High-radiation underwater crawling transmission platform

Abstract

The invention belongs to the technical field of nuclear power station maintenance, and particularly relates to a high-radiation underwater crawling transmission platform. Comprising a control box, a camera, a foreign matter collecting basket, an execution head, a multi-degree-of-freedom mechanical arm, a main platform, a VR video system, a panoramic camera system and a moving system, and the control box, the camera, the foreign matter collecting basket, the execution head, the multi-degree-of-freedom mechanical arm, the main platform, the VR video system, the panoramic camera system and the moving system are arranged on the main platform. The platform has the beneficial effects that the platform is designed according to modularization, a plurality of functional modules can be replaced or expanded, and the platform has the function of automatically identifying the carried module and switching to a corresponding operation mode; a replaceable execution head is mounted at the tail end of the multi-degree-of-freedom mechanical arm, so that various requirements of underwater maintenance can be met; the multi-degree-of-freedom mechanical arm has the function of storing various preset actions and states.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of nuclear power plant maintenance, and particularly relates to a high-radiation underwater crawling transmission platform. BACKGROUND

[0002] Nuclear power generation is to generate electricity by using the heat energy released by the self-sustained chain fission reaction of nuclear fuel. After the first criticality of a pressurized water reactor nuclear power plant, the nuclear fuel assembly, the primary system and the equipment have high radioactivity, the maintenance environment is extremely harsh, the maintenance personnel cannot normally approach, and the conventional means cannot be used for maintenance operation.

[0003] At present, the common method in the industry at home and abroad is to use a certain concentration of boric acid water to shield radiation and perform maintenance operation at a long distance. The long-distance maintenance operation has the defects of great operation difficulty, unattainable local position, poor generalization of tooling, low work efficiency and the like. In order to ensure that the equipment defects in the high-radiation environment can be safely, reliably and quickly handled, it is urgent to develop a crawling transmission platform which can be applied to the high-radiation underwater environment. SUMMARY

[0004] The purpose of the application is to provide a high-radiation underwater crawling transmission platform which can realize the functions of checking the surrounding environment and equipment, performing maintenance operation on underwater equipment, transmitting and applying other functional modules and the like in the high-radiation underwater harsh environment, so as to replace manual operation to complete equipment checking, equipment disassembly, defect repair and the like.

[0005] The technical scheme of the application is as follows: a high-radiation underwater crawling transmission platform comprises a control box, a camera, a foreign matter collecting basket, an execution head, a multi-degree-of-freedom mechanical arm, a main platform, a VR video system, a panoramic camera system and a moving system, and the main platform is respectively provided with the control box, the camera, the foreign matter collecting basket, the execution head, the multi-degree-of-freedom mechanical arm, the main platform, the VR video system, the panoramic camera system and the moving system.

[0006] The main platform is a plate-shaped structure which is provided with a mounting groove and a bolt hole structure.

[0007] The control box is arranged below the main platform, the control system, the control circuit, the driver and the radiation field detector are arranged in the control box, the functions of platform movement, video monitoring, mechanical arm action, radiation field detection and early warning and environment water pressure monitoring are realized, the camera is arranged at the front end of the control box and is provided with illumination, and the scene in front of the equipment can be observed.

[0008] The moving system is arranged at the left and right sides of the control box, the moving system provides power for the crawling transmission platform, and the moving system is a Mecanum wheel, a track or a wheel type structure.

[0009] The panoramic camera system is arranged above the main platform, and the surrounding environment of the transmission platform can be observed through the screen.

[0010] The VR video system is provided with a two-dimensional holder and equipped with illumination, and the brightness of the illumination can be adjusted, so that the all-around observation of the surrounding scene can be realized, and the linear dimension of the measured object can be measured through the VR video system.

[0011] The front side of the main platform is provided with a multi-degree-of-freedom mechanical arm, and the multi-degree-of-freedom mechanical arm is six degrees of freedom, which meets the various postures and functions of underwater maintenance.

[0012] The end of the multi-degree-of-freedom mechanical arm is provided with a replaceable execution head, which meets the needs of underwater maintenance, including bolt screwing, bolt pre-tightening, workpiece clamping and underwater measurement.

[0013] The main platform is provided with a box-shaped foreign matter collecting basket.

[0014] The control box, the camera, the foreign matter collecting basket, the execution head, the multi-degree-of-freedom mechanical arm, the main platform, the VR video system, the panoramic camera system and the moving system adopt a stainless steel or aluminum alloy structure.

[0015] The platform is designed according to the modularization, a plurality of function modules (such as an underwater measurement module and a multi-degree-of-freedom mechanical arm) can be replaced or expanded, and the platform has the functions of automatically identifying the loaded modules and switching to the corresponding operation mode; the replaceable execution head installed at the end of the multi-degree-of-freedom mechanical arm can meet various needs of underwater maintenance (such as foreign matter grabbing, bolt screwing and equipment disassembly); the multi-degree-of-freedom mechanical arm has the function of storing a plurality of preset actions and states; the observation and camera shooting of the device operation object and the surrounding environment can be realized; the functions of radiation field detection and early warning and environmental water pressure monitoring are provided. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 A schematic diagram of a high-radiation underwater crawling transmission platform is provided.

[0017] In the figure: 1, control box; 2, camera; 3, foreign matter collecting basket; 4, execution head; 5, multi-degree-of-freedom mechanical arm; 6, main platform; 7, VR video system; 8, panoramic camera system; 9, moving system. DETAILED DESCRIPTION

[0018] The application will be further described in detail below in combination with the drawings and specific embodiments.

[0019] As Figure 1As shown, a high radiation underwater crawling transmission platform includes a control box 1, a camera 2, a foreign matter collection basket 3, an execution head 4, a multi-degree-of-freedom mechanical arm 5, a main platform 6, a VR video system 7, a panoramic camera system 8, and a moving system 9. The main platform 6 in a plate structure is provided with mounting grooves, bolt holes and other structures, and different components and functional modules can be installed on the main platform 6. The control box 1 is installed below the main platform 6, and the control system, control circuit, driver, radiation field detector and other components of the crawling transmission platform are installed in the control box 1, which can realize the functions of platform movement, video monitoring, mechanical arm action, radiation field detection and warning, environmental water pressure monitoring and the like. The camera 2 is installed at the front end of the control box 1 and is equipped with lighting, which can clearly observe the scene in front of the equipment, such as the operation of the mechanical arm 5, the maintenance object, the surrounding environment and the like.

[0020] The moving system 9 is installed on the left and right sides of the control box 1 below the main platform 6. The moving system 9 provides power for the crawling transmission platform, and different structures and forms of power structures can be configured according to actual needs on site, such as Mecanum wheels, caterpillar tracks or wheels.

[0021] A panoramic camera system 8 is installed above the main platform 6, and the surrounding environment of the transmission platform can be observed through the screen.

[0022] A VR video system 7 is installed on the rear side above the main platform 6, and the VR video system 7 is provided with a two-dimensional holder and is equipped with lighting with adjustable brightness, which can realize all-around observation of the surrounding scene. The VR video system 7 can measure the size of the measured object.

[0023] A multi-degree-of-freedom mechanical arm 5 is installed on the front side above the main platform 6, and the multi-degree-of-freedom mechanical arm 5 is six degrees of freedom, which can meet various postures and functions of underwater maintenance. The multi-degree-of-freedom mechanical arm 5 is provided with replaceable execution heads 4 at the end, so as to meet various needs of underwater maintenance, such as bolt screwing, bolt pre-tightening, workpiece clamping, underwater measurement and the like.

[0024] A boxed foreign matter collection basket 3 is designed above the main platform 6, and the installation position of the foreign matter collection basket 3 can be adjusted according to actual needs.

[0025] Each functional module adopts stainless steel or aluminum alloy structure, which is convenient for removing radioactive dust on the surface of the equipment after use in a radiation environment.

[0026] As Figure 1As shown, a plurality of functional modules (such as underwater measurement module, mechanical arm functional module 4, etc.) can be replaced or expanded, and has the function of automatically identifying the carried module and switching to the corresponding operation mode; the crawling transmission platform can realize fast and accurate movement in the water environment by relying on the movement system 9; the movement system 9 can be configured with different structures and forms of power structures according to the actual needs of the site, such as Mecanum wheel, track or wheel type, etc.; equipped with camera 2, VR video system 7 and panoramic camera system 8, equipped with separate light source brightness adjustable, can realize the observation, camera shooting and other functions of the device operation object and the surrounding environment; has the functions of radiation field detection and early warning (measurement range 0.01mGy / h to 1000Gy / h), environmental water pressure monitoring, etc.

[0027] The platform of the application has the following characteristics: The platform is designed according to the modularization design, a plurality of functional modules (such as underwater measurement module, multi-degree-of-freedom mechanical arm, etc.) can be replaced or expanded, and has the function of automatically identifying the carried module and switching to the corresponding operation mode; The execution head 4 can be replaced according to the actual needs of the site, such as bolt screw head, grabbing and clamping head, etc. The multi-degree-of-freedom mechanical arm 5 has the function of storing a plurality of preset actions and states; Equipped with VR video system 7, camera 2 and panoramic camera system 8, can realize the observation, camera shooting and other functions of the device operation object and the surrounding environment; Has the functions of radiation field detection and early warning (measurement range 0.01mGy / h to 1000Gy / h), environmental water pressure monitoring, etc.

[0028] The installation and use of the underwater crawling transmission platform for high radiation according to the application are as follows: 1. Use hoisting equipment and sling to transport the underwater crawling transmission platform to the water environment; 2. Through the industrial computer or hand controller, operate the device to run to the working area. During the running process, use the panoramic camera system 8, camera 2, VR video system 7, etc. to observe the surrounding environment to avoid collision between the device and the surrounding structures, etc. 3. Operate the device to perform the on-site work task. When performing device inspection and environmental exploration, observe and record the device and the environment through the camera 2 and the VR video system 7, etc.; when performing device maintenance, use the camera 2 and the VR video system 7 as auxiliary, operate the multi-degree-of-freedom mechanical arm 5 through end control technology or single joint control, and use the execution head 5 to perform the maintenance task, such as foreign matter grabbing, device disassembly, etc. (the foreign matter can be put into the foreign matter collection basket 3 for temporary storage after being grabbed); 4. After the task is completed, set the multi-degree-of-freedom mechanical arm 5 to the folded state, and the device runs to the specified area; Disassembly of the underwater crawling transmission platform: The whole process needs a radiation dose instrument to track and measure in real time, and to avoid taking radioactive substances out of the water shielding environment.

[0029] 1. Turn off all the equipment and remove the power supply; 2. Transport the underwater crawling transmission platform to the designated area using lifting equipment; 3. Remove the power supply line and control cable, and clean and pack all parts; 4. Check and confirm that there is no equipment or item left in the field, and clean up the repair area.

[0030] Finally, it should be noted that: the above examples are only used to illustrate the technical solutions of the present application, but not to limit it; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: the modification of the technical solutions recorded in the foregoing embodiments, or the equivalent replacement of part or all of the technical features, does not make the essence of the corresponding technical solution deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A high radiation underwater crawling transmission platform, characterized in that: The main platform is provided with a control box, a camera, a foreign matter collecting basket, an execution head, a multi-degree-of-freedom mechanical arm, a VR video system, a panoramic camera system and a moving system.

2. A high radiation underwater crawling transmission platform as claimed in claim 1, wherein: The main platform is a plate-shaped structure provided with a mounting groove and a bolt hole structure.

3. A high radiation underwater crawling transmission platform as claimed in claim 1, wherein: The main platform is provided with a control box, a camera, a foreign matter collecting basket, an execution head, a multi-degree-of-freedom mechanical arm, a VR video system, a panoramic camera system and a moving system.

4. A high radiation underwater crawling transmission platform as claimed in claim 3, wherein: The control box is provided with a camera and lighting at the front end, so that the scene in front of the equipment can be observed.

5. A high radiation underwater crawling transmission platform as claimed in claim 1, wherein: The main platform is provided with a control box, a camera, a foreign matter collecting basket, an execution head, a multi-degree-of-freedom mechanical arm, a VR video system, a panoramic camera system and a moving system.

6. A high radiation underwater crawling transmission platform as claimed in claim 1, wherein: The main platform is provided with a control box, a camera, a foreign matter collecting basket, an execution head, a multi-degree-of-freedom mechanical arm, a VR video system, a panoramic camera system and a moving system.

7. A high radiation underwater crawling transmission platform as claimed in claim 1, wherein: The main platform is provided with a control box, a camera, a foreign matter collecting basket, an execution head, a multi-degree-of-freedom mechanical arm, a VR video system, a panoramic camera system and a moving system.

8. A high radiation underwater crawling transmission platform as claimed in claim 7, characterized in that: The main platform is provided with a control box, a camera, a foreign matter collecting basket, an execution head, a multi-degree-of-freedom mechanical arm, a VR video system, a panoramic camera system and a moving system.

9. A high radiation underwater crawling transmission platform as claimed in claim 1, wherein: The main platform is provided with a control box, a camera, a foreign matter collecting basket, an execution head, a multi-degree-of-freedom mechanical arm, a VR video system, a panoramic camera system and a moving system.

10. A high radiation underwater crawling transmission platform as claimed in claim 1, wherein: The main platform is provided with a control box, a camera, a foreign matter collecting basket, an execution head, a multi-degree-of-freedom mechanical arm, a VR video system, a panoramic camera system and a moving system.

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