reactor, but also may pose a serious threat to the environment and personnel safety.

[0003] Traditionally, for such damaged process pipes, repair work mainly relies on manual operation directly into the special process chamber. However, this method has many shortcomings: first, the high radioactivity environment in the chamber poses a great threat to the health of the 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, increasing the difficulty and risk of operation; in addition, the internal space of the special process chamber is complex, and the process pipes are complex, 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 robot technology for repair work in the fissile reactor special chamber. However, the existing robot technology still faces many challenges in this field: first, how to ensure the stability and durability of the robot in a strong radiation and strong corrosion environment; second, how to achieve flexible and precise operation in an unstructured working space; third, how to design a mechanical hand that can effectively fix and operate repair devices (such as polishing devices, welding devices, etc.) to adapt to process pipes of different sizes and shapes.

[0005] Currently, although some robot technologies for nuclear power facility repair have been proposed, these technologies often focus on single function or specific scenarios, making it difficult to meet the complex and varied working needs of the fissile reactor special chamber. Therefore, developing a fissile reactor special chamber composite-resistant repair robot that can work stably in extreme environments, has multi-degree-of-freedom operation capability, and can effectively fix and operate repair devices, is of great significance for improving the safety and operation efficiency of the fissile reactor. SUMMARY

[0006] In view of the above-mentioned technical background and problems, the present invention aims to solve the problem of repairing process pipelines in special process chambers of fission reactors damaged by extreme working conditions. It focuses on providing a composite-resistant repair robot for use in special process chambers of fission reactors, which enables safe and efficient repair operations in highly radioactive, highly acidic and unstructured working environments through automated and remotely controlled robots.

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

[0008] Tracked vehicle;

[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 a tracked trolley and the other end is connected to the six-axis arm;

[0010] A robotic arm, fixed to the end of a six-axis arm, is used to perform repair work inside a special container chamber of a fission reactor.

[0011] The robotic arm includes: a connecting seat connected to the end of a six-axis arm; a drive assembly mounted on the connecting seat, the drive assembly including a gear, a rack meshing on both sides of the gear, a connecting block connected to the rack, and two supports fixed to the connecting seat. The supports have arc-shaped grooves, and the connecting blocks have pulleys slidably disposed in the grooves on both sides. The grippers, connecting blocks, and rack are connected in sequence. The rotation of the gear drives the two grippers to extend synchronously from the supports and enclose them to form a closed or open annular gripping area for gripping the repair device.

[0012] The robotic arm also includes a connecting rod, the two ends of which are fixed to two spaced-apart supports. The connecting rod is positioned at both ends of the supports to enhance the structural stability of the robotic arm.

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

[0014] A flipper is rotatably installed in the slot, and the flipper is distributed along the arc-shaped extension direction of the claw body. A gear two is fixed on the flipping shaft of the flipper. The flipper can be flipped to be fully embedded in the slot or extend out of the slot to press against the clamped surface.

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

[0016] Top pin one is set at the front end of the claw body along the direction in which the claw body extends out of the bracket;

[0017] The spring one is arranged in the accommodating groove and located at the rear end of the rack two;

[0018] When the gear one drives the two clamping jaws to synchronously extend the support and form a closed clamping area, the top pin one on the two jaw bodies is respectively inserted into the pin hole of the other one, the rack two is extruded to slide, thereby driving the turnover piece to synchronously turn over and extend out of the groove to press the clamped surface.

[0019] The rack two is provided with a locking assembly, and the locking assembly comprises:

[0020] The fixed rod is fixed in the rack two;

[0021] The movable rod is rotationally connected with the fixed rod at the middle part;

[0022] The top pin two is connected at one end of the movable rod and arranged at one side of the pin hole;

[0023] The limiting pin is connected at the other end of the movable rod and arranged at one side of the rack two, the end of the limiting pin is a wedge-shaped tooth, and the rack two has a tooth groove at the side close to the end of the limiting pin;

[0024] The spring two is arranged at one side of the top pin two and presses the end of the top pin two into the pin hole in the normal state;

[0025] When the top pin one is inserted into the pin hole, the top pin two is pressed out of the pin hole, the wedge-shaped tooth of the limiting pin is embedded into the tooth groove of the rack two, thereby limiting the rack two from sliding in the reverse direction of the jaw body extending the support, and maintaining the locking state of the turnover piece to the clamped surface.

[0026] The end of the top pin two extending into the pin hole is an arc surface or a spherical surface, so that the top pin one can be smoothly inserted into the pin hole and press out the top pin two.

[0027] The lower end of the connection between the three-axis arm and the six-axis arm is provided with a rotatable adjustable end support, so as to enhance the stability and flexibility of the robot in the unstructured workspace.

[0028] The crawler vehicle is driven by a crawler, has strong obstacle crossing ability and stability, and is suitable for complex terrain in the fissile pile special box chamber.

[0029] The six-axis arm has multiple degrees of freedom, can flexibly adjust the position and posture of the mechanical hand in a certain space range, and is suitable for repair operation requirements at different angles and positions.

[0030] The mechanical hand forms structural limiting with the annular groove on the clamped fixed part through the annular clamping area enclosed by the clamping jaw and the support, improves the stability and reliability of clamping, and avoids the clamping failure problem caused by vibration and reaction force.

[0031] The fissile reactor special box chamber composite repair robot has the advantages that the safety, efficiency, stability and practicability of the repair operation of the process pipeline in an extreme environment are improved, and the robot has important application value and social significance.

[0032] (1) The safety of repairing the process pipeline in an extreme environment in the special process box chamber is improved, the driving power is provided by the crawler, the multi-angle and wide-range operation control is provided by the composite mechanical arm, and the process pipeline is polished and welded by the mechanical hand fixing the repair device, thereby avoiding the problem of fissile reactor radiation shielding in traditional repair;

[0033] (2) The freedom of the mechanical hand in the repair process is improved, the long-distance extension stroke is provided by the three-axis arm, so that the problem of limited driving of the crawler in the unstructured working space environment is avoided, and the six-axis arm has a large degree of freedom in a certain space range, and can polish and weld the equipment and the process pipeline from multiple directions and angles;

[0034] (3) The stability of fixing the repair device in the repair process is improved, the clamping area is formed by the clamping jaws extending out of the support, and the structure is limited by 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 when the traditional clamping jaw type mechanical hand clamps the fixed part by pressure;

[0035] (4) The clamping adaptability of the mechanical hand to different sizes of the clamped fixed part in a certain range is improved, the turning part in the clamping jaw can turn inward and expand synchronously during work, so as to fix and press the clamping surface of the clamped fixed part, and the mechanical hand can also stably clamp when the clamping surface has different sizes in a certain range;

[0036] (5) The stability of the system during the process of clamping the repair device by the mechanical claw is improved, after the first top pin is inserted into the pin hole, the second top pin is pressed out of the pin hole, the wedge teeth of the limiting pin are embedded into the tooth groove of the second rack, and the second rack is slid out of the limit through the cooperation of the wedge teeth and the tooth groove. In this state, even if the motor does not continuously work to apply torque, the turning part will still maintain the locking state of the clamped part. BRIEF DESCRIPTION OF DRAWINGS

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

[0038] Figure 2 A structure schematic diagram of a crawler is shown;

[0039] Figure 3 A structure schematic diagram of a composite mechanical arm is shown;

[0040] Figure 4 A structural schematic diagram of the mechanical hand is shown;

[0041] Figure 5 A structural schematic diagram of the connecting seat is shown;

[0042] Figure 6 An exploded state schematic diagram of the driving assembly is shown;

[0043] Figure 7 A connection state schematic diagram of the driving assembly and the clamping jaw is shown;

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

[0045] Figure 9 A connection state schematic diagram of the jaw body, the turnover piece, the gear two and the rack two is shown;

[0046] Figure 10 A mounting state schematic diagram of the rack two and the gear two in the jaw body is shown;

[0047] Figure 11 A structural schematic diagram of the locking assembly of the rack two is shown;

[0048] Figure 12 A structural schematic diagram of the Figure 11 An enlarged view of part A in the middle;

[0049] BRIEF DESCRIPTION OF DRAWINGS: 10, crawler carrier; 11, crawler belt; 12, electrical cabinet; 20, compound mechanical arm; 21, three-axis arm; 211, arm one; 212, arm two; 213, arm three; 23, end support piece; 24, connecting frame; 30, mechanical hand; 31, connecting seat; 311, connecting plate one; 312, connecting plate two; 313, connecting plate three; 32, driving assembly; 321, motor; 322, gear one; 323, support; 324, sliding groove; 325, rack one; 326, connecting block; 327, pulley; 328, connecting rod; 33, clamping jaw; 331, jaw body; 332, turnover piece; 333, gear two; 334, rack two; 335, top pin one; 336, groove; 337, pin hole; 338, spring one; 41, movable rod; 42, fixed rod; 43, top pin two; 44, limiting pin; 45, spring two. DETAILED DESCRIPTION

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

[0051] Figure 1The structure schematic diagram of the robot in the embodiment is shown, which comprises a tracked vehicle 10, a compound mechanical arm 20 and a mechanical hand 30, wherein the compound mechanical arm 20 is installed on the tracked vehicle 10, the mechanical hand 30 is installed at the end of the compound mechanical arm 20, the tracked vehicle 10 provides driving to realize the purpose of running, and the compound mechanical arm 20 has multiple degrees of freedom and can adjust the position and state of the mechanical hand 30 at the end as required.

[0052] Figure 2 The structure schematic diagram of the tracked vehicle 10 is shown, which is driven by a tracked belt 11, and an electrical cabinet 12 is fixedly installed on the top of the tracked vehicle 10 to provide control integration and circuit installation for the work of the compound mechanical arm 20 and the mechanical hand 30.

[0053] Figure 3 The structure schematic diagram of the compound mechanical arm 20 is shown, which comprises a three-axis arm 21 and a six-axis arm 22, wherein one end of the three-axis arm 21 is installed on the tracked vehicle 10, and the six-axis arm 22 is integrally installed at the other end of the three-axis arm 21; the three-axis arm 21 comprises an arm one 211, an arm two 212 and an arm three 213, wherein the arm one 211 and the arm two 212 are connected in an extension mode, an electric cylinder is installed inside the arm one 211 to drive the arm two 212 to extend, the arm two 212 and the arm three 213 are connected in a rotating mode, and a motor is installed at the connection between the arm two 212 and the arm three 213 to drive the arm two 212 and the arm three 213 to rotate.

[0054] In combination Figure 3 A rotatable end support 23 is further installed below the arm three 213, a rotating connection is provided between the top of the end support 23 and the arm three 213 by the motor, and an electric cylinder is further provided inside the end support 23 to be connected with a support leg, the rotation of the end support 23 is driven by the motor, and the extension and contraction of the support leg is driven by the electric cylinder to contact with the support surface to realize the function of fixed support.

[0055] In combination Figures 1-3 To meet the requirements of the unstructured working space environment in the special process chamber of the fission reactor, the six-axis arm 22 is not directly fixedly installed on the tracked vehicle 10, but is installed on the three-axis arm 21, and the three-axis arm 21 is fixed with the tracked vehicle 10 to provide a long-distance extension stroke, so that the problem of limited running of the tracked vehicle 10 in the unstructured working space environment can be avoided, and the six-axis arm 22 has a large degree of freedom within a certain space range and can polish and weld the equipment and process pipes from multiple directions and angles.

[0056] It should be noted that the specific implementation structure of the tracked vehicle 10, the compound mechanical arm 20 and the mechanical hand 30 in the embodiment is not limited to the above description, and structures or devices capable of achieving the same technical purpose in the prior art can also be used.

[0057] Figure 4 The structure diagram of the mechanical hand 30 is shown, which is used to fix the polishing and welding device and control the position of the polishing and welding device through the driving of the compound mechanical arm 20. Referring to Figure 4 , the mechanical hand 30 comprises a connecting seat 31, a driving assembly 32 and a clamping jaw 33, the driving assembly 32 is installed on the connecting seat 31, the clamping jaw 33 is installed on the driving assembly 32 and is driven by the driving assembly 32, and the connecting seat 31 is fixedly connected with the connecting frame 24 at the end of the six-axis arm 22.

[0058] Figure 5 The structure diagram of the connecting seat 31 is shown, which comprises a connecting plate one 311, a connecting plate two 312 and a connecting plate three 313, the connecting plate two 312 is provided as two pieces, the connecting plate one 311, the connecting plate two 312 and the connecting plate three 313 jointly enclose a rectangular with a hollow middle part, a motor 321 is installed on the connecting plate three 313, an output shaft of the motor 321 penetrates through the connecting plate three 313 to fix a gear one 322, and the motor 321 is located in the hollow part of the connecting seat 31.

[0059] Figure 6 The exploded state diagram of the driving assembly 32 is shown, which comprises the motor 321, the gear one 322, a bracket 323, a rack one 325, a connecting block 326, a pulley 327 and a connecting rod 328, in combination Figure 6 , the motor 321 is installed on the connecting plate three 313, an output shaft of the motor 321 penetrates through the connecting plate three 313 to fix the gear one 322, the bracket 323 is fixedly installed on the connecting plate three 313, and the bracket 323 is provided as two pieces, the two brackets 323 are arranged at intervals to accommodate the installation of the rack one 325 and the connecting block 326; the bracket 323 is provided with an arc-shaped sliding groove 324 (or a sliding hole), the connecting block 326 is installed with the pulley 327 on both sides, the pulley 327 is slidingly or rollingly arranged in the sliding groove 324, the connecting block 326 is fixedly connected with the rack one 325 at the top, and the rack one 325 is also provided as an arc shape coaxial with the sliding groove 324, the side surface of the rack one 325 has teeth meshing with the gear one 322; in the embodiment, the number of the rack one 325 and the connecting block 326 is also provided as two pieces, one of the rack one 325 and the connecting block 326 is fixed, and the other of the rack one 325 and the connecting block 326 is also fixed, and the two rack ones 325 are respectively located on both sides of the gear one 322 and are driven by the motor 321 to move in opposite directions.

[0060] In combination Figure 6 , in order to improve the stability of the overall structure, the connecting rod 328 is arranged between the two brackets 323, the two ends of the connecting rod 328 are fixed with the brackets 323, and the connecting rod 328 is arranged at the two ends of the bracket 323.

[0061] Combining Figure 4 And Figure 6 When the motor 321 is powered on to drive the gear one 322 to rotate, the gear one 322 will mesh with the rack one 325, and since the rack one 325 is fixed with the connecting block 326, the connecting block 326 can only move in an arc within the track of the sliding groove 324 under the limitation of the pulley 327 and the sliding groove 324, so the two rack ones 325 will move to the both ends of the support 323 or to the middle of the support 323 under the drive of the gear one 322, that is, the connecting block 326 will move to the both ends of the support 323 or to the middle of the support 323 under the drive of the gear one 322.

[0062] Figure 7 The connection state diagram of the driving assembly 32 and the clamping jaw 33 is shown, the clamping jaw 33 is correspondingly arranged with the connecting block 326, one clamping jaw 33 is fixed at the bottom of each connecting block 326, the clamping jaw 33 is arranged as an arc coaxial with the sliding groove 324, and the inner arc surface of the clamping jaw 33 is equal in diameter to the inner arc surface of the support 323, when the clamping jaw 33 is driven to extend out of the support 323 with the connecting block 326, the clamping jaw 33 and the support 323 together form a closed or non-closed annular clamping area, which is used to match the components of the fixed shaft type parts or shaft parts.

[0063] Figure 8 The structure diagram of the clamping jaw 33 is shown, the clamping jaw 33 includes a jaw body 331, a turnover piece 332, a gear two 333, a rack two 334 and a top pin one 335, the jaw body 331 is an arc coaxial with the support 323 and the sliding groove 324, a groove 336 is arranged on the inner arc surface of the jaw body 331, the turnover piece 332 is reversibly installed in the groove 336, the turnover piece 332 is distributed along the arc extension direction of the jaw body 331, and when the jaw body 331 is turned to be completely embedded in the groove 336, the adjacent turnover pieces 332 do not coincide and interfere. Figure 7 And Figure 8 It can be seen that the turnover piece 332 has different turnover states in the groove 336, one state is that the turnover piece 332 is turned to be completely embedded in the groove 336 as shown in Figure 7 , and the other state is that the turnover piece 332 is turned to the outside of the groove 336 as shown in Figure 8 .

[0064] In the unstructured workspace environment in the special process chamber of the fission reactor, the polishing and welding of the process pipeline need to be realized by the robot. The robot needs to be miniaturized, integrated and multifunctional. Since the polishing and welding need to rely on the mechanical hand 30 to fix the device, that is, the mechanical hand 30 needs to meet the fixing of the polishing device and the welding device at the same time, which puts higher requirements on the applicability of the fixing function of the mechanical hand 30. Although the familiar clamping jaw type mechanical hand can realize clamping and fixing of the part, the contact area between the clamping jaw and the fixed part is small, and temporary clamping and fixing is feasible, but for long-term work such as pipeline repair, the stability of the fixation cannot be guaranteed, especially the vibration and reaction force generated during the polishing process of the polishing device will cause the clamping jaw type mechanical hand to fail to clamp. The purpose of the structure design of the clamping jaw 33 in this embodiment is to form a closed or non-closed annular clamping area by the clamping jaw 33 extending out of the support 323, and an annular groove corresponding to the clamping area is arranged on the polishing and welding device, which is usually circular. The polishing and welding device is fixed by the cooperation of the clamping area and the annular groove. Since the fixation is embedded in the annular groove by the clamping jaw 33 and the support 323, it is a structural limiting, so as to avoid the problem that the clamping of the traditional clamping jaw type mechanical hand may fail due to the vibration and reaction force of the clamped and fixed part. On the other hand, in order to improve the clamping stability and applicability of the mechanical hand 30 for different clamped and fixed parts, the turnover piece 332 arranged in the clamping jaw 33 can be turned inward and expanded synchronously during work, so as to fix and press the clamping surface of the clamped and fixed part. When the clamped surface has different sizes within a certain range, the mechanical hand 30 can also stably clamp.

[0065] Figure 9 The connection state of the claw body 331, the turnover piece 332, the gear two 333 and the rack two 334 is shown, Figure 9is a cross section of the claw body 331, the cross section is perpendicular to the inner and outer arc surfaces of the claw body 331, the two ends of the turnover piece 332 are rotatably connected between the claw body 331 through rotating pins, one of the rotating pin ends of the turnover piece 332 is fixedly connected with the gear two 333, the claw body 331 is internally provided with an arc-shaped rack two 334 coaxial with the claw body 331, and the rack two 334 is engaged with the gear two 333, the end of the claw body 331 is provided with a pin hole 337 corresponding to the rack two 334, and the end of the claw body 331 is also provided with a top pin one 335 protruding from the cross section; according to the foregoing, the clamp claw 33 is provided with two, and is oppositely mirror-imaged, so that the positions of the rack two 334 and the top pin one 335 on the two clamp claws 33 are opposite in the assembled state, so that when the clamp claws 33 extend towards each other, the top pin one 335 on the two clamp claws 33 can be correspondingly inserted into the pin hole 337 and contact the internal rack two 334, so as to synchronously change the state of the turnover piece 332.

[0066] Figure 10 The rack two 334 is shown in the installed state of the gear two 333 in the claw body 331, and is shown in the installed state of the gear two 333 in the claw body 331 for easy observation Figure 10 The local view is shown, the claw body 331 is provided with cavities accommodating the rack two 334 and the gear two 333, the cavity accommodating the rack two 334 is arc-shaped, the cavity accommodating the gear two 333 is columnar, the two cavities are communicated, and the claw body 331 is also provided with a spring one 338 abutting against the rack two 334, when the top pin one 335 contacts the rack two 334 and pushes it in, the spring one 338 will be compressed, and when the top pin one 335 exits, the elastic potential stored by the spring one 338 when compressed will reset the rack two 334.

[0067] Figure 11 The structure of the locking assembly of the rack two 334 is shown in the structure diagram for easy observation Figure 11 The local view is shown, the locking assembly is integrally installed on the side of the pin hole 337 corresponding to the rack two 334, the locking assembly is a lever structure as a whole, including a movable rod 41, a fixed rod 42, a top pin two 43, a limiting pin 44, and a spring two 45, the claw body 331 has a cavity accommodating and installing the locking assembly, the fixed rod 42 is fixed in the claw body 331, the fixed rod 42 is rotatably connected with the middle part of the movable rod 41, so that the movable rod 41 forms a lever structure through the fixed rod 42, the top pin two 43 and the limiting pin 44 are fixed at the two ends of the movable rod 41, wherein the top pin two 43 is arranged on one side of the pin hole 337, and the limiting pin 44 is arranged on one side of the rack two 334, the top pin two 43 and the limiting pin 44 can both extend out of the cavity of the claw body 331, one end of the top pin two 43 is further provided with the spring two 45, the spring two 45 presses the top pin two 43 out of the pin hole 337, and the part of the top pin two 43 extending into the pin hole 337 is an arc surface or a spherical surface.

[0068] Combining Figure 7 And Figure 11 When the motor 321 drives the two claw bodies 331 to extend out of the support 323, the top pin one 335 on the two supports 323 corresponds to the pin hole 337 respectively. When the two claw bodies 331 approach to adhere, the top pin one 335 will be inserted into the pin hole 337. When the top pin one 335 contacts the top pin two 43, the top pin two 43 will be pushed out of the pin hole 337. The spring two 45 is compressed, and under the lever action of the movable rod 41, the limiting pin 44 will be pressed into the tooth groove of the rack two 334. The end of the limiting pin 44 is set as a wedge-shaped tooth. With the continuous pressing of the top pin one 335 and the contact with the rack two 334, the rack two 334 will mesh with the gear two 333 to drive the turnover piece 332 to overturn and press the clamped component tightly and fixedly. At the same time, in the sliding process of the rack two 334, the rack two 334 cooperates with the inclined surface of the limiting pin 44 through the tooth groove, so that the limiting pin 44 can continuously press in by elastic deformation when the rack two 334 slides in. When the turnover piece 332 completely presses and clamps the clamped component, the pressing of the rack two 334 will be limited, but at this time the contact surface of the limiting pin 44 and the rack two 334 is perpendicular to the sliding direction of the rack two 334, so the rack two 334 is limited to slide out, and therefore it will always remain in this state. Even if the claw body 331 retracts to a certain extent, the turnover piece 332 will still maintain the locking state of the clamped component. When the top pin one 335 completely exits the pin hole 337, the spring two 45 will press the top pin two 43 out. Under the lever action of the movable rod 41, the limiting pin 44 will exit the tooth groove of the rack two 334. After the rack two 334 loses the limitation of the limiting pin 44, it will reset under the action of the spring one 338.

[0069] Embodiment: A kind of applied to fissure pile special box room environment's compound-resistant repair robot, the robot includes crawler, compound mechanical arm and manipulator, the following is the detailed description of each part:

[0070] Crawler: the crawler 10 is the moving platform of the whole robot, as shown in Figure 2 It is driven by using crawler 11, has strong obstacle-crossing ability and stability, and can move flexibly in the complex terrain in fissure pile special box room. The top of the crawler 10 is fixedly installed with electrical cabinet 12, which provides control integration and circuit installation for the work of compound mechanical arm 20 and manipulator 30.

[0071] Compound mechanical arm: compound mechanical arm 20 includes three-axis arm 21 and six-axis arm 22, as shown in Figure 3The three-axis arm 21 is connected to the crawler 10 at one end and connected to the six-axis arm 22 at the other end. 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 connected in extension, and arm two 212 is driven to extend or retract by an electric cylinder; arm two 212 and arm three 213 are connected in rotation, and arm two 212 and arm three 213 are driven to rotate by a motor. The six-axis arm 22 is installed on the 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 space range.

[0072] The end support 23 rotatable installed below the arm three 213 is also provided, as shown in Figure 3 The top of the end support 23 is connected in rotation with the arm three 213 by a motor, and an electric cylinder is also provided in the end support 23 and connected with a support foot. The rotation of the end support 23 is driven by the motor, and the support foot is driven to extend or retract by the electric cylinder to contact with the support surface, so as to realize the function of fixed support, and enhance the stability and flexibility of the robot in the unstructured workspace.

[0073] Manipulator: The manipulator 30 is fixed at the end of the six-axis arm 22, as shown in Figure 4 The manipulator 30 is used to fix the device for polishing and welding and control the position of the device by driving the composite manipulator 20. The manipulator 30 includes a connecting seat 31, a driving assembly 32 and a clamping jaw 33.

[0074] Connecting seat: The connecting seat 31 is connected to the end of the six-axis arm 22, as shown in Figure 5 The connecting seat 31 includes a connecting plate one 311, a connecting plate two 312 and a connecting plate three 313, which together form a rectangular structure with a hollow middle. The connecting plate three 313 is provided with a motor 321, and the output shaft of the motor 321 penetrates the connecting plate three 313 and is fixed with a gear one 322.

[0075] Driving assembly: The driving assembly 32 is installed on the connecting seat 31, as shown in Figure 6The driving assembly 32 comprises a motor 321, a gear 322, a bracket 323, a rack 325, a connecting block 326, a pulley 327 and a connecting rod 328. The bracket 323 is fixedly installed on the connecting plate 313 and is provided in two, which are spaced apart to accommodate the rack 325 and the connecting block 326. The bracket 323 is provided with an arc-shaped sliding groove 324, and the connecting block 326 is provided with the pulley 327 on both sides, which is slidingly or rollingly arranged in the sliding groove 324. The connecting block 326 is fixedly connected to the top of the rack 325, and the side surface of the rack 325 is provided with teeth which are engaged with the gear 322. When the motor 321 is powered on to drive the gear 322 to rotate, the gear 322 drives the two racks 325 to move towards the two ends of the bracket 323 or the middle of the bracket 323 simultaneously through the engagement with the rack 325.

[0076] In order to improve the stability of the overall structure, the connecting rod 328 is further provided between the two brackets 323, and the two ends of the connecting rod 328 are fixedly connected with the brackets 323.

[0077] The clamping jaw: the clamping jaw 33 is installed on and driven by the driving assembly 32, as shown in Figure 7 The clamping jaw 33 comprises a jaw body 331, a turnover piece 332, a gear 333, a rack 334, a top pin 335 and a spring 338, as shown in Figure 8 The jaw body 331 is an arc-shaped structure coaxial with the bracket 323 and the sliding groove 324, and is provided with a groove 336 on the inner arc surface, and the turnover piece 332 is reversibly installed in the groove 336 and is distributed along the arc extension direction of the jaw body 331. The jaw body 331 is internally provided with an accommodation groove coaxial with the inner arc surface, and one end of the accommodation groove extends to the end of the jaw body 331 to form a pin hole 337. The rack 334 is slidingly arranged in the accommodation groove and is engaged with the gear 333. The top pin 335 is arranged at the front end of the jaw body in the direction of extending out of the bracket, and the spring 338 is arranged in the accommodation groove and located at the rear end of the rack 334.

[0078] When the gear 322 rotates to drive the two clamping jaws 33 to extend out of the bracket synchronously and form a closed clamping area with the bracket, the top pin 335 on each jaw body 331 is inserted into the pin hole 337 of the other jaw body 331, respectively, to press the rack 334 to slide, thereby driving the turnover piece 332 to turn out of the groove and press the clamped surface.

[0079] The locking assembly: the rack 334 is further provided with a locking assembly, as shown in Figure 11The locking assembly includes a fixed rod 42, a movable rod 41, a top pin two 43, a limiting pin 44, and a spring two 45. The fixed rod 42 is fixed in the rack two 334, and the middle part of the movable rod 41 is rotationally connected with the fixed rod 42 to form a lever structure. The top pin two 43 and the limiting pin 44 are fixed at both ends of the movable rod 41, the top pin two 43 is arranged on one side of the pin hole 337, the limiting pin 44 is arranged on one side of the rack two 334, and the end of the limiting pin 44 is a wedge-shaped tooth. The spring two 45 is arranged on one side of the top pin two 43, and in the normal state, the end of the top pin two 43 is pressed into the pin hole 337. When the top pin one 335 is inserted into the pin hole 337, the top pin two 43 is pressed out of the pin hole 337, so that the wedge-shaped tooth of the limiting pin 44 is embedded in the tooth groove of the rack two 334, thereby limiting the rack two 334 from sliding in the opposite direction of the claw body extending out of the support, and maintaining the locking state of the turnover piece 332 on the clamped component.

[0080] The working principle and execution process of the present embodiment are as follows: the special box chamber repair robot for fissile pile realizes efficient and safe repair of process pipelines in the special process box chamber of the fissile pile under extreme environment through its unique structural design; the specific working principle and process are as follows:

[0081] S1, initial state

[0082] When the robot is in the initial state, the crawler vehicle 10 is parked outside the special box chamber of the fissile pile, the three-axis arm 21 and the six-axis arm 22 of the composite mechanical arm 20 are in the retracted state, and the clamping jaw 33 of the mechanical hand 30 is also completely retracted into the support 323. At this time, the control system in the electrical cabinet 12 is in standby state, waiting for operation instructions.

[0083] S2, entering the working area

[0084] The operator sends instructions through the remote control system, the crawler vehicle 10 starts, and drives into the special box chamber of the fissile pile along the preset path. The arm one 211 and the arm two 212 of the three-axis arm 21 gradually extend according to the spatial layout inside the box chamber to adapt to the repair operation requirements at different positions. At the same time, the six-axis arm 22 remains in the retracted state to reduce the space occupation.

[0085] S3, positioning and supporting

[0086] When the crawler vehicle 10 drives to the vicinity of 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 cooperatively to adjust the accurate position of the mechanical hand 30. At the same time, the end support 23 is started, the support feet are driven to extend and contact the support surface through the electric cylinder, and the stability of the robot in the unstructured working space is enhanced.

[0087] S4, mechanical hand clamping repair device

[0088] Drive assembly starts: The operator sends clamping instructions through the remote control system, and the motor 321 of the drive assembly 32 starts, driving the gear one 322 to rotate.

[0089] Claw extension: The rotation of the gear one 322 drives the connecting block 326 to slide along the sliding groove 324 on the support 323 through the rack one 325, thereby driving the clamps 33 to extend out of the support 323. Since the two clamps 33 are arranged in pairs, they will extend out synchronously, forming a closed or non-closed annular clamping area.

[0090] Turnover piece turning over: With the extension of the clamps 33, the top pin one 335 on the two claw bodies 331 gradually approaches and inserts into the pin hole 337 of the other. The insertion of the top pin one 335 will squeeze the rack two 334, causing it to slide along the containing groove. The sliding of the rack two 334 drives the gear two 333 to rotate through the meshing relationship, thereby driving the turnover piece 332 to turn over and extend out of the groove 336, pressing the clamped repair device (such as a polishing device or a welding device).

[0091] Locking assembly working: In the process of inserting the top pin one 335 into the pin hole 337, the top pin two 43 in the locking assembly will be pushed out at the same time. The movement of the top pin two 43 drives the limiting pin 44 to press into the tooth groove of the rack two 334 through the movable rod 41. Since the end of the limiting pin 44 is wedge-shaped teeth, it will form a self-locking structure with the tooth groove of the rack two 334, ensuring that the rack two 334 will not slide reversely during clamping, thereby maintaining the locking state of the turnover piece 332 on the clamped component.

[0092] S5, performing repair work

[0093] After the manipulator 30 stably clamps the repair device, the operator sends work instructions through the remote control system. The composite robot arm 20 adjusts the position and posture of the manipulator 30 according to the work requirements, so that the repair device is aligned with the process pipeline to be repaired. Then, the repair device starts to perform work such as polishing, welding, or post-welding quality detection.

[0094] S6, completing work and withdrawing

[0095] After the repair work is completed, the operator sends a withdrawal instruction through the remote control system. The motor 321 of the drive assembly 32 reverses, driving the gear one 322 to reverse rotation. The reverse rotation of the gear one 322 drives the clamps 33 to retract into the support 323 through the rack one 325 and the connecting block 326, while the limiting pin 44 of the locking assembly exits the tooth groove of the rack two 334 under the action of the spring two 45, allowing the rack two 334 to slide reversely and reset. After the manipulator 30 releases the repair device, the crawler car 10 starts and drives out of the special box chamber of the nuclear reactor, completing the entire repair work process.

[0096] The special box chamber nuclear reactor repair robot in this embodiment realizes efficient and safe repair operation in extreme environment, improves the safety and efficiency of repair operation; through the driving power provided by the crawler car, the composite mechanical arm provides multi-angle and wide-range operation control, the mechanical hand fixes the repair device to polish and weld the process pipeline, effectively avoiding the problem of nuclear reactor radiation shielding in traditional repair. The mechanical hand adopts a special jaw structure, and the annular clamping area formed by the jaw and the support encloses the annular groove on the clamped fixed component to form structural limiting, which improves the stability and reliability of clamping. At the same time, the design of the turnover part and the locking assembly in the jaw makes the mechanical hand able to stably clamp components of different sizes and maintain the stability of the system during clamping.

Claims

1. A composite-resistant repair robot for use in special chamber environments of fission reactors, characterized in that: include: Tracked vehicle; 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 a tracked trolley and the other end is connected to the six-axis arm; A robotic arm, fixed to the end of a six-axis arm, is used to perform repair work inside a special container chamber of a fission reactor; the robotic arm includes: A connecting seat is connected to the end of a six-axis arm; a drive assembly is mounted on the connecting seat, the drive assembly includes a gear, a rack meshing on both sides of the gear, a connecting block connected to the rack, and two brackets fixed on the connecting seat, the brackets having arc-shaped grooves, and the connecting block having pulleys slidably disposed in the grooves on both sides. The gripper, the connecting block and the rack are connected in sequence. The gear rotates to drive the two grippers to extend out of the bracket at the same time and surround the bracket to form a closed or open annular clamping area for clamping the repair device. The gripper includes: a gripper body having an inner arc surface coaxial with the sliding groove and a groove disposed on the inner arc surface, the groove extending in an arc shape, the gripper body having a receiving groove coaxial with the inner arc surface, one end of the receiving groove extending to the end of the gripper body to form a pin hole; a flipping member, which is rotatably installed in the groove, and the flipping member is distributed along the arc-shaped extension direction of the gripper body, a second gear is fixed on the flipping shaft of the flipping member, and the flipping member can be flipped to be fully embedded in the groove or extend out of the groove to press against the clamped surface; and a second rack, which is slidably disposed in the receiving groove, and the second rack meshes with the second gear.

2. The composite-resistant repair robot for use in special chamber environments of fission reactors according to claim 1, characterized in that: The robotic arm also includes a connecting rod, the two ends of which are fixed to two spaced-apart supports. The connecting rod is positioned at both ends of the supports to enhance the structural stability of the robotic arm.

3. The composite-resistant repair robot for use in special chamber environments of fission reactors according to claim 1, characterized in that: The gripper also includes: Top pin one is set at the front end of the claw body along the direction in which the claw body extends out of the bracket; Spring one is set in the receiving groove and located at the rear end of rack two; When the gear rotates, it drives the two grippers to extend out of the bracket synchronously and form a closed clamping area. The top pins on the two grippers are respectively inserted into the pin holes of the other, squeezing the rack to make it slide, thereby driving the flipping part to flip and extend out of the groove synchronously to press the clamped surface.

4. The composite-resistant repair robot for use in special chamber environments of fission reactors according to claim 3, characterized in that: A locking assembly is provided inside the rack two, the locking assembly including: The fixing rod is fixed inside the rack. The movable rod, with its middle section rotatably connected to the fixed rod; The second top pin is connected to one end of the movable rod and is located on one side of the pin hole; A limiting pin is connected to the other end of the movable rod and is set on one side of the rack two. The end of the limiting pin is a wedge-shaped tooth, and the rack two has a tooth groove on the side near the end of the limiting pin. Spring 2 is located on one side of top pin 2, and normally presses the end of top pin 2 into the pin hole; When the first top pin is inserted into the pin hole, the second top pin is pressed out of the pin hole, so that the wedge-shaped teeth of the limiting pin are embedded in the tooth groove of the second rack, thereby restricting the second rack from sliding in the opposite direction of the claw body extending out of the bracket, and maintaining the locking state of the flipping part on the clamped surface.

5. The composite-resistant repair robot for use in special chamber environments of fission reactors according to claim 4, characterized in that: The end of the second pin that extends into the pin hole is an arc-shaped or spherical surface, so that the first pin can be smoothly inserted into the pin hole and the second pin can be pressed out.

6. The composite-resistant repair robot for use in special chamber environments of fission reactors according to claim 1, characterized in that: A rotatable and 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 unstructured workspaces.

7. The composite-resistant repair robot for use in special chamber environments of fission reactors according to claim 1, characterized in that: The tracked trolley is tracked and has strong obstacle-crossing ability and stability to adapt to the complex terrain inside the special container of the fission reactor.

8. The composite-resistant repair robot for use in special chamber environments of fission reactors according to claim 1, characterized in that: The six-axis arm has multiple degrees of freedom, and can flexibly adjust the position and posture of the robotic arm within a certain spatial range to adapt to the repair operation requirements at different angles and positions.

9. The composite-resistant repair robot for use in special chamber environments of fission reactors according to claim 1, characterized in that: The robotic arm forms a structural limit by using the annular clamping area enclosed by the grippers and the bracket to create a ring groove on the clamped and fixed component. This improves the stability and reliability of the clamping and avoids clamping failure caused by vibration and reaction forces.

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