Vertical lifting robot for nuclear power plant

Abstract

The utility model discloses a nuclear power plant vertical lifting robot which comprises a robot body, a pan-tilt camera mechanism and a moving mechanism, and the pan-tilt camera mechanism is installed on the upper surface of the robot body; the moving mechanism is mounted on the rear surface of the robot body; the moving mechanism comprises a mounting plate and a plurality of moving assemblies, and the moving assemblies are mounted on the second surface of the mounting plate; a first limiting ring used for being connected with the first limiting structure through a first connecting piece is arranged on the front surface of the robot body, and a second limiting ring used for being connected with the second limiting structure through a second connecting piece is arranged on the upper portion of the mounting plate. The situation that the nuclear power plant vertical lifting robot falls and is damaged is avoided, the maintenance cost can be avoided, and it can be ensured that inspection and monitoring work of the nuclear power plant vertical lifting robot is smoothly conducted. The nuclear power plant vertical lifting robot can replace manpower to monitor nuclear power plant equipment, and the labor cost is effectively reduced.

Description

TECHNICAL FIELD

[0001] The utility model relates to nuclear power technology field especially relates to a vertical lifting robot of nuclear power plant. BACKGROUND

[0002] The plant in nuclear power plant is equipped with various equipment, and the equipment includes cabinet, instrument, nuclear valve and the like, these equipment needs monitoring, avoids the emergence of unexpected situation or avoids the emergence of non-task staff contact situation, therefore needs the multiple staff to carry out the turn-to-turn inspection monitoring, and this labor cost is higher. INVENTION CONTENTS

[0003] The utility model solves the technical problem at, provide a vertical lifting robot of nuclear power plant.

[0004] The utility model adopts the technical scheme in the technical problem of solving its technical issue: construct a vertical lifting robot of nuclear power plant, including robot body, cloud platform camera mechanism and mobile mechanism, the cloud platform camera mechanism installs in the upper surface of robot body,

[0005] The robot body has opposite front surface and back surface, and the mobile mechanism is installed on the back surface of the robot body, the mobile mechanism includes a mounting plate and a plurality of mobile assemblies, the mounting plate has opposite first and second surfaces, the first surface of the mounting plate is connected to the back surface of the robot body, and the upper part of the mounting plate protrudes from the upper surface of the robot body, a plurality of mobile assemblies are installed on the second surface of the mounting plate for connection with the vertical track,

[0006] The front surface of the robot body is provided with a first limiting ring for connecting with the first limiting structure through a first connecting piece, and the upper part of the mounting plate is provided with a second limiting ring for connecting with the second limiting structure through a second connecting piece.

[0007] In some embodiments, the first limiting structure includes a first pull ring provided on the wall or the vertical track, and the second limiting structure includes a second pull ring provided on the wall or the vertical track.

[0008] In some embodiments, the first connecting piece and / or the second connecting piece include a pull rope or a spring rope.

[0009] In some embodiments, each of the mobile assemblies includes a mounting seat, a drive wheel and a drive member, the mounting seat is installed on the second surface of the mounting plate, the drive member is installed on the mounting seat and the drive member is connected to the drive wheel shaft, and the axis of the drive wheel is arranged in parallel with the plane of the mounting plate.

[0010] In some embodiments, each of the movable components further includes a support mounted on the end of the mounting base away from the mounting plate, the support having a guide wheel whose axis is perpendicular to the plane of the mounting plate.

[0011] In some embodiments, the support is detachably connected to the mounting base.

[0012] In some embodiments, the guide wheel is smaller than the drive wheel.

[0013] In some embodiments, each of the moving components has two guide wheels.

[0014] In some embodiments, the gimbal camera mechanism includes a gimbal base and at least two gimbal cameras mounted on the gimbal base.

[0015] In some embodiments, at least two of the gimbal cameras include an optical zoom visible light gimbal camera and / or a fixed-focus infrared dual-spectrum gimbal camera.

[0016] The present invention offers the following advantages: The nuclear power plant vertical lifting robot can replace manual labor for monitoring nuclear power plant equipment, effectively reducing labor costs. The robot's front surface is equipped with a first limiting ring for connection to a first limiting structure via a first connecting member, and the upper part of its mounting plate is equipped with a second limiting ring for connection to a second limiting structure via a second connecting member. By traction and limiting the robot's body, the robot is prevented from detaching from the vertical track due to excessive speed, thus avoiding falls and damage. This protects the robot, prevents damage requiring repair, avoids maintenance costs, and ensures the smooth operation of the robot's inspection and monitoring work. Attached Figure Description

[0017] To more clearly illustrate the technical solution of this utility model, the present utility model will be further described below in conjunction with the accompanying drawings and embodiments. It should be understood that the following drawings only show some embodiments of this utility model and should not be considered as a limitation of the scope. For those skilled in the art, other related drawings can be obtained from these drawings without creative effort. In the drawings:

[0018] Figure 1 This is one of the structural schematic diagrams of the vertical lifting robot for nuclear power plants in some embodiments of this utility model;

[0019] Figure 2This is the second schematic diagram of the structure of the vertical lifting robot for nuclear power plants in some embodiments of this utility model;

[0020] Figure 3 This is the third of the structural schematic diagrams of the vertical lifting robot for nuclear power plants in some embodiments of this utility model;

[0021] Figure 4 This is a schematic diagram of the structure of a nuclear power plant vertical lifting robot cooperating with a vertical track in some embodiments of this utility model. Detailed Implementation

[0022] To provide a clearer understanding of the technical features, objectives, and effects of this utility model, the specific embodiments of this utility model are now described in detail with reference to the accompanying drawings. In the following description, it should be understood that the orientations or positional relationships indicated by terms such as "front," "rear," "upper," "lower," "left," "right," "longitudinal," "horizontal," "vertical," "horizontal," "top," "bottom," "inner," "outer," "head," and "tail" are based on the orientations or positional relationships shown in the accompanying drawings, and are constructed and operated in a specific orientation. They are only for the convenience of describing this technical solution and do not indicate that the device or component referred to must have a specific orientation; therefore, they should not be construed as limitations on this utility model.

[0023] It should also be noted that, unless otherwise explicitly specified and limited, terms such as "installation," "connection," "joining," "fixing," and "setting" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. When an component is referred to as being "on" or "below" another component, the component can be located "directly" or "indirectly" on the other component, or there may be one or more intermediary components. The terms "first," "second," "third," etc., are only for the convenience of describing this technical solution and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, features defined with "first," "second," "third," etc., may explicitly or implicitly include one or more of that feature. For those skilled in the art, the specific meaning of the above terms in this utility model can be understood according to the specific circumstances.

[0024] In the following description, specific details such as particular system structures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of the present invention. However, those skilled in the art will understand that the present invention can be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.

[0025] See Figures 1 to 4 This utility model discloses a vertical lifting robot for nuclear power plants, including a robot body 10, a gimbal camera mechanism 20, and a moving mechanism 30. The gimbal camera mechanism 20 is installed on the upper surface of the robot body 10. The gimbal camera mechanism 20 can be used to monitor the equipment in the nuclear power plant building, including but not limited to cabinets, instruments, nuclear-grade valves, non-nuclear-grade valves, and pipelines.

[0026] The robot body 10 has opposing front and rear surfaces, and the moving mechanism 30 is mounted on the rear surface of the robot body 10. The moving mechanism 30 includes a mounting plate 31 and several moving components 32. The mounting plate 31 has opposing first and second surfaces. The first surface of the mounting plate 31 is connected to the rear surface of the robot body 10, and the upper part of the mounting plate 31 protrudes from the upper surface of the robot body 10. Several moving components 32 are mounted on the second surface of the mounting plate 31 for movably connecting with the vertical track 100.

[0027] The front surface of the robot body 10 is provided with a first limiting ring 40 for connecting with the first limiting structure via a first connector, and the upper part of the mounting plate 31 is provided with a second limiting ring 50 for connecting with the second limiting structure via a second connector.

[0028] In some embodiments, the first limiting structure includes a first pull ring disposed on a wall or vertical track 100, and the second limiting structure includes a second pull ring disposed on a wall or vertical track 100. The first pull ring is disposed above the nuclear power plant vertical lifting robot, where "above" can include directly above or to the side above. The second pull ring is disposed below the nuclear power plant vertical lifting robot, where "below" can include directly below or to the side below. The robot body 10 is traction-limited via the first and second connecting members, preventing the nuclear power plant vertical lifting robot from detaching from the vertical track 100 due to excessive movement speed, thus avoiding a fall and damage. This protects the nuclear power plant vertical lifting robot, prevents damage requiring repair, avoids maintenance costs, and ensures the smooth operation of the nuclear power plant vertical lifting robot's inspection and monitoring work.

[0029] In some embodiments, the first connector and / or the second connector includes a pull rope or a spring rope. For example, both the first and second connectors can be pull ropes, which can be made of fiber material. Alternatively, both the first and second connectors can be spring ropes, which have a certain elastic tension, and when the nuclear power plant vertical lifting robot is operating normally, the extension and contraction of the spring ropes have minimal interference with the nuclear power plant vertical lifting robot. Of course, the first connector and / or the second connector can also be other types of ropes, which are not specifically limited here.

[0030] like Figures 1 to 4 As shown, in some embodiments, each moving component 32 includes a mounting base 321, a drive wheel 322, and a drive member 323. The mounting base 321 is mounted on the second surface of the mounting plate 31, and the drive member 323 is mounted on the mounting base 321 and connected to the drive wheel 322 by a shaft. The axis of the drive wheel 322 is parallel to the plane of the mounting plate 31. The mounting base 321 may be generally T-shaped, and its bottom may be connected to the mounting plate 31 by fasteners, including but not limited to screws or bolts. The drive member 323 may be, but is not limited to, a drive motor, which may be a servo motor with high precision and forward / reverse rotation capabilities.

[0031] like Figures 1 to 4 As shown, in some embodiments, each of the movable components 32 further includes a support 324, which is mounted on the end of the mounting base 321 away from the mounting plate 31. The support 324 is detachably connected to the mounting base 321, for example, by a threaded connection. Of course, the support 324 can also be considered as part of the mounting base 321. The support 324 can be generally E-shaped or U-shaped.

[0032] The support 324 is equipped with a guide wheel 325, the axis of which is perpendicular to the plane of the mounting plate 31. Figure 4 As shown, the vertical track 100 has a generally convex structure. The vertical track 100 includes a main body 101 and a boss 102 provided on the main body 101. The drive wheel 322 moves on the main body 101, and the guide wheel 325 moves on two opposite sides of the boss 102. The guide wheel 325 can make the moving component 32 move more smoothly.

[0033] In some embodiments, the guide wheel 325 is smaller than the drive wheel 322.

[0034] In some embodiments, each of the moving components 32 has two guide wheels 325, with the two guide wheels 325 respectively located on both sides of the drive wheel 322.

[0035] In some embodiments, the robot body 10 may contain a robot computer or a PLC industrial control computer, and may also contain components such as a battery. The gimbal camera mechanism 20 includes a gimbal base 21 and at least two gimbal cameras 22 mounted on the gimbal base 21. Both gimbal cameras 22 are connected to the robot computer or the PLC industrial control computer.

[0036] In some embodiments, at least two of the gimbal cameras 22 include an optical zoom visible light gimbal camera and / or a fixed-focus infrared dual-spectrum gimbal camera. For example, one gimbal camera 22 may be an optical zoom visible light gimbal camera, and the other gimbal camera 22 may be a fixed-focus infrared dual-spectrum gimbal camera; no specific limitation is made here. The gimbal camera mechanism 20 may also use existing gimbal camera mechanisms; no specific limitation is made here.

[0037] Understandably, this vertical lifting robot for nuclear power plants can replace manual labor in monitoring nuclear power plant equipment, effectively reducing labor costs. The robot body 10 has a first limiting ring 40 on its front surface for connection to a first limiting structure via a first connecting member, and a second limiting ring 50 on its upper part of the mounting plate 31 for connection to a second limiting structure via a second connecting member. By traction limiting the robot body 10, the robot is prevented from detaching from the vertical track 100 due to excessive speed, thus avoiding falls and damage. This protects the robot, prevents damage requiring repair, avoids maintenance costs, and ensures the smooth operation of the robot's inspection and monitoring work.

[0038] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0039] It is understood that the above embodiments only illustrate preferred embodiments of the present utility model, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the present utility model patent. It should be noted that for those skilled in the art, the above technical features can be freely combined, and several modifications and improvements can be made without departing from the concept of the present utility model, all of which fall within the protection scope of the present utility model. Therefore, all equivalent transformations and modifications made within the scope of the claims of the present utility model should fall within the coverage of the claims of the present utility model.

Claims

1. A vertical lifting robot for nuclear power plants, characterized in that, It includes a robot body (10), a gimbal camera mechanism (20) and a moving mechanism (30), wherein the gimbal camera mechanism (20) is mounted on the upper surface of the robot body (10); The robot body (10) has opposing front and rear surfaces, and the moving mechanism (30) is mounted on the rear surface of the robot body (10). The moving mechanism (30) includes a mounting plate (31) and a plurality of moving components (32). The mounting plate (31) has opposing first and second surfaces. The first surface of the mounting plate (31) is connected to the rear surface of the robot body (10), and the upper part of the mounting plate (31) protrudes from the upper surface of the robot body (10). The plurality of moving components (32) are mounted on the second surface of the mounting plate (31) for moving connection with the vertical track (100). The front surface of the robot body (10) is provided with a first limiting ring (40) for connecting with the first limiting structure through a first connector, and the upper part of the mounting plate (31) is provided with a second limiting ring (50) for connecting with the second limiting structure through a second connector.

2. The nuclear power plant vertical lifting robot according to claim 1, characterized in that, The first limiting structure includes a first pull ring disposed on a wall or a vertical track (100), and the second limiting structure includes a second pull ring disposed on a wall or a vertical track (100).

3. The nuclear power plant vertical lifting robot according to claim 1, characterized in that, The first connector and / or the second connector include a pull cord or a spring cord.

4. The nuclear power plant vertical lifting robot according to claim 1, characterized in that, Each of the moving components (32) includes a mounting base (321), a drive wheel (322), and a drive member (323). The mounting base (321) is mounted on the second surface of the mounting plate (31), and the drive member (323) is mounted on the mounting base (321) and is axially connected to the drive wheel (322). The axis of the drive wheel (322) is parallel to the plane of the mounting plate (31).

5. The nuclear power plant vertical lifting robot according to claim 4, characterized in that, Each of the moving components (32) further includes a support (324) mounted on one end of the mounting base (321) away from the mounting plate (31), and the support (324) is provided with a guide wheel (325), the axis of which is perpendicular to the plane of the mounting plate (31).

6. The nuclear power plant vertical lifting robot according to claim 5, characterized in that, The support (324) is detachably connected to the mounting base (321).

7. The nuclear power plant vertical lifting robot according to claim 5, characterized in that, The guide wheel (325) is smaller than the drive wheel (322).

8. The nuclear power plant vertical lifting robot according to claim 5, characterized in that, Each of the moving components (32) has two guide wheels (325).

9. The nuclear power plant vertical lifting robot according to claim 1, characterized in that, The gimbal camera mechanism (20) includes a gimbal base (21) and at least two gimbal cameras (22) mounted on the gimbal base (21).

10. The nuclear power plant vertical lifting robot according to claim 9, characterized in that, At least two of the gimbal cameras (22) include an optical zoom visible light gimbal camera and / or a fixed-focus infrared dual-spectrum gimbal camera.

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