Testing device for testing reliability of specialized robot in nuclear industry

Abstract

The invention discloses a test device for testing the reliability of a specialized robot in the nuclear industry. A comprehensive test device which can be dynamically adjusted and is used for testing the long-term operation reliability of a specialized intelligent marching body in a thermal hydraulic simulation environment is provided through an environment simulation mechanism. According to the main technical scheme, the test device for testing the reliability of the specialized robot in the nuclear industry comprises a main body support, and the main body support internally comprises a walking space; the environment simulation mechanism at least comprises a pipe gallery pipe network unit, the pipe gallery pipe network unit is connected with the main body support, the pipe gallery pipe network unit comprises a medium circulation loop, and the interior of the medium circulation loop is used for medium circulation; and the lifting and bearing mechanism is located above the environment simulation mechanism and used for being connected with and moving the intelligent advancing body. The method is mainly used for robot reliability testing.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent testing of intelligent moving bodies, and particularly to a test device for the reliability testing of special robots in the nuclear industry. Background Art

[0002] Special mobile intelligent moving bodies in the nuclear industry are intelligent moving body systems that are oriented towards nuclear facility operation and maintenance or emergency applications, can move in unstructured environments, and perform inspection and detection or auxiliary operation and maintenance operations on equipment, environments, or personnel. The specific mobile forms include wheeled, tracked, swing-arm, and their composite forms as well as rail-mounted forms for ground movement. With the rapid development of China's nuclear industry, the construction of intelligent nuclear industry is in full swing, and the development of special mobile intelligent moving bodies in the nuclear industry has gradually become a current research hotspot. High-reliability intelligent moving bodies can effectively replace humans to work in harsh or high-risk environments, reduce resource input, reduce casualties, and improve work efficiency, achieving less human intervention, less human presence, or even unmanned operation, which is of great significance for promoting the development of intelligent nuclear industry.

[0003] In the nuclear industry where safety is the lifeline, how to test the inspection function and moving ability of intelligent moving bodies before formal use or delivery, fully verify their adaptability to various emergencies such as leaks, and ensure their high safety and reliability is crucial for personnel and equipment facilities.

[0004] Currently, there is no unified specification and standard for the test and experiment of special intelligent moving bodies. Existing test systems usually aim to test the accessibility of intelligent moving bodies in complex terrains, and their comprehensive performance and system reliability are difficult to be effectively verified. Especially for special intelligent moving bodies with high requirements for safety and reliability, few of them are subjected to long-term operation reliability test verification in a simulated environment before formal application. There is also an integrated test for multiple test items in the prior art, but there is still much room for improvement in terms of its function integration, flexibility, and reorganization. At the same time, the functions such as inspection and operation and maintenance of mobile intelligent moving bodies in simulated operating conditions still cannot meet the verification requirements. Summary of the Invention

[0005] In view of this, to solve the above at least one technical problem, the present invention provides a test device for the reliability testing of special robots in the nuclear industry.

[0006] To achieve the above object, the present invention mainly provides the following technical solutions:

[0007] The present invention provides a test device for the reliability testing of special robots in the nuclear industry, including:

[0008] A main body support (100), and a walking space is included inside the main body support (100);

[0009] An environmental simulation mechanism, the environmental simulation mechanism at least includes a pipe gallery pipe network unit (200), the pipe gallery pipe network unit (200) is connected to the main support (100), the pipe gallery pipe network unit (200) includes a medium circulation loop, and the medium circulation loop is used for the circulation of the medium;

[0010] A suspension and support mechanism (300), the suspension and support mechanism (300) is located above the environmental simulation mechanism and is used to connect and move the intelligent moving body (10).

[0011] Among them, the pipe gallery pipe network unit (200) includes a softened water treatment device (210), a steam generation device (220), a pipe gallery pipe network module (230), a leak test branch pipe (240) and a control valve (250);

[0012] The input end of the softened water treatment device (210) is used to connect to an external water supply end, the output end of the softened water treatment device (210) is connected to the steam generation device (220), the steam generation device (220) is connected to the pipe gallery pipe network module (230), the number of leak test branch pipes (240) is multiple, the leak test branch pipes (240) are distributed in the pipe gallery pipe network module (230) and are connected to the pipe gallery pipe network module (230), a control valve (250) is provided on any leak test branch pipe (240), different defects are provided on different leak test branch pipes (240), and a control valve (250) is provided on the pipe gallery pipe network module (230);

[0013] The softened water treatment device (210) is used to pre-treat the water medium and input it into the steam generation device (220), and the steam generation device (220) prepares steam at a set temperature and pressure and transmits it to the pipe gallery pipe network module (230) and the leak test branch pipe (240).

[0014] Among them, the leak test branch pipe (240) includes a connecting pipe section (241), a leaky pipe section (242) and a flange (243), the connecting pipe section (241) is connected to the pipe gallery pipe network module (230), both ends of the leaky pipe section (242) are connected to the connecting pipe section (241) through the flange (243), and control valves (250) are provided at both ends of the leaky pipe section (242);

[0015] Defects are provided on the leaky pipe section (242).

[0016] Among them, the pipe gallery pipe network module (230) includes a heat-insulated area (232) with a heat-insulating layer, a non-heat-insulated area (231) without a heat-insulating layer, and a main pipe (233). Both the heat-insulated area (232) and the non-heat-insulated area (231) are connected to the steam generation device (220) through the main pipe (233), and leak test branch pipes (240) are provided in both the heat-insulated area (232) and the non-heat-insulated area (231).

[0017] Among them, the pipe gallery pipe network unit (200) further includes a cooling device (260), a circulation device (270) and a water tank (280);

[0018] The outlet of the steam generating device (220) is connected to the inlet end of the pipe gallery pipe network module (230), the cooling device (260) is connected to the outlet end of the pipe gallery pipe network module (230) and the inlet of the water tank (280), and the circulation device (270) is connected to the outlet of the water tank (280) and the inlet of the steam generating device (220).

[0019] Among them, the pipe gallery pipe network unit (200) further includes a sensor module (270), and the sensor module (270) is connected to the pipe gallery pipe network module (230) and the leakage test branch pipe (240).

[0020] Among them, the hanging support mechanism (300) includes a ceiling guide rail (310), a transfer hanger (320) and a traveling body guide rail (330). The first end of the transfer hanger (320) is slidably connected to the ceiling guide rail (310). The second end of the transfer hanger (320) is adjustable in height relative to the first end of the transfer hanger (320). The second end of the transfer hanger (320) is connected to the traveling body guide rail (330), and the traveling body guide rail (330) is used to connect and move the intelligent traveling body (10).

[0021] Among them, the environmental simulation mechanism further includes a container equipment unit (400);

[0022] The container equipment unit (400) includes a pressure vessel simulation body (410), and the pressure vessel simulation body (410) is connected to the pipe gallery pipe network module (230) and can circulate the medium;

[0023] The container equipment unit (400) further includes a motor simulation body (420), and the temperature of the motor simulation body (420) is controllable.

[0024] Among them, the environmental simulation mechanism further includes an instrument and meter unit;

[0025] The instrument and meter unit is connected to the main body support (100), and the instrument and meter unit includes one or a combination of indicating meters, pointer meters, digital display meters, new meters, liquid level meters, color meters and circular meters.

[0026] Among them, the test device further includes: a motion operation performance test area (600). An expansion interface is provided in the operation performance test area (600), and the expansion interface is used to install an operation performance test tooling for the manipulation performance test of the intelligent traveling body (10) with a robotic arm.

[0027] An experimental device for the reliability test of special robots in the nuclear industry is proposed by the present invention. Through the environmental simulation mechanism, a comprehensive experimental device that can provide dynamic adjustment for the long-term operation reliability test of special intelligent moving bodies in the thermohydraulic simulation environment is provided. This device can provide scenario-based, personalized, and targeted long-term operation test conditions for different types of intelligent moving body objects, and can be used for the verification of comprehensive performance such as inspection and operation of ground mobile and rail mobile intelligent moving bodies including wheeled, tracked, or swing-arm types.

[0028] This application realizes the function of long-term comprehensive long-term operation reliability test verification of intelligent moving bodies under various conditions such as normal operation or leakage accidents in the thermohydraulic simulation environment, making up for the deficiencies of traditional tests such as single, short-term, and insufficient verification; it is applicable to ground mobile and rail intelligent moving bodies, and can customize test conditions through the terminal control unit, and carry out flexible tests for different objects and needs, improving the universality of the entire device and saving resource inputs such as site, manpower, and time; the objects to be detected in each test unit are connected in a detachable manner, and can be quickly reorganized as needed, and are easy to install, overhaul, and replace. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a schematic structural diagram of an experimental device for the reliability test of special robots in the nuclear industry provided by an embodiment of the present invention;

[0030] Figure 2 It is a partial schematic structural diagram of an experimental device for the reliability test of special robots in the nuclear industry provided by an embodiment of the present invention;

[0031] Figure 3 It is a schematic structural diagram of the suspension mechanism in an experimental device for the reliability test of special robots in the nuclear industry provided by an embodiment of the present invention;

[0032] Figure 4 It is a schematic diagram of a ground mobile intelligent moving body applicable to the experimental device provided by an embodiment of the present invention;

[0033] Figure 5 It is a schematic diagram of a rail intelligent moving body applicable to the experimental device provided by an embodiment of the present invention;

[0034] Figure 6 It is a schematic diagram of another rail intelligent moving body applicable to the experimental device provided by an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0035] To further elaborate on the technical means and effects adopted by the present invention to achieve the intended invention purpose, the following, in conjunction with the accompanying drawings and preferred embodiments, details the specific implementation manners, structures, features, and effects of the test device for the reliability test of special robots in the nuclear industry proposed according to the present invention as follows.

[0036] As Figures 1-6 shown, the embodiment of the present invention provides a test device for the reliability test of special robots in the nuclear industry, which is used for the test of different types of intelligent moving bodies (10), such as the wheeled ground mobile intelligent moving body as Figure 4 shown, or the ground mobile intelligent moving body including tracked or swing-arm types, or the rail-mounted mobile intelligent moving body as Figures 5-6 shown.

[0037] In one implementation manner, the test device for the reliability test of special robots in the nuclear industry includes:

[0038] The main body bracket (100), and a walking space is included inside the main body bracket (100);

[0039] The environmental simulation mechanism, the environmental simulation mechanism at least includes the pipe gallery pipe network unit (200), the pipe gallery pipe network unit (200) is connected to the main body bracket (100), the pipe gallery pipe network unit (200) includes a medium circulation loop, and the medium circulation loop is used for the circulation of the medium;

[0040] The hanging and supporting mechanism (300), the hanging and supporting mechanism (300) is located above the environmental simulation mechanism, and is used for connecting and moving the intelligent moving body (10).

[0041] In some implementation manners, the test device further includes a bearing foundation (700), or the on-site ground or the support table can be used as the bearing foundation (700). The main body bracket (100) is installed and fixed on the bearing foundation (700). The main body bracket (100) is mainly composed of profiles and is of a frame structure. The main body bracket (100) is used to provide support, fixation, installation, and connection for various parts of the environmental simulation mechanism. The walking space refers to the passage left between the profiles, so that the ground mobile intelligent moving body can move in the walking space according to the test planned path, and then the inspection can be realized.

[0042] The medium can be steam, so that the environmental simulation mechanism provides a thermal-hydraulic simulation environment, and various conditions such as normal operation or leakage accidents can be simulated. Then, the test of the inspection ability of the intelligent moving body (10) under various conditions can be realized. The composition and structure of the pipe gallery pipe network unit (200) can be very complex. Several specific implementation manners will be introduced below, and each implementation manner can be used alone or in combination.

[0043] The suspension and bearing mechanism (300) is installed and fixed on the top bearing foundation of the building body. After various types of rail-mounted mobile intelligent moving bodies are connected to the suspension and bearing mechanism (300), they can move and conduct inspections above the environmental simulation mechanism, thereby enabling the test device to be applicable to the tests of various intelligent moving bodies and having strong versatility.

[0044] In some embodiments, the test device further includes a terminal control unit (800). The terminal control unit (800) includes hardware and built-in software, is connected to the components in the environmental simulation mechanism that require information interaction in a wired manner, outputs control signals and inputs data acquisition signals, and conducts human-computer interaction through a display interface to achieve personalized dynamic settings and visualize the operation of the fault setting state.

[0045] A test device for the reliability test of special robots in the nuclear industry proposed by the present invention provides a comprehensively test device through an environmental simulation mechanism that can be dynamically adjusted for long-term operation reliability tests of special intelligent moving bodies in a thermohydraulic simulation environment. This device can provide scenario-based, personalized, and targeted long-term operation test conditions for different types of intelligent moving body objects, and can be used for the verification of comprehensive performance such as inspection and operation of ground mobile and rail-mounted mobile intelligent moving bodies including wheeled, tracked, or swing-arm types.

[0046] This application realizes the function of comprehensively conducting long-term operation reliability test verification for intelligent moving bodies under various conditions such as normal operation or leakage accidents in a thermohydraulic simulation environment, making up for the deficiencies of traditional tests such as being single, short-term, and insufficient in verification; it is applicable to ground mobile and rail-mounted intelligent moving bodies, and can customize test conditions through the terminal control unit, conduct flexible tests for different objects and requirements, improve the universality of the entire device, and save resource inputs such as site, manpower, and time; the objects to be detected in each test unit are connected in a detachable manner and can be quickly reorganized as needed, which is easy to install, repair, and replace.

[0047] In one embodiment, as Figure 2As shown, the utility tunnel pipe network unit (200) includes a softened water treatment device (210), a steam generation device (220), a utility tunnel pipe network module (230), a leakage test branch pipe (240), and a control valve (250). The input end of the softened water treatment device (210) is used to connect to an external water supply end. The output end of the softened water treatment device (210) is connected to the inlet of the steam generation device (220). The outlet of the steam generation device (220) is connected to the utility tunnel pipe network module (230). The number of leakage test branch pipes (240) is multiple. The leakage test branch pipes (240) are distributed in the utility tunnel pipe network module (230) and are connected to the utility tunnel pipe network module (230). A control valve (250) is provided on any leakage test branch pipe (240). Different defects are provided on different leakage test branch pipes (240). A control valve (250) is provided on the utility tunnel pipe network module (230). The softened water treatment device (210) is used to pre-treat the water medium and input it into the steam generation device (220). The steam generation device (220) prepares steam at a set temperature and pressure and transmits it to the utility tunnel pipe network module (230) and the leakage test branch pipe (240).

[0048] The input end of the softened water treatment device (210) can be connected to the water supply pipeline at the use site. The utility tunnel pipe network module (230) and the leakage test branch pipe (240) together constitute a three-dimensional pipe network structure that simulates the thermal-hydraulic environment. The defects on the leakage test branch pipe (240) are used to simulate accident scenarios such as leakage in the thermal-hydraulic environment scenario. In a more specific embodiment, the leakage test branch pipe (240) further includes a connecting pipe section (241), a leakage pipe section (242), and a flange (243). The connecting pipe section (241) is connected to the utility tunnel pipe network module (230), such as by welding. Both ends of the leakage pipe section (242) are connected to the connecting pipe section (241) through the flange (243). Control valves (250) are provided at both ends of the leakage pipe section (242). Defects are provided on the leakage pipe section (242), such as different leakage test defects with different sizes, different orientations, and different types are opened in the middle or on one side of different leakage pipe sections (242), which are used to simulate different accident scenarios such as leakage occurring in the thermal-hydraulic environment scenario. Both ends of the leakage pipe section (242) are detachably connected to the connecting pipe section (241) through bolt assemblies and flanges (243), and can be disassembled and replaced according to the scenarios to be simulated, or the direction and pipe diameter can be changed according to needs, etc. The device has better flexibility and can combine to simulate more test scenarios.

[0049] Control valves (250) are respectively arranged at both ends of the leakage pipe section (242), enabling the on-off control of any leakage pipe section (242) according to different scenario simulation requirements. The control valves (250) on the pipe gallery pipe network module (230) are dispersedly arranged at the inlets and outlets of the pipes of the pipe gallery pipe network module (230). The control valves (250) are electrically connected to the terminal control unit (800) and are used for controlling the on-off of the medium flow in the main pipe or the leakage test branch pipe (240) of each pipe gallery pipe network module (230). It can be understood that the above-mentioned connection between pipes refers to a connection that is internally connected, allowing the medium to flow through.

[0050] Through the detachable connection of the above-mentioned leakage test branch pipe (240) and the setting of the control valve (250), the present application can then quickly replace and reorganize the leakage test defect types as needed, and can adjust the medium leakage state and the surrounding environment after leakage through automated control to carry out flexible testing. While making the test object universal, it can realize the function of comprehensively carrying out the integrated test verification of the long-term operation reliability in a highly realistic simulation environment by the intelligent moving body.

[0051] In one implementation, the pipe gallery pipe network module (230) includes a heat-insulated area (232) with a heat-insulating layer, a non-heat-insulated area (231) without a heat-insulating layer, and a main pipe (233). Both the heat-insulated area (232) and the non-heat-insulated area (231) are connected to the steam generating device (220) through the main pipe (233), and leakage test branch pipes (240) are connected to both the heat-insulated area (232) and the non-heat-insulated area (231).

[0052] The heat-insulated area (232) and the non-heat-insulated area (231) are respectively connected to the steam generating device (220), and then cooperate with the leakage test branch pipe (240) to provide simulations of high-temperature or low-temperature environments, realizing the diversification of the simulation environment. The volumes of the heat-insulated area (232) and the non-heat-insulated area (231) can be set as needed. For example, the layouts of the pipes in the heat-insulated area (232) and the non-heat-insulated area (231) and the connected leakage test branch pipes (240) can be the same. In addition, mechanical interfaces are reserved in both the heat-insulated area (232) and the non-heat-insulated area (231) of the pipe gallery pipe network module (230) for subsequent expansion as needed.

[0053] In one implementation, the pipe gallery pipe network unit (200) further includes a cooling device (260), a circulation device (270), and a water tank (280). The outlet of the steam generating device (220) is connected to the inlet end of the pipe gallery pipe network module (230), the cooling device (260) is connected to the outlet end of the pipe gallery pipe network module (230) and the inlet of the water tank (280), and the circulation device (270) is connected to the outlet of the water tank (280) and the inlet of the steam generating device (220).

[0054] The inlets of the aforementioned heat preservation zone (232) and non-heat preservation zone (231) can both be connected to the outlet of the water tank (280), while the outlets of the aforementioned heat preservation zone (232) and non-heat preservation zone (231) are both connected to the cooling device (260). The cooling device (260) is used to cool the steam flowing through the pipe gallery pipe network module (230), or rather, the steam in the heat preservation zone (232) and non-heat preservation zone (231), so as to cool and condense the steam, and then store it in the water tank (280). The circulation device (270) replenishes the steam generating device (220) with medium in a timely manner through the water tank (280) to achieve recycling. It can be understood that the circulation device (270) and the softened water treatment device (210) act synergistically to replenish the medium for the steam generating device (220). First, the circulation device (270) replenishes the medium. When the medium is insufficient, the softened water treatment device (210) works, thereby achieving energy conservation.

[0055] In one embodiment, the pipe gallery pipe network unit (200) further includes a sensor module (270), and the sensor module (270) is connected to the pipe gallery pipe network module (230) and the leakage test branch pipe (240).

[0056] The sensor module (270) is electrically connected to the aforementioned terminal control unit (800). The sensor module (270) can include at least one of a temperature sensor, a pressure sensor, and a flow sensor, and is used to detect the physical properties of the medium in real time and send them to the terminal control unit (800), thereby enabling feedback control of the medium flow, temperature, etc. In addition, the sensor module (270) is also used to provide a comparison basis for the detection results of the intelligent moving body (10), such as judging whether the temperature value detected by the intelligent moving body (10) is accurate, etc.

[0057] In one embodiment, as Figure 3 shown, the suspension mechanism (300) includes a ceiling guide rail (310), an adapter hanger (320), and a moving body guide rail (330). The first end of the adapter hanger (320) is slidably connected to the ceiling guide rail (310), the second end of the adapter hanger (320) is adjustable in height relative to the first end of the adapter hanger (320), the second end of the adapter hanger (320) is connected to the moving body guide rail (330), and the moving body guide rail (330) is used to connect and move the intelligent moving body (10).

[0058] There are multiple ceiling guide rails (310), which are strip-shaped slide rails extending in a single direction and arranged parallel to each other. The ceiling guide rails (310) are installed and fixed on the top bearing foundation of the building body. The adapter hanger (320) is mainly composed of a movable hanger (321), a telescopic member (322) and an adapter (323). The movable hanger (321) is embedded in the chute of the ceiling guide rail (310) through rollers to achieve horizontal movement and then the position can be adjusted according to the shape of the moving body guide rail (330) and the requirements of the fixed points. The telescopic member (322) can adjust the height of the adapter (323), and then the height of the moving body guide rail (330) can be adjusted. Specifically, a strip-shaped opening extending in the vertical direction is provided on the telescopic member (322), and a bolt is horizontally inserted through the strip-shaped opening and fixed on the movable hanger (321), and the vertical height of the telescopic member (322) is adjusted through the strip-shaped opening. The adapter (323) is provided with an installation interface, and the moving body guide rail (330) is fixedly connected to the adapter (323) through the installation interface by bolts. The installation interface can specifically be a linear interface provided in four horizontal directions on the adapter (323). Bolts are inserted through the linear interface, and the positions of the bolts can be adjusted. The moving body guide rail (330) is hoisted by bolts. By installing and fixing the special running rails of different measured intelligent moving body objects through detachable connections, the universality of the test device for the rail-type intelligent moving body is improved.

[0059] A sliding contact wire is laid along the moving body guide rail (330), and the sliding contact wire is electrically connected to the aforementioned terminal control unit (800) and the power supply. As Figures 5-6 shown, a sliding roller member (11) and a contact (12) are provided at the top of the intelligent moving body (10). The sliding roller member (11) is in rolling connection with the moving body guide rail (330), and the contact (12) will contact the sliding contact wire, thereby supplying power to the intelligent moving body (10) and performing signal interaction with the intelligent moving body (10). After various types of rail-type mobile intelligent moving bodies (10) are connected to the moving body guide rail (330) through reserved installation interfaces, they can run on the moving body guide rail (330) for a long time.

[0060] In one implementation, the environmental simulation mechanism further includes a container equipment unit (400). The container equipment unit (400) includes a pressure vessel simulation body (410), and the pressure vessel simulation body (410) is connected to the pipe gallery pipe network module (230) and can circulate the medium. The container equipment unit (400) further includes a motor simulation body (420), and the temperature of the motor simulation body (420) is controllable.

[0061] On the one hand, the container equipment unit (400) is used as an object itself for the object recognition test of the intelligent moving body (10). For example, the motor simulation body (420) is electrically connected to the aforementioned terminal control unit (800), and the temperature of the motor simulation body (420) can be controlled to rise rapidly, so that the intelligent moving body (10) can perform temperature rise detection and alarm tests caused by various motor faults while realizing the object recognition accuracy test; on the other hand, the sealed boundaries such as the inlet and outlet and valves of the container equipment unit (400) create container medium leakage test conditions. An installation interface is reserved in the pipe corridor network unit (200), and the container equipment for test verification can be dynamically adjusted according to actual needs during testing.

[0062] In one embodiment, the environment simulation mechanism further comprises an instrument unit; the instrument unit is connected to the main support (100), and the instrument unit comprises one or a combination of indicator instruments (horizontal light pair type, text indicator light, etc.), pointer instruments (single pointer instruments, multi-pointer instruments, fine pointer instruments, etc.), digital display instruments (LED digital instruments, LCD digital instruments), new instruments (black and white / red and white flip plates, position indicator lights, telescopic joint scales, etc.), liquid level instruments (reflective water column type, oil level window type, etc.), color instruments and circular instruments.

[0063] Various types of instruments are used to provide instrument identification conditions for the intelligent moving body (10). Various types of instruments are fixed to the main frame (100) through detachable connections, and can be installed and used in combination as needed. At the same time, an instrument interface is provided on the main frame (100), and during testing, the test and verification instruments can be dynamically adjusted according to actual needs.

[0064] In one embodiment, the test device further comprises: a motion operation performance test area (600), wherein an expansion interface is provided in the operation performance test area (600), and the expansion interface is used to install an operation performance test tooling for testing the maneuverability of the intelligent moving body (10) with a robotic arm.

[0065] The operating performance test tooling can be of various types depending on the functions of the intelligent moving body (10) being tested, such as tools, operating handles, buttons, switches, etc., to test whether the intelligent moving body (10) of the robot arm can accurately perform the predetermined operation.

[0066] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A test device for reliability testing of special robots in the nuclear industry, characterized in that: include: A main body support (100), wherein the main body support (100) includes a walking space; An environmental simulation mechanism, the environmental simulation mechanism at least comprising a pipe gallery pipe network unit (200), the pipe gallery pipe network unit (200) being connected to the main support (100), the pipe gallery pipe network unit (200) comprising a medium circulation loop, the medium circulation loop being used for medium circulation; A suspension mechanism (300), the suspension mechanism (300) is located above the environment simulation mechanism and is used to connect and move the intelligent moving body (10).

2. The test device for reliability testing of special robots for the nuclear industry according to claim 1 is characterized in that: The pipe gallery network unit (200) comprises a softened water treatment device (210), a steam generating device (220), a pipe gallery network module (230), a leakage test branch pipe (240) and a control valve (250); The input end of the softened water treatment device (210) is used to connect to an external water supply, the output end of the softened water treatment device (210) is connected to the inlet of the steam generating device (220), the steam generating device (220) is connected to the pipe gallery network module (230), there are a plurality of leakage test branch pipes (240), the leakage test branch pipes (240) are distributedly arranged in the pipe gallery network module (230) and connected to the pipe gallery network module (230), any leakage test branch pipe (240) is provided with the control valve (250), different leakage test branch pipes (240) are provided with different defects, and the pipe gallery network module (230) is provided with the control valve (250); The softened water treatment device (210) is used to pre-treat the water medium and input it into the steam generating device (220). The steam generating device (220) prepares steam at a set temperature and pressure and transmits it to the pipe gallery network module (230) and the leakage test branch pipe (240).

3. The test device for reliability testing of special robots for the nuclear industry according to claim 1, characterized in that: The leakage test branch pipe (240) comprises a connecting pipe section (241), a leakage pipe section (242) and a flange (243); the connecting pipe section (241) is connected to the pipe gallery network module (230); both ends of the leakage pipe section (242) are connected to the connecting pipe section (241) via the flange (243); and the control valves (250) are respectively provided at both ends of the leakage pipe section (242); The defect is arranged on the leaking pipe section (242).

4. The test device for reliability testing of special robots for the nuclear industry according to claim 2, characterized in that: The pipe gallery network module (230) comprises a heat preservation area (232) with a heat preservation layer, a non-heat preservation area (231) without a heat preservation layer, and a main pipe (233); the heat preservation area (232) and the non-heat preservation area (231) are both connected to the steam generating device (220) via the main pipe (233); and the leakage test branch pipe (240) is connected to the heat preservation area (232) and the non-heat preservation area (231).

5. The test device for reliability testing of special robots for the nuclear industry according to claim 2, characterized in that: The pipe gallery network unit (200) further includes a cooling device (260), a circulation device (270) and a water tank (280); The outlet of the steam generating device (220) is connected to the inlet of the pipe gallery pipe network module (230), the cooling device (260) is connected to the outlet of the pipe gallery pipe network module (230) and the inlet of the water tank (280), and the circulation device (270) is connected to the outlet of the water tank (280) and the inlet of the steam generating device (220).

6. The test device for reliability testing of special robots for the nuclear industry according to claim 2, characterized in that: The pipe gallery pipe network unit (200) further comprises a sensor module (290), wherein the sensor module (290) is connected to the pipe gallery pipe network module (230) and the leakage test branch pipe (240).

7. The test device for reliability testing of special robots for the nuclear industry according to claim 1, characterized in that: The suspension mechanism (300) comprises a ceiling guide rail (310), a transfer hanger (320) and a traveling body guide rail (330); the first end of the transfer hanger (320) is slidably connected to the ceiling guide rail (310); the second end of the transfer hanger (320) is height-adjustable relative to the first end of the transfer hanger (320); the second end of the transfer hanger (320) is connected to the traveling body guide rail (330); and the traveling body guide rail (330) is used to connect and move the intelligent traveling body (10).

8. The test device for reliability testing of special robots for the nuclear industry according to claim 1, characterized in that: The environmental simulation mechanism also includes a container equipment unit (400); The container equipment unit (400) comprises a pressure container simulation body (410), wherein the pressure container simulation body (410) is connected to the pipe gallery network module (230) and can flow the medium; The container equipment unit (400) further comprises a motor simulation body (420), and the temperature of the motor simulation body (420) is controllable.

9. The test device for reliability testing of special robots for the nuclear industry according to claim 1, characterized in that: The environmental simulation mechanism also includes an instrumentation unit; The instrument unit is connected to the main support (100), and the instrument unit comprises one or a combination of indicating instruments, pointer instruments, digital display instruments, new instruments, liquid level instruments, color instruments and ring instruments.

10. The test device for reliability testing of special robots for the nuclear industry according to claim 1, characterized in that: The test device also includes: A motion operation performance test area (600), wherein an expansion interface is provided in the operation performance test area (600), and the expansion interface is used to install an operation performance test tooling for the operation performance test of the intelligent moving body (10) with a mechanical arm.

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