Cleaning robot for nuclear power cold source port

Abstract

The utility model relates to a nuclear power cold source port cleaning robot which comprises a bearing part. The multiple multi-degree-of-freedom mechanical arms are arranged at the front end of the bearing part, the multi-degree-of-freedom mechanical arms are used for cleaning pollutants on the wall face of the tunnel, and the multi-degree-of-freedom mechanical arms are located in the bearing part when in the storage state; the auxiliary cleaning assembly is arranged at the rear end of the bearing part and used for assisting the multi-degree-of-freedom mechanical arm in cleaning pollutants on the wall face of the tunnel; and the pollutant crushing and cleaning assembly is arranged at the front end of the bearing part and located below the multi-degree-of-freedom mechanical arm, and the pollutant crushing and cleaning assembly is used for crushing and cleaning pollutants cleaned from the wall face of the tunnel. The device can replace manual operation for cleaning the cold source water intake and the tunnel of the nuclear power station, and can inspect the water bottom near the cold source water intake of the nuclear power station.

Description

Technical Field

[0001] This utility model belongs to the field of robotics and mechanical automation technology, and in particular relates to a cleaning robot for nuclear power plant cold source inlets. Background Technology

[0002] The cold source outlet of a nuclear power plant is part of the cold source system of the nuclear power plant. The cold source system is short for the circulating water system of the nuclear power plant. Its main function is to provide cooling water to the safe facility of the nuclear island and to provide cooling water to the condensers and auxiliary equipment coolers of the conventional island.

[0003] Currently, most methods for cleaning cold source inlets involve installing impellers and bio-crushing mechanisms inside the cold source pipes, including rotary cutters and multiple fixed cutters. These methods all share the same disadvantages: the cleaning process is immobile, requiring cleaning to be done in one fixed location; maintenance is difficult, as the equipment cannot be moved or repaired on land; cleaning efficiency is slow, power is low, and replacing damaged equipment is expensive and labor-intensive; and contaminants cannot be treated, with the crushed contaminants accumulating inside or at the pipe opening, eventually causing blockages.

[0004] Therefore, a nuclear power plant cold source inlet cleaning robot needs to be designed to solve the above problems. Utility Model Content

[0005] The purpose of this invention is to provide a nuclear power plant cold source inlet cleaning robot to solve the above-mentioned problems.

[0006] To achieve the above objectives, this utility model provides the following solution: a nuclear power plant cold source inlet cleaning robot, comprising...

[0007] Load-bearing components;

[0008] Multiple multi-degree-of-freedom robotic arms are disposed at the front end of the carrier. The multi-degree-of-freedom robotic arms are used to clean contaminants from the tunnel wall. When the multi-degree-of-freedom robotic arms are in the retracted state, they are located inside the carrier.

[0009] An auxiliary cleaning component is disposed at the rear end of the carrier, and the auxiliary cleaning component is used to assist the multi-degree-of-freedom robotic arm in cleaning contaminants on the tunnel wall.

[0010] A contaminant crushing and cleaning assembly is disposed at the front end of the carrier and located below the multi-degree-of-freedom robotic arm. The contaminant crushing and cleaning assembly is used to crush and clean the contaminants that have been cleaned off the tunnel wall.

[0011] A spare parts storage assembly is provided on the carrier, and the spare parts storage assembly is used to hold various pollutant cleaning actuators so that the multi-degree-of-freedom robotic arm can replace different pollutant cleaning actuators.

[0012] A drive and walking assembly is disposed on the carrier member. The drive and walking assembly is used to drive the carrier member to move in the water and to adjust the posture of the carrier member.

[0013] A lighting and image acquisition module is installed on the carrier. The lighting and image acquisition module is used to illuminate the inner wall of the tunnel and acquire image information of pollutants adhering to the inner wall of the tunnel, and transmit the image information of pollutants adhering to the inner wall of the tunnel to the ground control center.

[0014] According to this utility model, a nuclear power plant cold source port cleaning robot includes a main frame with a hollow interior. A sealed chamber is fixedly connected to the top of the main frame. A battery, a communication module, and a main control module are installed inside the sealed chamber. The communication module and the main control module are electrically connected to the battery and to a ground control center via optical fiber. A multi-degree-of-freedom robotic arm is located at the front end of the sealed chamber. A contaminant crushing and cleaning component and a lighting and image acquisition module are located at the front end of the main frame. An auxiliary cleaning component is located at the rear end of the main frame. A spare parts storage component is located inside the main frame. The lighting and image acquisition module is located at the front end of the sealed chamber. The drive and walking components are located on both sides of the outside of the main frame.

[0015] According to the present invention, a nuclear power plant cold source port cleaning robot includes a multi-degree-of-freedom robotic arm comprising a base joint fixedly disposed at the front end of the sealed chamber, a top wall of the robotic arm rotatably connected to the base joint, the top wall of the robotic arm being spatially perpendicular to the rotation direction of the base joint, a middle arm of the robotic arm rotatably connected to the other end of the top wall of the robotic arm, a lower arm of the robotic arm rotatably connected to the other end of the middle arm, a telescopic arm fixed end of the robotic arm rotatably connected to the other end of the lower arm, a wrist joint of the robotic arm fixedly connected to the telescopic arm, and a replaceable rotating cleaning brush head rotatably connected to the wrist joint.

[0016] According to the present invention, a nuclear power plant cold source inlet cleaning robot includes a replaceable rotating cleaning brush head, which is rotatably connected to the wrist joint of the robotic arm. The cleaning brush head is driven by the cleaning brush head, and a high-pressure water gun nozzle is provided in the middle of the cleaning brush head.

[0017] According to the present invention, a nuclear power plant cold source inlet cleaning robot includes an auxiliary cleaning component comprising a high-pressure water gun pump. The high-pressure water gun pump is fixedly installed at the rear end of the main frame. One end of a high-pressure water gun hose is fixedly connected to the outlet end of the high-pressure water gun pump, and the other end of the high-pressure water gun hose is fixedly connected to the nozzle of the high-pressure water gun.

[0018] According to the present invention, a nuclear power plant cold source inlet cleaning robot includes a contaminant crushing and cleaning component comprising a multi-functional cleaning shovel. The multi-functional cleaning shovel includes a shovel body, the rear end of which is movably connected to the front end of the main frame. A toothed roller is rotatably mounted on the rear end of the shovel body. One end of the cleaning shovel discharge pipe is mounted on the rear end of the shovel body. The other end of the cleaning shovel discharge pipe is fixedly connected to the inlet end of a suction pump. The suction pump is fixedly mounted inside the main frame. The outlet end of the suction pump is fixedly connected to the suction pump discharge pipe. A fixed end of a control hydraulic cylinder is fixedly connected to the front end of the main frame. The telescopic end of the control hydraulic cylinder is rotatably connected to the rear end of the shovel body.

[0019] According to the present invention, a nuclear power plant cold source port cleaning robot is provided, wherein the driving and walking assembly includes a driving part and a walking part, the driving part is disposed on the sealed chamber, and the walking part is disposed on the main frame;

[0020] The drive unit includes four vector underwater thrusters, which are respectively disposed at the four corners of the sealed chamber;

[0021] The walking unit includes two tracks, which are respectively disposed on both sides of the main frame. Each track has a swing arm track at both ends on the side away from the main frame.

[0022] According to the present invention, a nuclear power plant cold source port cleaning robot includes a spare parts storage component comprising a tool rotating bracket, which is fixedly installed in the middle of the inner side of the main frame. The tool rotating bracket is provided with several receiving slots, which hold replaceable rotating cleaning brush heads and replaceable robotic arms.

[0023] According to the present invention, a nuclear power plant cold source port cleaning robot includes a lighting and image acquisition module comprising a vision module and several searchlights. The vision module is fixedly disposed in the middle of the front end of the sealed chamber, and the searchlights are symmetrically fixedly disposed on both sides of the front end of the main frame.

[0024] Compared with the prior art, the present invention has the following advantages and technical effects:

[0025] This invention features a multi-degree-of-freedom robotic arm capable of cleaning contaminants from tunnel walls of varying sizes. A spare parts storage component stores multiple contaminant cleaning actuators, allowing the robotic arm to automatically replace various actuators and expanding its applicability. A drive and walking component allows for flexible adjustment of the robot's posture and heading in water, providing excellent underwater maneuverability and navigability across complex terrain. A lighting and image acquisition module brightens the working environment and visualizes the task, facilitating the handling of difficult-to-clean contaminants or emergency situations. A contaminant fragmentation and cleaning component allows for convenient and quick collection and removal of fragmented contaminants to a designated location. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the embodiments will be briefly described below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0028] Figure 2 This is a rear view of the present invention;

[0029] Figure 3 This is a bottom view of the present invention;

[0030] Figure 4 This is a side sectional view of the present invention. Figure 1 ;

[0031] Figure 5 This is a schematic diagram of the deployed state of the multi-degree-of-freedom robotic arm of this utility model;

[0032] Figure 6 This is a schematic diagram of the vector underwater thruster of this utility model.

[0033] The components include: 1. Main frame; 2. Sealed chamber; 3. Optical cable; 4. Multi-degree-of-freedom robotic arm; 5. Vector underwater thruster; 6. Vision module; 7. Tracks; 8. Swing arm track; 9. Multi-functional cleaning shovel; 10. Searchlight; 11. Tool rotating bracket; 12. Control hydraulic cylinder; 13. High-pressure water gun hose; 14. High-pressure water gun pump; 15. Sewage pump; 16. Cleaning shovel drain pipe; 17. Sewage pump drain pipe; 18. Replaceable rotating cleaning brush head; 19. Replaceable robotic arm; 20. Track suspension shock absorber. 21. Damper; Track suspension shock absorber rotational damper; 22. Front adjusting crank connecting rod; 23. Front adjusting link; 24. Rear adjusting crank connecting rod; 25. Rear adjusting link; 26. Robotic arm base joint; 27. Robotic arm upper wall; 28. Robotic arm middle arm; 29. ​​Robotic arm lower arm; 30. Robotic arm telescopic arm; 31. Robotic arm wrist joint; 32. Cleaning brush head actuator; 33. Cleaning brush head; 34. Underwater propulsion main body; 35. Bogie; 36. Toothed roller; 37. Shovel body; 38. High-pressure water gun nozzle. Detailed Implementation

[0034] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0035] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0036] Reference Figures 1 to 6 As shown, this utility model provides a nuclear power plant cold source inlet cleaning robot, including a carrier component;

[0037] Multiple multi-degree-of-freedom robotic arms 4 are set at the front end of the carrier. The multi-degree-of-freedom robotic arms 4 are used to clean contaminants on the tunnel wall. When the multi-degree-of-freedom robotic arms 4 are in the retracted state, they are located inside the carrier.

[0038] The auxiliary cleaning component is located at the rear end of the carrier and is used to assist the multi-degree-of-freedom robotic arm 4 in cleaning contaminants from the tunnel wall.

[0039] The pollutant crushing and cleaning component is located at the front end of the carrier and below the multi-degree-of-freedom robotic arm 4. The pollutant crushing and cleaning component is used to crush and clean the pollutants that have been cleaned off the tunnel wall.

[0040] The spare parts storage component is set on the carrier and is used to hold various pollutant cleaning actuators so that the multi-degree-of-freedom robotic arm 4 can replace different pollutant cleaning actuators.

[0041] A drive and travel assembly is mounted on the carrier. The drive and travel assembly is used to drive the carrier to move in the water and to adjust the attitude of the carrier.

[0042] The lighting and image acquisition module is mounted on the carrier. It is used to illuminate the tunnel wall and acquire image information of pollutant adhesion on the tunnel wall, and transmit the image information of pollutant adhesion on the tunnel wall to the ground control center.

[0043] As an optional implementation, the carrier includes a main frame 1 with an open interior. A sealed chamber 2 is fixedly connected to the top of the main frame 1. A battery, a communication module, and a main control module are installed inside the sealed chamber 2. The communication module and the main control module are electrically connected to the battery and to the ground control center via an optical cable 3. A multi-degree-of-freedom robotic arm 4 is installed at the front end of the sealed chamber 2. A contaminant crushing and cleaning component and a lighting and image acquisition module are installed at the front end of the main frame 1. An auxiliary cleaning component is installed at the rear end of the main frame 1. A spare parts storage component is installed inside the main frame 1. The lighting and image acquisition module is installed at the front end of the sealed chamber 2. A drive and walking component is installed on both sides of the outside of the main frame 1.

[0044] The sealed chamber 2 withstands underwater pressure and ensures overall watertightness. The main frame 1 is made of 6061 aluminum.

[0045] As an optional implementation, the multi-degree-of-freedom robotic arm 4 includes a base joint 26, which is fixedly mounted at the front end of the sealed chamber 2. The base joint 26 is rotatably connected to one end of the upper wall 27 of the robotic arm. The rotation direction of the upper wall 27 is spatially perpendicular to that of the base joint 26. The other end of the upper wall 27 is rotatably connected to one end of the middle arm 28 of the robotic arm. The other end of the middle arm 28 is rotatably connected to one end of the lower arm 29 of the robotic arm. The other end of the lower arm 29 is rotatably connected to the fixed end of the telescopic arm 30 of the robotic arm. The telescopic end of the telescopic arm 30 is fixedly connected to the wrist joint 31 of the robotic arm. The wrist joint 31 is rotatably connected to a replaceable rotating cleaning brush head 18.

[0046] As an optional implementation, the replaceable rotating cleaning brush head 18 includes a cleaning brush head driver 32, which is rotatably connected to the wrist joint 31 of the robotic arm. The cleaning brush head driver 32 is driven to a cleaning brush head 33, and a high-pressure water gun nozzle 38 is provided in the middle of the cleaning brush head 33.

[0047] The cleaning brush head driver 32 is equipped with a motor and a water pipe interface to drive the cleaning brush head 33 to rotate and the high-pressure water gun to clean.

[0048] As an optional implementation, the auxiliary cleaning component includes a high-pressure water gun pump 14, which is fixedly installed at the rear end of the main frame 1. One end of the high-pressure water gun hose 13 is fixedly connected to the outlet end of the high-pressure water gun pump 14, and the other end of the high-pressure water gun hose 13 is fixedly connected to the high-pressure water gun nozzle 38.

[0049] As an optional implementation, the contaminant crushing and cleaning assembly includes a multi-functional cleaning shovel 9, which includes a shovel body 37. The rear end of the shovel body 37 is movably connected to the front end of the main frame 1. A toothed roller 36 is rotatably installed at the rear end of the shovel body 37. One end of the cleaning shovel discharge pipe 16 is installed at the rear end of the shovel body 37. The other end of the cleaning shovel discharge pipe 16 is fixedly connected to the inlet end of the suction pump 15. The suction pump 15 is fixedly installed inside the main frame 1. The outlet end of the suction pump 15 is fixedly connected to the suction pump discharge pipe 17. The fixed end of the control hydraulic cylinder 12 is fixedly connected to the front end of the main frame 1. The telescopic end of the control hydraulic cylinder 12 is rotatably connected to the rear end of the shovel body 37.

[0050] The multi-functional cleaning shovel 9 is raised and lowered by the control hydraulic cylinder 12, which can scoop up and crush large pieces of debris in the tunnel.

[0051] As an optional implementation, the driving and walking assembly includes a driving part and a walking part, with the driving part disposed on the sealed chamber 2 and the walking part disposed on the main frame 1.

[0052] The drive unit includes four vector underwater thrusters 5, which are respectively located at the four corners of the sealed chamber 2;

[0053] The running gear includes two tracks 7, which are respectively located on both sides of the main frame 1. Each track 7 has a swing arm track 8 at both ends on the side away from the main frame 1.

[0054] Furthermore, the track 7 is connected to both sides of the main frame 1 through a front linkage mechanism and a rear linkage mechanism. The front linkage mechanism includes a front adjusting crank link 22 and a front adjusting link 23, and the rear linkage mechanism includes a rear adjusting crank link 24 and a rear adjusting link 25. The front linkage mechanism is equipped with a track suspension damping damper 20 and a track suspension rotation damping damper 21.

[0055] Specifically, the front adjusting crank link 22 and the front adjusting link 23 are connected, and the rear adjusting crank link and the rear adjusting link 25 are connected. There is no connection between the two assemblies. One front and one rear linkage mechanism assembly are installed on each side of the main frame 1 and connected to the track 7 at the same time. The track 7 is fixed to both sides of the main frame 1 to form a mobile device.

[0056] Optionally, the vector underwater thruster 5 includes an underwater thruster body 34 and a bogie 35. The underwater thruster body 34 is located inside the bogie 35, which is rotatably mounted in the openings at the four corners of the sealed chamber 2. The robot's attitude and heading in the water can be changed by the up-and-down pitching and left-and-right turning movements of the bogie 35.

[0057] As an optional implementation, the spare parts storage assembly includes a tool rotating bracket 11, which is fixedly installed in the middle of the inner side of the main frame 1. The tool rotating bracket 11 has several receiving slots, which hold replaceable rotating cleaning brush heads 18 and replaceable robotic arms 19.

[0058] As an optional implementation, the lighting and image acquisition module includes a vision module 6 and several searchlights 10. The vision module 6 is fixedly installed at the front center of the sealed chamber 2, and the several searchlights 10 are symmetrically fixedly installed on both sides of the front of the main frame 1.

[0059] The vision module 6 is equipped with a variety of optical detection devices and has two degrees of freedom, allowing it to pitch up and down and rotate left and right, with a field of view covering the entire front hemisphere.

[0060] In the description of this utility model, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0061] The embodiments described above are merely preferred embodiments of the present utility model and are not intended to limit the scope of the present utility model. Various modifications and improvements to the technical solutions of the present utility model made by those skilled in the art without departing from the spirit of the present utility model should fall within the protection scope of the present utility model.

Claims

1. A nuclear power plant cold source inlet cleaning robot, characterized in that, include Load-bearing components; Multiple multi-degree-of-freedom robotic arms (4) are arranged at the front end of the carrier. The multi-degree-of-freedom robotic arms (4) are used to clean pollutants from the tunnel wall. When the multi-degree-of-freedom robotic arms (4) are in the retracted state, they are located inside the carrier. An auxiliary cleaning component is provided at the rear end of the carrier. The auxiliary cleaning component is used to assist the multi-degree-of-freedom robotic arm (4) in cleaning contaminants on the tunnel wall. A pollutant crushing and cleaning assembly is disposed at the front end of the carrier and located below the multi-degree-of-freedom robotic arm (4). The pollutant crushing and cleaning assembly is used to crush and clean the pollutants that have been cleaned off the tunnel wall. A spare parts storage assembly is provided on the carrier. The spare parts storage assembly is used to hold various pollutant cleaning actuators so that the multi-degree-of-freedom robotic arm (4) can replace different pollutant cleaning actuators. A drive and walking assembly is disposed on the carrier member. The drive and walking assembly is used to drive the carrier member to move in the water and to adjust the posture of the carrier member. A lighting and image acquisition module is installed on the carrier. The lighting and image acquisition module is used to illuminate the inner wall of the tunnel and acquire image information of pollutants adhering to the inner wall of the tunnel, and transmit the image information of pollutants adhering to the inner wall of the tunnel to the ground control center.

2. The nuclear power plant cold source inlet cleaning robot according to claim 1, characterized in that, The carrier includes a main frame (1), the main frame (1) is hollow inside, and a sealed chamber (2) is fixedly connected to the top of the main frame (1). The sealed chamber (2) is equipped with a battery, a communication module and a main control module. The communication module and the main control module are electrically connected to the battery. The communication module and the main control module are electrically connected to the ground control center through an optical cable (3). The multi-degree-of-freedom robotic arm (4) is set at the front end of the sealed chamber (2). The pollutant crushing and cleaning component and the lighting and image acquisition module are set at the front end of the main frame (1). The auxiliary cleaning component is set at the rear end of the main frame (1). The spare parts storage component is set inside the main frame (1). The lighting and image acquisition module is set at the front end of the sealed chamber (2). The drive walking component is set on both sides of the outside of the main frame (1).

3. The nuclear power plant cold source inlet cleaning robot according to claim 2, characterized in that, The multi-degree-of-freedom robotic arm (4) includes a base joint (26) fixedly mounted at the front end of the sealed chamber (2). The base joint (26) is rotatably connected to one end of the upper wall (27) of the robotic arm. The rotation direction of the upper wall (27) and the base joint (26) is spatially perpendicular. The other end of the upper wall (27) is rotatably connected to one end of the middle arm (28) of the robotic arm. The other end of the middle arm (28) is rotatably connected to one end of the lower arm (29) of the robotic arm. The other end of the lower arm (29) is rotatably connected to the fixed end of the telescopic arm (30) of the robotic arm. The telescopic end of the telescopic arm (30) is fixedly connected to the wrist joint (31) of the robotic arm. The wrist joint (31) is rotatably connected to a replaceable rotating cleaning brush head (18).

4. A nuclear power plant cold source inlet cleaning robot according to claim 3, characterized in that, The replaceable rotating cleaning brush head (18) includes a cleaning brush head driver (32), which is rotatably connected to the wrist joint (31) of the robotic arm. The cleaning brush head driver (32) is driven to a cleaning brush head (33), and a high-pressure water gun nozzle (38) is provided in the middle of the cleaning brush head (33).

5. A nuclear power plant cold source inlet cleaning robot according to claim 4, characterized in that, The auxiliary cleaning component includes a high-pressure water gun pump (14), which is fixedly installed at the rear end of the main frame (1). The outlet end of the high-pressure water gun pump (14) is fixedly connected to one end of a high-pressure water gun hose (13), and the other end of the high-pressure water gun hose (13) is fixedly connected to the high-pressure water gun nozzle (38).

6. A nuclear power plant cold source inlet cleaning robot according to claim 2, characterized in that, The pollutant crushing and cleaning assembly includes a multi-functional cleaning shovel (9), which includes a shovel body (37). The rear end of the shovel body (37) is movably connected to the front end of the main frame (1). A toothed roller (36) is rotatably provided at the rear end of the shovel body (37). One end of the cleaning shovel discharge pipe (16) is provided at the rear end of the shovel body (37). The other end of the cleaning shovel discharge pipe (16) is fixedly connected to the inlet end of the suction pump (15). The suction pump (15) is fixedly installed inside the main frame (1). The outlet end of the suction pump (15) is fixedly connected to the suction pump discharge pipe (17). The front end of the main frame (1) is fixedly connected to the fixed end of the control hydraulic cylinder (12). The telescopic end of the control hydraulic cylinder (12) is rotatably connected to the rear end of the shovel body (37).

7. A nuclear power plant cold source inlet cleaning robot according to claim 2, characterized in that, The driving and walking assembly includes a driving part and a walking part. The driving part is disposed on the sealed chamber (2), and the walking part is disposed on the main frame (1). The drive unit includes four vector underwater thrusters (5), which are respectively disposed at the four corners of the sealed chamber (2); The walking unit includes two tracks (7), which are respectively arranged on both sides of the main frame (1). Each track (7) has a swing arm track (8) at both ends on the side away from the main frame (1).

8. A nuclear power plant cold source inlet cleaning robot according to claim 2, characterized in that, The spare parts storage assembly includes a tool rotating rack (11), which is fixedly installed in the middle of the inner side of the main frame (1). The tool rotating rack (11) has several receiving slots, which hold replaceable rotating cleaning brush heads (18) and replaceable robotic arms (19).

9. A nuclear power plant cold source inlet cleaning robot according to claim 2, characterized in that, The lighting and image acquisition module includes a vision module (6) and several searchlights (10). The vision module (6) is fixedly installed in the middle of the front end of the sealed chamber (2), and several searchlights (10) are symmetrically fixedly installed on both sides of the front end of the main frame (1).

Images