Bionic mechanical arm for cleaning foreign matters at bottom of nuclear reactor

Abstract

The invention belongs to the technical field of nuclear power maintenance, and particularly relates to a bionic mechanical arm for cleaning foreign matters at the bottom of a nuclear reactor. Comprising an underwater electrical cabin body, an adapter seat, an underwater linear driving rod, a supporting rod, a pulley block, a mechanical arm mounting plate, a mechanical arm module and an underwater suction pump, the underwater linear driving rod is fixed to the underwater electrical cabin body, and the underwater electrical cabin body supplies power and provides a control signal; the two ends of the supporting rod are fixedly connected with the underwater electrical cabin and the mechanical arm mounting plate respectively to connect the underwater electrical cabin and the mechanical arm mounting plate into a whole, the pulley block is fixed to the mechanical arm mounting plate, the mechanical arm modules are rotatably connected end to end to form the bionic mechanical arm, one end of the bionic mechanical arm is fixed to the mechanical arm mounting plate, and the other end of the bionic mechanical arm is connected with the underwater suction pump. The device has the beneficial effect that the problem that small foreign matters at the bottom of a nuclear reactor are difficult to clean can be well solved. The small foreign matters at the bottom of the nuclear reactor can be sucked under the condition that reactor internals at the lower part of the nuclear reactor are not detached.

Description

Technical Field

[0001] This invention belongs to the field of nuclear power maintenance technology, specifically relating to a biomimetic robotic arm for cleaning foreign objects at the bottom of a nuclear reactor. Background Technology

[0002] Nuclear power generation utilizes the heat released from the self-sustaining chain fission reaction of nuclear fuel to generate electricity. After the initial criticality of a pressurized water reactor nuclear power plant, the nuclear fuel assemblies, primary loop system, and equipment are highly radioactive, making the maintenance environment extremely harsh. Maintenance personnel cannot approach them normally, and conventional methods cannot be used for maintenance operations.

[0003] Currently, primary loop equipment such as pressure vessels in nuclear power plants are exposed to high radiation environments for extended periods, making it impossible for personnel to enter for inspection and miniaturization. In particular, the bottom of the reactor pressure vessel is a confined space, making it impossible for conventional equipment to access the bottom for inspection or foreign object retrieval. Therefore, it is necessary to develop an underwater robotic arm to enter the lower reactor internal components to carry out related work. Summary of the Invention

[0004] The purpose of this invention is to provide a biomimetic robotic arm for cleaning foreign objects at the bottom of a nuclear reactor. This robotic arm can clean foreign objects at the bottom of a nuclear reactor without disassembling the internal components of the lower part of the reactor.

[0005] The technical solution of the present invention is as follows: A biomimetic robotic arm for cleaning foreign objects at the bottom of a nuclear reactor includes an underwater electrical cabin, a connecting seat, an underwater linear drive rod, a support rod, a pulley system, a robotic arm mounting plate, a robotic arm module, and an underwater suction pump. The underwater linear drive rod is fixed to the underwater electrical cabin and is powered and controlled by the underwater electrical cabin. The two ends of the support rod are fixedly connected to the underwater electrical cabin and the robotic arm mounting plate, respectively, connecting the two into one unit. The pulley system is fixed to the robotic arm mounting plate. The robotic arm module is rotatably connected end to end to form a biomimetic robotic arm. One end of the biomimetic robotic arm is fixed to the robotic arm mounting plate, and the other end is connected to the underwater suction pump.

[0006] The robotic arm module consists of nine sections, each connected to one end of three steel wire ropes. The other ends of the three steel wire ropes are connected to three underwater linear drive rods. The underwater linear drive rods pull the robotic arm module to rotate. Through the combined movement of the underwater linear drive rods, the bionic robotic arm can assume any posture, bypass obstacles, and enter the bottom area of ​​the reactor.

[0007] The pulley assembly is fixed to the robotic arm mounting plate by bolts.

[0008] Each wire rope corresponds to a pulley block, which guides the wire rope.

[0009] The underwater suction pump is fixed to the end of the bionic robotic arm. As the robotic arm moves, the underwater suction pump can suck up tiny foreign objects.

[0010] A total of 27 sets of underwater linear drive rods are evenly fixed on the underwater electrical cabin.

[0011] Each set of underwater linear drive rods has the function of extending and retracting.

[0012] The support rod consists of 18 rods, each with its two ends fixedly connected to the underwater electrical cabin and the robotic arm mounting plate by bolts, thus connecting the two into one unit.

[0013] The pulley system consists of 27 sets, each set being fixed to the robotic arm mounting plate with bolts.

[0014] The beneficial effects of this invention are as follows: This invention effectively solves the problem of the difficulty in cleaning small foreign objects at the bottom of a nuclear reactor. By applying this invention, the removal of small foreign objects from the bottom of the nuclear reactor can be achieved without disassembling the lower internal components. The bending and twisting movements of the robotic arm are achieved through the coupled movement of 27 sets of underwater linear drive rods, steel cables, and robotic arm joints, allowing it to enter confined, non-linear spaces. The linear drive rods drive the steel cables, further rotating the robotic arm joints. An underwater suction pump is mounted at the end of the robotic arm, which can accompany the robotic arm into the designated area to carry out foreign object removal operations. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of a biomimetic robotic arm for cleaning foreign objects at the bottom of a nuclear reactor, provided by the present invention.

[0016] In the diagram: 1. Underwater electrical compartment; 2. Adapter; 3. Underwater linear drive rod; 4. Support rod; 5. Pulley block; 6. Robotic arm mounting plate; 7. Robotic arm module; 8. Underwater suction pump. Detailed Implementation

[0017] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0018] like Figure 1As shown, a biomimetic robotic arm for cleaning foreign objects at the bottom of a nuclear reactor includes an underwater electrical compartment 1, a junction box 2, 27 sets of underwater linear drive rods 3, 18 support rods 4, 27 sets of pulleys 5, a robotic arm mounting plate 6, 9 robotic arm modules 7, and an underwater suction pump 8. The 27 sets of underwater linear drive rods 3 are evenly fixed to the underwater electrical compartment 1, powered and controlled by the compartment. Each set has extension and retraction functions. The 18 support rods 4 are bolted to both ends of the underwater electrical compartment 1 and the robotic arm mounting plate 6, connecting them into a single unit. The 27 sets of pulleys 5 are bolted to the robotic arm mounting plate 6. The 9 robotic arm modules 7 are rotatably connected end-to-end to form a biomimetic robotic arm. One end of the biomimetic robotic arm is fixed to the mounting plate 6, and the other end is connected to the underwater suction pump 8. Each robotic arm module 7 is connected to one end of three steel wire ropes, and the other ends of the three steel wire ropes are connected to three underwater linear drive rods 3. The underwater linear drive rods 3 pull the robotic arm module 7 to rotate. Through the combined movement of 27 sets of underwater linear drive rods 3, the bionic robotic arm can assume any posture, avoid obstacles, and enter the bottom area of ​​the reactor. The pulley system 5 is fixed to the robotic arm mounting plate 6 by bolts. Each steel wire rope corresponds to one pulley system 5, and the pulley system 5 guides the steel wire rope. The underwater suction pump 8 is fixed to the end of the bionic robotic arm and can move with the robotic arm. The underwater suction pump 8 can suck up micro-sized foreign objects.

[0019] The working principle of this invention is as follows: The equipment is placed into the reactor via a mobile platform or by hand, and then enters the bottom of the nuclear reactor through the lower grid plate. The robotic arm is then controlled to perform foreign object removal operations.

Claims

1. A biomimetic robotic arm for cleaning foreign objects at the bottom of a nuclear reactor, characterized in that: The device includes an underwater electrical cabin, an adapter, an underwater linear drive rod, a support rod, a pulley block, a robotic arm mounting plate, a robotic arm module, and an underwater suction pump. The underwater linear drive rod is fixed to the underwater electrical cabin and is powered and controlled by the underwater electrical cabin. The two ends of the support rod are fixedly connected to the underwater electrical cabin and the robotic arm mounting plate, respectively, connecting the two into one unit. The pulley block is fixed to the robotic arm mounting plate. The robotic arm module is rotatably connected end to end to form a bionic robotic arm. One end of the bionic robotic arm is fixed to the robotic arm mounting plate, and the other end is connected to the underwater suction pump.

2. The biomimetic robotic arm for cleaning foreign objects at the bottom of a nuclear reactor as described in claim 1, characterized in that: The robotic arm module consists of nine sections, each connected to one end of three steel wire ropes. The other ends of the three steel wire ropes are connected to three underwater linear drive rods. The underwater linear drive rods pull the robotic arm module to rotate. Through the combined movement of the underwater linear drive rods, the bionic robotic arm can assume any posture, bypass obstacles, and enter the bottom area of ​​the reactor.

3. The biomimetic robotic arm for cleaning foreign objects at the bottom of a nuclear reactor as described in claim 2, characterized in that: The pulley assembly is fixed to the robotic arm mounting plate by bolts.

4. The biomimetic robotic arm for cleaning foreign objects at the bottom of a nuclear reactor as described in claim 3, characterized in that: Each wire rope corresponds to a pulley block, which guides the wire rope.

5. The biomimetic robotic arm for cleaning foreign objects at the bottom of a nuclear reactor as described in claim 1, characterized in that: The underwater suction pump is fixed to the end of the bionic robotic arm. As the robotic arm moves, the underwater suction pump can suck up tiny foreign objects.

6. The biomimetic robotic arm for cleaning foreign objects at the bottom of a nuclear reactor as described in claim 1, characterized in that: A total of 27 sets of underwater linear drive rods are evenly fixed on the underwater electrical cabin.

7. A biomimetic robotic arm for cleaning foreign objects at the bottom of a nuclear reactor as described in claim 6, characterized in that: Each set of underwater linear drive rods has the function of extending and retracting.

8. The biomimetic robotic arm for cleaning foreign objects at the bottom of a nuclear reactor as described in claim 1, characterized in that: The support rod consists of 18 rods, each with its two ends fixedly connected to the underwater electrical cabin and the robotic arm mounting plate by bolts, thus connecting the two into one unit.

9. A biomimetic robotic arm for cleaning foreign objects at the bottom of a nuclear reactor as described in claim 1, characterized in that: The pulley system consists of 27 sets, each set being fixed to the robotic arm mounting plate with bolts.

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