Visualized foreign object grabbing device for nuclear power plant

Abstract

This invention relates to the field of nuclear power plant equipment maintenance and foreign object removal technology, and discloses a nuclear power plant visual foreign object grasping device, including a drive chassis. A disassembly and assembly grasping mechanism is arranged above the drive chassis, and a visual moving mechanism is arranged above and on both sides of the drive chassis. The disassembly and assembly grasping mechanism includes a rotary motor, the bottom surface of which is fixedly connected to the upper surface of the drive chassis, and a rotating disk is fixedly connected to the output end of the rotary motor. This nuclear power plant visual foreign object grasping device, by incorporating the disassembly and assembly grasping mechanism, facilitates adjustment of the horizontal angle and height of the grasping device. The mounting plate on the lifting frame facilitates the disassembly and assembly of the main body of the foreign object grasping device. It also allows for manual control of the power supply to the multi-dimensional extended robotic arm and the electromechanical gripper, enabling the grasping of foreign objects within the nuclear power plant. This improves the ease of operation of the device and reduces the risk of nuclear contamination to personnel.

Description

Technical Field

[0001] This invention relates to the field of nuclear power plant equipment maintenance and foreign object removal technology, specifically a nuclear power plant visual foreign object grasping device. Background Technology

[0002] During operation and shutdown maintenance of nuclear power plant steam generators, foreign objects may enter the secondary side of the steam generator due to equipment failure or human error. Foreign objects on the secondary side tube sheet and between the heat transfer tubes can cause tube rupture during unit operation, affecting the safety and reliability of the heat transfer tubes. Therefore, the inspection and removal of foreign objects is an important part of the maintenance management of nuclear power plant steam generators.

[0003] Existing foreign object retrieval in nuclear power plants mainly relies on manual operation or simple tools. However, due to the special nature of the nuclear power plant environment, such as strong radiation, confined space, and complex environment, manual operation is not only inefficient but also poses a serious threat to the health of operators. Furthermore, existing simple foreign object retrieval tools lack visualization capabilities, making it impossible for operators to accurately determine the location and state of foreign objects, resulting in low retrieval accuracy, easy omissions or misoperations, and poor applicability, as they cannot be applied to various scenarios for foreign object retrieval. Summary of the Invention

[0004] The purpose of this invention is to provide a visual foreign object grasping device for nuclear power plants to solve the problems mentioned in the background art.

[0005] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a nuclear power plant visual foreign object grasping device, including a drive chassis, a disassembly and grasping mechanism is provided on the top of the drive chassis, and a visual moving mechanism is provided on the top of the drive chassis and on both sides of the drive chassis.

[0006] The disassembly and assembly gripping mechanism includes a rotary motor, the bottom surface of which is fixedly connected to the upper surface of the drive chassis. A rotating disk is fixedly connected to the output end of the rotary motor, and an electric telescopic rod is fixedly connected to the upper surface of the rotating disk. A lifting frame is fixedly connected to the telescopic end of the electric telescopic rod. A mounting plate is provided above the lifting frame, and two clamping plates are provided below the mounting plate. The upper surface of each clamping plate contacts the bottom surface of the lifting frame, and a sliding positioning block is fixedly connected to the upper surface of each clamping plate. Two openings are formed on the upper surface of the mounting plate. A positioning slide groove, with two sliding positioning blocks slidably connected inside the two positioning slide grooves respectively. Each sliding positioning block has a clamping bolt threaded inside. Two blocking plates are provided above the mounting plate. The bottom ends of the two clamping bolts pass through the two blocking plates, the two sliding positioning blocks, and the two clamping plates in sequence and extend to the bottom of the two clamping plates. A fixed platform is fixedly connected to the upper surface of the mounting plate. A multi-dimensional extension robotic arm is fixedly connected to the upper surface of the fixed platform. An electric mechanical gripper is threadedly connected to the end of the multi-dimensional extension robotic arm away from the fixed platform.

[0007] Preferably, the visual moving mechanism includes a front baffle, the bottom surface of which is fixedly connected to the upper surface of the drive chassis. An adjustment motor is fixedly connected to the inner wall of the front baffle, and an extension plate is fixedly connected to the output end of the adjustment motor. A wedge plate is fixedly connected to the upper surface of the extension plate, and a high-definition camera is fixedly connected to the upper surface of the wedge plate. Two LED lights are fixedly connected to the front of the drive chassis, and two sets of rolling wheels are fixedly connected to the output end of the drive chassis. The outer surface of each set of rolling wheels is fitted with a track.

[0008] Preferably, the upper surface of the drive chassis is provided with a stabilizing groove, and the bottom surface of the rotating disk is fixedly connected with sliding stabilizing rods arranged in a circular pattern at equal intervals. Each sliding stabilizing rod is slidably connected inside the stabilizing groove, and the bottom end of each sliding stabilizing rod is in contact with the inner bottom wall of the stabilizing groove.

[0009] Preferably, each clamping bolt has a buffer pad on its outer surface, and the bottom surfaces of the two buffer pads are in contact with the upper surfaces of the two blocking plates, respectively.

[0010] Preferably, a reinforcing ring is fixedly connected to the outer surface of the multidimensional extension robotic arm, and the bottom surface of the reinforcing ring is fixedly connected to the upper surface of the fixed platform.

[0011] Preferably, two limiting frames are fixedly connected to the upper surface of the drive chassis, and a foreign object collection box is snapped into the interior of each limiting frame, with the bottom surface of each foreign object collection box in contact with the upper surface of the drive chassis.

[0012] Preferably, each of the foreign object collection boxes has two lifting handles fixedly connected to its upper surface, and each of the foreign object collection boxes has a flip-top cover rotatably connected to its interior.

[0013] Preferably, each of the foreign object collection boxes has a fixed connection between its two sides and a limiting cylinder, and each of the flip-top covers has a fixed connection between its two sides and a rotating shaft, with the two sets of rotating shafts respectively rotatably connected to the inside of the two sets of limiting cylinders.

[0014] Preferably, a storage battery is fixedly connected to the upper surface of the drive chassis, and the storage battery is electrically connected to the electrical equipment of the nuclear power plant's visual foreign object grasping device via wires.

[0015] Preferably, a reinforcing rib is fixedly connected to the back of the front baffle, and the bottom surface of the reinforcing rib is fixedly connected to the upper surface of the drive chassis.

[0016] Compared with the prior art, the beneficial effects achieved by the present invention are:

[0017] First, this invention, by incorporating a disassembly and assembly gripping mechanism, utilizes a rotating motor to drive a rotating disk, which in turn drives a lifting frame to rise and fall using an electric telescopic rod on the rotating disk. This allows for convenient adjustment of the gripping device's horizontal angle and height. A mounting plate is installed on the lifting frame, allowing a sliding positioning block on the clamping plate to slide within a positioning groove on the mounting plate. By manually twisting the clamping bolts within the sliding positioning block, the clamping plate and the blocking plate are brought closer together and pressed, clamping and fixing the mounting plate onto the lifting frame. This facilitates the disassembly and assembly of the main body of the nuclear power plant's visual foreign object gripping device. A fixed platform on the mounting plate allows the multi-dimensional extension robotic arm and electric mechanical gripper to be mounted on its surface. The power supply to the multi-dimensional extension robotic arm and electric mechanical gripper can be easily controlled manually to grip foreign objects within the nuclear power plant, improving the device's ease of operation and reducing the risk of nuclear contamination to personnel.

[0018] Secondly, this invention, by incorporating a visual moving mechanism, illuminates the path ahead of the vehicle by using two LED lights fixed to the front of the chassis. An adjustable motor drives an extension plate and a wedge plate to rotate, carrying a high-definition camera. This allows the ultra-wide-angle high-definition camera to capture images of the path ahead. Furthermore, the combination of two sets of rolling wheels and tracks facilitates the movement of the device on the required surface, thereby improving its grasping accuracy and enabling free movement within a nuclear power plant. Attached Figure Description

[0019] Figure 1 This is a perspective view of the high-definition camera of the present invention;

[0020] Figure 2 This is a rear-view perspective view of the drive chassis of the present invention;

[0021] Figure 3 This is a perspective view of the drive chassis of the present invention;

[0022] Figure 4 This is a perspective view of the multidimensional extension robotic arm of the present invention;

[0023] Figure 5 This is a perspective view of the mounting plate of the present invention;

[0024] Figure 6 This is a perspective view of the foreign object collection box of the present invention;

[0025] Figure 7 This is a perspective view of the flip-top cover of the present invention.

[0026] The components include: 1. Drive chassis; 2. Disassembly and gripping mechanism; 201. Rotary motor; 202. Rotary disk; 203. Electric telescopic rod; 204. Lifting frame; 205. Mounting plate; 206. Clamping plate; 207. Sliding positioning block; 208. Positioning groove; 209. Blocking plate; 210. Clamping bolt; 211. Fixed platform; 212. Multi-dimensional extension robotic arm; 213. Electric mechanical gripper; 3. Visualized moving mechanism; 30 1. Rolling wheel; 302. Track; 303. Front baffle; 304. LED lighting; 305. Adjustment motor; 306. Extension plate; 307. Wedge plate; 308. High-definition camera; 4. Stabilizing groove; 5. Sliding stabilizer bar; 6. Reinforcing rib; 7. Reinforcing ring; 8. Buffer pad; 9. Battery; 10. Limit frame; 11. Foreign object collection box; 12. Lifting handle; 13. Limiting cylinder; 14. Flip-up cover; 15. Rotating shaft. Detailed Implementation

[0027] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0028] Example 1

[0029] Please see Figure 1-7 A nuclear power plant visual foreign object grasping device includes a drive chassis 1, the drive chassis 1 contains a structure that drives the device to move, so that the device can be easily controlled by a remote control to move within the nuclear power plant. A disassembly and assembly grasping mechanism 2 is provided on the top of the drive chassis 1, and a visual moving mechanism 3 is provided on the top of the drive chassis 1 and on both sides of the drive chassis 1.

[0030] The disassembly and assembly gripping mechanism 2 includes a rotary motor 201. The bottom surface of the rotary motor 201 is fixedly connected to the upper surface of the drive chassis 1. A rotating disk 202 is fixedly connected to the output end of the rotary motor 201. An electric telescopic rod 203 is fixedly connected to the upper surface of the rotating disk 202. A lifting frame 204 is fixedly connected to the telescopic end of the electric telescopic rod 203. A mounting plate 205 is provided above the lifting frame 204. Two clamping plates 206 are provided below the mounting plate 205. The upper surface of each clamping plate 206 is in contact with the bottom surface of the lifting frame 204. A sliding positioning block 207 is fixedly connected to the upper surface of each clamping plate 206. Two fixed positioning blocks 207 are provided on the upper surface of the mounting plate 205. Positioning grooves 208, two sliding positioning blocks 207 are slidably connected inside the two positioning grooves 208 respectively, and each sliding positioning block 207 is threaded with a clamping bolt 210. Two blocking plates 209 are provided above the mounting plate 205. The bottom ends of the two clamping bolts 210 pass through the two blocking plates 209, the two sliding positioning blocks 207 and the two clamping plates 206 respectively and extend to the bottom of the two clamping plates 206. A fixed platform 211 is fixedly connected to the upper surface of the mounting plate 205. A multi-dimensional extension robotic arm 212 is fixedly connected to the upper surface of the fixed platform 211. The multi-dimensional extension robotic arm 212 is a type of robotic arm with 6-8 self-extensions that can be controlled by a remote control. The multi-dimensional extension robotic arm 212, located away from the fixed platform 211, has an electric mechanical gripper 213 threadedly connected to one end. The electric mechanical gripper 213 is an electrically controlled gripping structure. By setting up a disassembly and assembly gripping mechanism 2, a rotating motor 201 drives a rotating disk 202 to rotate, and an electric telescopic rod 203 on the rotating disk 202 drives a lifting frame 204 to rise and fall. This allows for convenient adjustment of the gripping device's horizontal angle and height. A mounting plate 205 is installed on the lifting frame 204, allowing the sliding positioning block 207 on the gripping plate 206 to slide within the positioning groove 208 on the mounting plate 205. Furthermore, manual twisting... The clamping bolts 210 inside the sliding positioning block 207 allow the clamping plate 206 and the blocking plate 209 to press against each other, thereby clamping and fixing the mounting plate 205 onto the lifting frame 204. This facilitates the disassembly and assembly of the main body of the nuclear power plant visual foreign object grasping device. The multi-dimensional extension robotic arm 212 and the electromechanical gripper 213 are mounted on the mounting plate 205 using the fixing platform 211. This allows for easy manual control of the power supply of the multi-dimensional extension robotic arm 212 and the electromechanical gripper 213 to grasp foreign objects in the nuclear power plant, improving the ease of operation of the device and reducing the risk of nuclear contamination to personnel.

[0031] The upper surface of the drive chassis 1 is provided with a stabilizing groove 4, and the bottom surface of the rotating disk 202 is fixedly connected with sliding stabilizing rods 5 arranged in a circular pattern at equal intervals. Each sliding stabilizing rod 5 is slidably connected inside the stabilizing groove 4, and the bottom end of each sliding stabilizing rod 5 is in contact with the inner bottom wall of the stabilizing groove 4. By sliding multiple sliding stabilizing rods 5 in the stabilizing groove 4, the rotational stability of the rotating disk 202 can be improved, thereby improving the stability of the main body of the device.

[0032] Each clamping bolt 210 has a buffer pad 8 on its outer surface. The bottom surface of the two buffer pads 8 is in contact with the upper surface of the two baffles 209 respectively. The buffer pads 8 can increase the pressure area between the clamping bolt 210 and the baffles 209, thereby extending the service life of the clamping bolt 210.

[0033] A reinforcing ring 7 is fixedly connected to the outer surface of the multidimensional extension robotic arm 212. The bottom surface of the reinforcing ring 7 is fixedly connected to the upper surface of the fixed platform 211. The reinforcing ring 7 is fixed at the connection between the multidimensional extension robotic arm 212 and the fixed platform 211, thereby improving the connection stability between the multidimensional extension robotic arm 212 and the fixed platform 211.

[0034] Two limiting frames 10 are fixedly connected to the upper surface of the drive chassis 1. Each limiting frame 10 has a foreign object collection box 11 inside it. The bottom surface of each foreign object collection box 11 is in contact with the upper surface of the drive chassis 1. The foreign object collection box 11 inside the limiting frame 10 is used to collect foreign objects held by the electromechanical gripper 213, thereby facilitating the processing of foreign objects.

[0035] Each foreign matter collection box 11 has two lifting handles 12 fixedly connected to its upper surface. Each foreign matter collection box 11 has a flip-top cover 14 rotatably connected inside. By manually holding the lifting handles 12, the foreign matter collection box 11 can be easily lifted, thus facilitating the handling of foreign matter inside the foreign matter collection box 11. Furthermore, the flip-top cover 14 can be used to block foreign matter inside the foreign matter collection box 11, reducing the risk of nuclear leakage.

[0036] Each foreign object collection box 11 has a fixed connection to a limiting cylinder 13 on both sides, and each flip cover 14 has a fixed connection to a rotating shaft 15 on both sides. The two sets of rotating shafts 15 are rotatably connected to the inside of the two sets of limiting cylinders 13. By rotating the rotating shafts 15 inside the limiting cylinders 13, the flip cover 14 can be easily rotated inside the foreign object collection box 11, thus facilitating the use of the foreign object collection box 11.

[0037] The specific implementation of this embodiment is as follows: In use, the rotating motor 201, the electric telescopic rod 203, the multi-dimensional extension robotic arm 212, and the electric mechanical gripper 213 are first connected to the power supply. When the nuclear power plant visual foreign object grasping device needs to be used to grasp foreign objects in the nuclear power plant, the rotating motor 201 is first used to drive the rotating disk 202 to rotate. By having multiple sliding stabilizing rods 5 slide in the stabilizing groove 4, the rotational stability of the rotating disk 202 can be improved, thereby improving the stability of the main body of the device. Then, the electric telescopic rod 203 on the rotating disk 202 is used to drive the lifting frame 204 to rise. The device is lowered, allowing for easy adjustment of its horizontal angle and height. The mounting plate 205, mounted on the lifting frame 204, allows the sliding positioning block 207 on the clamping plate 206 to slide within the positioning groove 208 on the mounting plate 205. By manually twisting the clamping bolt 210 within the sliding positioning block 207, the pressure area between the clamping bolt 210 and the blocking plate 209 is increased via the buffer pad 8, thus extending the service life of the clamping bolt 210. The close proximity and compression between the clamping plate 206 and the blocking plate 209 further compress the mounting plate 205. The clamping device is fixed to the lifting frame 204, allowing for easy assembly and disassembly of the main body of the nuclear power plant's visual foreign object grasping device. The fixing platform 211 on the mounting plate 205, secured with reinforcing rings 7, is fixed at the connection point between the multi-dimensional extension robotic arm 212 and the fixing platform 211, thereby improving the connection stability. This allows the multi-dimensional extension robotic arm 212 and the electromechanical gripper 213 to be mounted on its surface, facilitating manual control of the power supply to the multi-dimensional extension robotic arm 212 and the electromechanical gripper 213 to grasp foreign objects within the nuclear power plant. The foreign object collection box 11, which is engaged within the limiting frame 10, is used to collect foreign objects held by the electromechanical gripper 213, facilitating their handling. The foreign object collection box 11 can be easily lifted by manually holding the lifting handle 12, allowing for convenient handling of the foreign objects within. Furthermore, the flip-top cover 14, which rotates within the limiting cylinder 13 via the rotating shaft 15, allows for easy rotation within the foreign object collection box 11, thus facilitating the containment of foreign objects and reducing the risk of nuclear leakage.

[0038] Example 2

[0039] Please see Figure 1-7A nuclear power plant visual foreign object grasping device includes a visual moving mechanism 3 comprising a front baffle 303, the bottom surface of which is fixedly connected to the upper surface of a drive chassis 1. An adjustment motor 305 is fixedly connected to the inner wall of the front baffle 303. An extension plate 306 is fixedly connected to the output end of the adjustment motor 305. A wedge plate 307 is fixedly connected to the upper surface of the extension plate 306. A high-definition camera 308 is fixedly connected to the upper surface of the wedge plate 307. The high-definition camera 308 is an HD1080P, HD960P, or HD720P camera, and its model is DS-E14a2K. Two LED lights 304 are fixedly connected to the front of the drive chassis 1. The LED lights 304 are lighting fixtures made using fourth-generation green light source LEDs. Two sets of rolling wheels 301 are fixedly connected to the output end of the drive chassis 1. Each set of rolling wheels 301 has a track 302 fitted on its outer surface. By setting a visual moving mechanism 3, two LED lights 304 fixed in front of the drive chassis 1 can illuminate the front of its travel path. The extension plate 306 and wedge plate 307 are driven by the adjustment motor 305 to rotate the high-definition camera 308, so that the high-definition camera 308 with ultra-wide angle can capture images of the front of its travel path. The cooperation of the two sets of rolling wheels 301 and track 302 can easily drive the rolling wheels 301 and track 302 to roll on the required ground, thereby facilitating the movement of the device, improving the grasping accuracy of the device, and enabling it to move freely within the nuclear power plant.

[0040] A battery 9 is fixedly connected to the upper surface of the drive chassis 1. The battery 9 is electrically connected to the electrical equipment of the nuclear power plant's visual foreign object grasping device through wires. The power supply in the battery 9 provides power to the device, so that the device can be moved over long distances without being limited by the power supply.

[0041] A reinforcing rib 6 is fixedly connected to the back of the front baffle 303. The bottom surface of the reinforcing rib 6 is fixedly connected to the upper surface of the drive chassis 1. The reinforcing rib 6 is fixed at the connection between the front baffle 303 and the drive chassis 1, thereby improving the connection stability between the front baffle 303 and the drive chassis 1.

[0042] The specific implementation of this embodiment is as follows: In use, firstly, the adjusting motor 305, LED lighting 304, high-definition camera 308, and drive chassis 1 are connected to the power supply. The power is supplied to the device through the power in the storage battery 9, so that the device can be moved over long distances without being limited by the power supply. When it is necessary to use this nuclear power plant visual foreign object grasping device to grasp foreign objects in the nuclear power plant, the two LED lighting 304 fixed in front of the drive chassis 1 first illuminate the path ahead of it, and the reinforcing ribs... 6. Fixed at the connection between the front baffle 303 and the drive chassis 1, thereby improving the connection stability between the front baffle 303 and the drive chassis 1. The extension plate 306 and the wedge plate 307 are driven by the adjustment motor 305 to rotate the high-definition camera 308, so that the high-definition camera 308 with ultra-wide angle can capture images of the front of the travel route. The cooperation of two sets of rolling wheels 301 and track 302 can easily drive the rolling wheels 301 and track 302 to roll on the required ground, thereby facilitating the movement of the device.

[0043] The working principle of this invention is as follows: In use, the rotating motor 201, electric telescopic rod 203, multi-dimensional extension robotic arm 212, and electric mechanical gripper 213 are first connected to a power source. When this nuclear power plant visual foreign object grasping device is needed to grasp foreign objects within the nuclear power plant, the rotating motor 201 drives the rotating disk 202 to rotate. Multiple sliding stabilizing rods 5 slide within the stabilizing groove 4, improving the rotational stability of the rotating disk 202 and thus enhancing the stability of the device's main body. The electric telescopic rod 203 on the rotating disk 202 drives the lifting frame 204 to rise and fall, facilitating the adjustment of the grasping device's horizontal angle and height. The mounting plate 205 is installed on the lifting frame 204, enabling... The sliding positioning block 207 on the clamping plate 206 slides within the positioning groove 208 on the mounting plate 205. By manually twisting the clamping bolt 210 within the sliding positioning block 207, the pressure area between the clamping bolt 210 and the blocking plate 209 is increased via the buffer pad 8, thereby extending the service life of the clamping bolt 210. The clamping plate 206 and the blocking plate 209 then press against each other to clamp and fix the mounting plate 205 onto the lifting frame 204, facilitating the disassembly and assembly of the main body of the nuclear power plant's visual foreign object grasping device. The fixing platform 211 on the mounting plate 205 is fixed to the multi-dimensional extension robotic arm 212 via the reinforcing ring 7. The connection between the multi-dimensional extension robotic arm 212 and the fixed platform 211 is improved, thereby enhancing the connection stability and allowing the multi-dimensional extension robotic arm 212 and the electromechanical gripper 213 to be mounted on its surface. This enables convenient manual control of the power supply to the multi-dimensional extension robotic arm 212 and the electromechanical gripper 213 to grasp foreign objects within the nuclear power plant. The foreign object collection box 11, which is engaged within the limiting frame 10, facilitates the collection of foreign objects held by the electromechanical gripper 213, thus facilitating foreign object processing. The foreign object collection box 11 can be easily lifted by manually gripping the lifting handle 12, facilitating the processing of foreign objects within it. Furthermore, the flip-top cover 14, rotating within the limiting cylinder 13 via the rotating shaft 15, facilitates... The flip-top 14 rotates within the foreign object collection box 11, facilitating its use and blocking foreign objects within the box to reduce the risk of nuclear leakage. In use, the adjusting motor 305, LED lights 304, high-definition camera 308, and drive chassis 1 are first connected to a power source. Power is supplied to the device via the battery 9, allowing for convenient long-distance movement without power limitations. When using this nuclear power plant visual foreign object grabbing device to grab foreign objects within the nuclear power plant, the two LED lights 304 fixed to the front of the drive chassis 1 illuminate its path. The device is also secured to the connection between the front baffle 303 and the drive chassis 1 by reinforcing ribs 6.This improves the connection stability between the front baffle 303 and the drive chassis 1. The adjustment motor 305 drives the extension plate 306 and wedge plate 307 to rotate, carrying the high-definition camera 308. This allows the ultra-wide-angle high-definition camera 308 to capture images of the path ahead. The cooperation of two sets of rolling wheels 301 and tracks 302 facilitates their movement on the desired surface, enabling convenient movement of the device.

[0044] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0045] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A nuclear power plant visual foreign object grasping device, comprising a drive chassis (1), characterized in that: A disassembly and assembly gripping mechanism (2) is provided above the drive chassis (1), and a visual moving mechanism (3) is provided on the top of the drive chassis (1) and on both sides of the drive chassis (1). The disassembly and assembly gripping mechanism (2) includes a rotary motor (201). The bottom surface of the rotary motor (201) is fixedly connected to the upper surface of the drive chassis (1). A rotating disk (202) is fixedly connected to the output end of the rotary motor (201). An electric telescopic rod (203) is fixedly connected to the upper surface of the rotating disk (202). A lifting frame (204) is fixedly connected to the telescopic end of the electric telescopic rod (203). A mounting plate (205) is provided above the lifting frame (204). Two clamping plates (206) are provided below the mounting plate (205). The upper surface of each clamping plate (206) is in contact with the bottom surface of the lifting frame (204). A sliding positioning block (207) is fixedly connected to the upper surface of each clamping plate (206). Two fixed positioning blocks (207) are provided on the upper surface of the mounting plate (205). The two sliding positioning blocks (207) are slidably connected to the interior of the two positioning grooves (208). Each sliding positioning block (207) is threaded with a clamping bolt (210). Two blocking plates (209) are provided above the mounting plate (205). The bottom ends of the two clamping bolts (210) pass through the two blocking plates (209), the two sliding positioning blocks (207) and the two clamping plates (206) respectively and extend to the bottom of the two clamping plates (206). A fixed platform (211) is fixedly connected to the upper surface of the mounting plate (205). A multi-dimensional extension robotic arm (212) is fixedly connected to the upper surface of the fixed platform (211). An electric mechanical gripper (213) is threadedly connected to the end of the multi-dimensional extension robotic arm (212) away from the fixed platform (211).

2. The nuclear power plant visual foreign object grasping device according to claim 1, characterized in that: The visual moving mechanism (3) includes a front baffle (303), the bottom surface of which is fixedly connected to the upper surface of the drive chassis (1), an adjustment motor (305) is fixedly connected to the inner wall of the front baffle (303), an extension plate (306) is fixedly connected to the output end of the adjustment motor (305), a wedge plate (307) is fixedly connected to the upper surface of the extension plate (306), a high-definition camera (308) is fixedly connected to the upper surface of the wedge plate (307), two LED lights (304) are fixedly connected to the front of the drive chassis (1), and two sets of rolling wheels (301) are fixedly connected to the output end of the drive chassis (1). Each set of rolling wheels (301) has a track (302) fitted on its outer surface.

3. The nuclear power plant visual foreign object grasping device according to claim 1, characterized in that: The upper surface of the drive chassis (1) is provided with a stabilizing groove (4), and the bottom surface of the rotating disk (202) is fixedly connected with sliding stabilizing rods (5) arranged in a circular pattern at equal intervals. Each sliding stabilizing rod (5) is slidably connected inside the stabilizing groove (4), and the bottom end of each sliding stabilizing rod (5) is in contact with the inner bottom wall of the stabilizing groove (4).

4. The nuclear power plant visual foreign object grasping device according to claim 1, characterized in that: Each of the clamping bolts (210) has a buffer pad (8) fitted on its outer surface, and the bottom surfaces of the two buffer pads (8) are in contact with the upper surfaces of the two baffles (209).

5. The nuclear power plant visual foreign object grasping device according to claim 1, characterized in that: The outer surface of the multidimensional extension robotic arm (212) is fixedly connected to a reinforcing ring (7), and the bottom surface of the reinforcing ring (7) is fixedly connected to the upper surface of the fixed platform (211).

6. The nuclear power plant visual foreign object grasping device according to claim 1, characterized in that: Two limiting frames (10) are fixedly connected to the upper surface of the drive chassis (1). Each limiting frame (10) has a foreign object collection box (11) inside it, and the bottom surface of each foreign object collection box (11) is in contact with the upper surface of the drive chassis (1).

7. A nuclear power plant visual foreign object grasping device according to claim 6, characterized in that: Two lifting handles (12) are fixedly connected to the upper surface of each of the foreign object collection boxes (11), and a flip cover (14) is rotatably connected inside each of the foreign object collection boxes (11).

8. The nuclear power plant visual foreign object grasping device according to claim 7, characterized in that: Each of the foreign object collection boxes (11) has a fixed connection between two sides of a limiting cylinder (13), and each of the flip-top covers (14) has a fixed connection between two sides of a rotating shaft (15). The two sets of rotating shafts (15) are respectively rotatably connected to the inside of the two sets of limiting cylinders (13).

9. A nuclear power plant visual foreign object grasping device according to claim 1, characterized in that: A battery (9) is fixedly connected to the upper surface of the drive chassis (1), and the battery (9) is electrically connected to the electrical equipment of the nuclear power plant's visual foreign object grasping device through wires.

10. A nuclear power plant visual foreign object grasping device according to claim 2, characterized in that: The back of the front baffle (303) is fixedly connected with a reinforcing rib (6), and the bottom surface of the reinforcing rib (6) is fixedly connected to the upper surface of the drive chassis (1).

Images