Rail type lifting robot for nuclear power plant
By designing a track-mounted lifting robot for nuclear power plants, equipped with a controller, lifting device, and anti-collision device, the problems of labor costs and radiation risks in the monitoring of nuclear power plant equipment rooms have been solved, realizing automated monitoring and multi-directional monitoring, and ensuring the smooth progress of monitoring operations.
Patent Information
- Application Number
- CN202520016504.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-01-03
- Publication Date
- 2025-12-19
- Estimated Expiration
- 2035-01-03
AI Technical Summary
Equipment rooms in nuclear power plants require monitoring, but existing manpower costs and radiation risks are high, and the equipment rooms may have a certain amount of radiation, so an automated monitoring solution is needed.
Design a track-mounted lifting robot for nuclear power plants, equipped with a controller, lifting device, inspection device, and anti-collision device, including first and second pan-tilt cameras and anti-collision device. It can replace manual monitoring and inspection, which has high labor costs and radiation risks. In addition, the equipment room may have a certain amount of radiation, so an automated monitoring solution is needed.
It achieves automated monitoring, saves labor costs, reduces the risk of radiation exposure to staff, and has multi-directional monitoring capabilities and anti-collision functions to ensure the smooth progress of monitoring operations.
Smart Images
Figure CN223685417U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to nuclear power technology field especially relates to a nuclear power plant track type lifting robot. BACKGROUND
[0002] Some plant rooms in the nuclear power plant need to be monitored, such as cabinet rooms or other equipment rooms, etc. In order to monitor the operation of the equipment or whether non-task personnel enter the room, multiple personnel need to be arranged for monitoring and inspection, which has high labor cost and management cost. In addition, some equipment rooms may have a certain amount of radiation. INVENTION CONTENTS
[0003] The technical problem to be solved by the utility model is to provide a nuclear power plant track type lifting robot.
[0004] The utility model adopts the technical scheme that the technical problem thereof is solved: construct a nuclear power plant track type lifting robot, including the robot body connected with the track, the robot body is equipped with the controller, the robot body is connected with the lifting device, the lower end of the lifting device is equipped with the inspection device, the inspection device includes the mounting seat, and the first holder camera and the second holder camera installed on both sides of the width direction of the mounting seat respectively;
[0005] The lower surface of the mounting seat is equipped with a plurality of anti-collision devices connected with the controller.
[0006] In some embodiments, the inspection device and the lower end of the lifting device are detachably connected.
[0007] In some embodiments, the lifting device includes a hydraulic lifting device, a pneumatic lifting device or a lead screw transmission lifting device.
[0008] In some embodiments, the anti-collision device includes at least one of an ultrasonic ranging sensor, an infrared ranging sensor, a laser ranging sensor or a millimeter wave radar sensor.
[0009] In some embodiments, the number of anti-collision devices is four; wherein two anti-collision devices are arranged close to the first holder camera, and the other two anti-collision devices are arranged close to the second holder camera.
[0010] In some embodiments, the four anti-collision devices are symmetrically arranged.
[0011] In some embodiments, the first holder camera includes an optical zoom visible light holder camera or a fixed focus infrared dual-spectrum holder camera.
[0012] In some embodiments, the second holder camera includes an optical zoom visible light holder camera or a fixed focus infrared dual-spectrum holder camera.
[0013] In some embodiments, the first gimbal camera and the second gimbal camera are provided with anti-collision pads or anti-collision sleeves on the periphery thereof.
[0014] In some embodiments, the robot body is provided with obstacle avoidance sensors on both sides in the moving direction.
[0015] The nuclear power plant track lifting robot has the following beneficial effects: the nuclear power plant track lifting robot can replace manual monitoring and inspection of nuclear power plant equipment, saves labor cost, and reduces the radiation risk of workers. In addition, the nuclear power plant track lifting robot is provided with anti-collision devices, can monitor the surrounding space of the inspection device, can monitor in multiple directions, and when any one anti-collision device fails, other anti-collision devices can still work, avoiding accidental collision of the inspection device, and effectively ensuring the smooth progress of the monitoring operation of the nuclear power plant track lifting robot. BRIEF DESCRIPTION OF DRAWINGS
[0016] In order to more clearly illustrate the technical scheme of the utility model, the utility model will be further described below in combination with the drawings and embodiments. It should be understood that the following drawings only show some embodiments of the utility model, and therefore should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained without creative labor. In the drawings:
[0017] Figure 1 is one of the structure schematic diagrams of the nuclear power plant track lifting robot in some embodiments of the utility model;
[0018] Figure 2 is the second structure schematic diagram of the nuclear power plant track lifting robot in some embodiments of the utility model. DETAILED DESCRIPTION
[0019] In order to have a clearer understanding of the technical features, objectives and effects of the present application, the specific embodiments of the present application will be described in detail with reference to the drawings. In the following description, it should be understood that the directions or positional relationships indicated by "front", "back", "upper", "lower", "left", "right", "vertical", "horizontal", "vertical", "horizontal", "top", "bottom", "inner", "outer", "head", "tail" and the like are based on the directions or positional relationships shown in the drawings, constructed and operated in a particular direction, and are only for the convenience of describing the present technical solution, and do not indicate that the indicated device or element must have a particular direction, therefore, it cannot be understood as a limitation on the present application.
[0020] It should be further pointed out that, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection", "fixing", "setting" and the like should be broadly understood, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements or the interaction relationship between two elements. When an element is referred to as "on" or "below" another element, the element can be "directly" or "indirectly" above the other element, or there can be one or more intermediate elements. The terms "first", "second", "third" and the like are only for the convenience of describing the present technical solution, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features, therefore, the features with "first", "second", "third" and the like can be explicitly or implicitly included one or more of the features. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.
[0021] In the following description, specific details are presented in order to illustrate, rather than limit, the present application, such as specific system structures, technologies, etc., so as to thoroughly understand the embodiments of the present application. However, it should be clear to those skilled in the art that the present application can also be implemented in other embodiments without these specific details. In other cases, detailed description of well-known systems, devices, circuits and methods is omitted to avoid unnecessary details that hinder the description of the present application.
[0022] Referring to Figure 1 and Figure 2The utility model discloses a nuclear power plant track type lifting robot, including the robot body 10 of connection with the track, the robot body 10 is equipped with the controller, the robot body 10 is connected with lifting device 20, the lower end of lifting device 20 is equipped with the inspection device 30, the inspection device 30 includes the mounting seat 31, and the first holder camera 32 and second holder camera 33 of the two sides of the width direction of the mounting seat 31 are installed respectively, the lower surface of mounting seat 31 is equipped with a plurality of anti -collision device 40 with the controller connects, adopts a plurality of anti -collision device 40 can monitor the surrounding space condition of the inspection device 30, can multidirectional monitoring, and when any one anti -collision device 40 fails, other anti -collision device 40 still can continue to work, avoid the unexpected collision of inspection device 30, can effectively guarantee the smooth progress of nuclear power plant track type lifting robot monitoring operation.
[0023] In some embodiments, the inspection device 30 is detachably connected to the lower end of the lifting device 20. The upper end of the inspection device 30 is fixedly connected to the lower end of the lifting device 20 through a flange. The flange has good stability and good support. In addition, the upper end of the inspection device 30 is fixedly connected to the lower end of the lifting device 20 through a fastener, which includes but is not limited to a screw or a bolt. Understandably, the detachable connection facilitates the replacement and maintenance of the inspection device 30.
[0024] In some embodiments, the lifting device 20 includes a hydraulic lifting device, a pneumatic lifting device, or a lead screw transmission lifting device. The hydraulic lifting device, the pneumatic lifting device, or the lead screw transmission lifting device can be selected from existing technologies or improved based on existing technologies, as long as the lifting function of the device is met. Here, no specific limitation is made. Of course, the lifting device 20 can also use other existing lifting structures, which are not specifically limited here.
[0025] In some embodiments, the anti-collision device 40 includes at least one of an ultrasonic ranging sensor, an infrared ranging sensor, a laser ranging sensor, or a millimeter wave radar sensor. Preferably, the anti-collision device 40 includes at least one of an ultrasonic ranging sensor, an infrared ranging sensor, a laser ranging sensor, a millimeter wave radar sensor, a vision sensor, or a fiber optic sensor. For example, the anti-collision device 40 can use all ultrasonic ranging sensors, or the anti-collision device 40 can use all infrared ranging sensors, or the anti-collision device 40 can use all laser ranging sensors, or the anti-collision device 40 can use all millimeter wave radar sensors, or the anti-collision device 40 can use all vision sensors, or the anti-collision device 40 can use all fiber optic sensors.
[0026] Of course, when the number of the anti-collision devices 40 is multiple, the anti-collision devices 40 can be partially selected from ultrasonic ranging sensors, or the anti-collision devices 40 can be partially selected from infrared ranging sensors, or the anti-collision devices 40 can be partially selected from laser ranging sensors, or the anti-collision devices 40 can be partially selected from millimeter wave radar sensors, or the anti-collision devices 40 can be partially selected from visual sensors, or the anti-collision devices 40 can be partially selected from fiber sensors. Preferably, the anti-collision devices 40 are selected from the same type of sensors, for example, all ultrasonic ranging sensors or all infrared ranging sensors, etc., which are convenient to install.
[0027] In some embodiments, the number of the anti-collision devices 40 is four, two of which are arranged near the first PTZ camera 32, and the other two are arranged near the second PTZ camera 33.
[0028] In some embodiments, the four anti-collision devices 40 are arranged symmetrically, and the lines connecting the four anti-collision devices 40 are substantially square or rectangular. The detection ends of the four anti-collision devices 40 are arranged in different directions to obtain more comprehensive spatial information. The anti-collision devices 40 can be connected to the controller by wired or wireless means. The controller can be, but is not limited to, a microprocessor, a microcontroller, a digital signal processor, a microcomputer, a central processing unit, a field programmable gate array, a programmable logic device, a state machine, a logic circuit, an analog circuit, a digital circuit, and / or any device based on operating signals (analog and / or digital) operating according to operating instructions, which can use mature control schemes such as master control MCUs on the market, or be improved or innovatively designed according to requirements, which will not be described in detail here. The relevant data processing of the present application can be processed by the controller. Alternatively, in some embodiments, the controller can be, but is not limited to, a track lifting robot computer (robot computer), which will not be specifically limited here.
[0029] In some embodiments, the anti-collision device 40 can also be two, three, or any other number greater than two, and the number and position of the arrangement can be adjusted according to actual needs, which will not be specifically limited here.
[0030] In some embodiments, the first PTZ camera 32 includes an optical zoom visible light PTZ camera or a fixed focus infrared dual-spectrum PTZ camera. In some embodiments, the second PTZ camera 33 includes an optical zoom visible light PTZ camera or a fixed focus infrared dual-spectrum PTZ camera.
[0031] When the first PTZ camera 32 is an optical zoom visible light PTZ camera, the second PTZ camera 33 can be a fixed-focus infrared dual-spectrum PTZ camera. When the first PTZ camera 32 is a fixed-focus infrared dual-spectrum PTZ camera, the second PTZ camera 33 can be an optical zoom visible light PTZ camera.
[0032] In some embodiments, the first PTZ camera 32 and the second PTZ camera 33 are provided with anti-collision pads or anti-collision sleeves. The anti-collision pads can be silica gel pads or rubber pads or other flexible or elastic materials, which can be fixed on the first PTZ camera 32 and the second PTZ camera 33 by fixing lines or fixing ropes, and can provide certain protection for the first PTZ camera 32 and the second PTZ camera 33.
[0033] The anti-collision sleeves can be silica gel sleeves or rubber sleeves or other flexible or elastic materials, which can be directly sleeved on the first PTZ camera 32 and the second PTZ camera 33 by interference fit, and can provide certain protection for the first PTZ camera 32 and the second PTZ camera 33.
[0034] In some embodiments, the mounting groove of the robot body 10 can be provided with a moving device to facilitate movement on the track, which includes but is not limited to a driving wheel that can be driven by a driving motor to move. Of course, the moving device can also be selected in other ways, which are not specifically limited here.
[0035] In some embodiments, the robot body 10 is provided with an obstacle avoidance sensor on both sides along the moving direction, which can be in communication connection with the controller, and can include at least one of an ultrasonic ranging sensor, an infrared ranging sensor, a laser ranging sensor, a millimeter wave radar sensor, a vision sensor or a fiber sensor. The front and back sides of the moving direction of the robot body 10 can be monitored to avoid collision between the robot body 10 and temporary equipment (including a vehicle frame or a pipe frame, etc.) during movement.
[0036] It can be understood that the nuclear power plant track lifting robot can replace manual monitoring and inspection of nuclear power plant equipment, save labor cost, and reduce the risk of radiation to workers. In addition, the nuclear power plant track lifting robot is provided with anti-collision devices 40, which can monitor the surrounding space of the inspection device 30, can monitor in multiple directions, and when any one anti-collision device 40 fails, other anti-collision devices 40 can still work, avoiding accidental collision of the inspection device 30, and effectively ensuring the smooth progress of the monitoring operation of the nuclear power plant track lifting robot.
[0037] In the description of the present specification, the description referring to the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any suitable manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine the different embodiments or examples described in the present specification and the features of the different embodiments or examples without contradiction.
[0038] It can be understood that the above embodiments only express the preferred embodiments of the present application, which are described in detail and in detail, but cannot be understood as a limitation on the scope of the patent of the present application; It should be pointed out that for those skilled in the art, the above technical features can be freely combined without departing from the concept of the present application, and a number of modifications and improvements can be made, which belong to the protection scope of the present application; Therefore, any equivalent transformation and modification within the scope of the claims of the present application shall belong to the scope of the claims of the present application.
Claims
1. A rail-mounted robot for a nuclear power plant, characterized by, The robot body (10) connected with the track is provided with a controller, and the robot body (10) is connected with a lifting device (20), and the lower end of the lifting device (20) is provided with an inspection device (30), and the inspection device (30) comprises a mounting seat (31), and a first holder camera (32) and a second holder camera (33) are respectively installed on both sides of the mounting seat (31) in the width direction. The lower surface of the mounting seat (31) is provided with a plurality of anti-collision devices (40) connected with the controller.
2. The nuclear power plant rail-mounted lifting robot according to claim 1, characterized in that, The inspection device (30) and the lower end of the lifting device (20) are detachably connected.
3. The nuclear power plant rail-mounted lifting robot of claim 1, wherein, The lifting device (20) comprises a hydraulic lifting device (20), an air pressure lifting device (20) or a lead screw driving lifting device (20).
4. The nuclear power plant rail-mounted lifting robot of claim 1, wherein, The anti-collision device (40) comprises at least one of an ultrasonic ranging sensor, an infrared ranging sensor, a laser ranging sensor or a millimeter wave radar sensor.
5. The nuclear power plant rail-mounted lifting robot of claim 1, wherein, The number of the anti-collision device (40) is four; two of the anti-collision devices (40) are arranged close to the first holder camera (32), and the other two anti-collision devices (40) are arranged close to the second holder camera (33).
6. The nuclear power plant rail-mounted lifting robot of claim 5, wherein, Four anti-collision devices (40) are symmetrically arranged.
7. The nuclear power plant rail-mounted lifting robot of claim 1, wherein, The first holder camera (32) comprises an optical zoom visible light holder camera or a fixed focus infrared dual-spectrum holder camera.
8. The nuclear power plant rail-mounted lifting robot of claim 7, wherein, The second holder camera (33) comprises an optical zoom visible light holder camera or a fixed focus infrared dual-spectrum holder camera.
9. The nuclear power plant rail-mounted lifting robot of claim 1, wherein, The first holder camera (32) and the second holder camera (33) are provided with anti-collision pads or anti-collision sleeves.
10. The nuclear power plant rail-mounted lifting robot according to any one of claims 1 to 9, characterized in that, The robot body (10) is provided with an obstacle avoidance sensor on both sides of the moving direction.