A multi-degree-of-freedom auxiliary robotic arm for cleaning the cold source port of a nuclear power plant
By designing a multi-degree-of-freedom nuclear power plant cold source port cleaning auxiliary robotic arm, the problems of existing devices being unable to move flexibly and having poor cleaning effects have been solved, enabling efficient cleaning and stable operation on complex tunnel walls.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- GUANGDONG OCEAN UNIVERSITY
- Filing Date
- 2025-08-29
- Publication Date
- 2026-07-17
Smart Images
Figure CN224509745U_ABST
Abstract
Description
Technical Field
[0001] This utility model belongs to the field of robotics and mechanical automation technology, and in particular relates to a multi-degree-of-freedom nuclear power plant cold source port cleaning auxiliary robotic arm. Background Technology
[0002] As a core component of the nuclear power plant's circulating water system, the cold source system plays a crucial role in providing cooling water to the nuclear island safety facility, conventional island condensers, and auxiliary equipment coolers. During long-term operation, various contaminants easily accumulate at the cold source inlets and related tunnels. If not cleaned promptly, this can affect cooling efficiency and even pose safety hazards.
[0003] Currently, most cleaning methods for cold source inlets on the market employ fixed-installation impeller devices or bio-crushing mechanisms (such as rotary cutters, various fixed cutters, etc.). These methods have inherent drawbacks, such as the inability to move freely, making them difficult to adapt to complex tunnel structures. Furthermore, due to the complex structure and strict dimensional constraints of cold source inlets, existing tunnel cleaning robots generally suffer from insufficient arm extension ratio, resulting in a limited operating range; and because of the limited cleaning methods, their effectiveness in cleaning different types of contaminants is unsatisfactory.
[0004] Therefore, the present invention aims to design a multi-degree-of-freedom, flexibly adjustable, and replaceable cleaning component auxiliary robotic arm for cleaning nuclear power plant cold source ports, in order to overcome the shortcomings of the prior art. Utility Model Content
[0005] To solve the above-mentioned technical problems, this utility model proposes a multi-degree-of-freedom nuclear power plant cold source port cleaning auxiliary robotic arm.
[0006] To achieve the above objectives, this utility model provides a multi-degree-of-freedom nuclear power plant cold source inlet cleaning auxiliary robotic arm, comprising:
[0007] The base, the top of which can rotate horizontally;
[0008] A stepper motor is fixed to the top of the base and can rotate as the top of the base rotates;
[0009] A telescopic arm, wherein the telescopic arm is connected to the stepper motor, and the stepper motor drives the telescopic arm to rotate in the vertical direction;
[0010] An actuator connecting block is fixedly connected to the end of the telescopic arm away from the stepper motor;
[0011] A dedicated underwater servo motor is fixedly connected to the actuator connecting block;
[0012] The cleaning components are provided in multiple sets, each set of which is detachably connected to the actuator connecting block and driven by the underwater dedicated servo motor.
[0013] Optionally, the telescopic arm includes a fixed arm and a movable arm. The fixed arm is fixedly connected to the output end of the stepper motor, and the movable arm is slidably connected within the fixed arm and pushed to extend and retract within the fixed arm by an electric push rod. The end of the movable arm away from the fixed arm is fixedly connected to the actuator connecting block.
[0014] Optionally, the electric push rod is disposed in the internal space of the fixed arm and the movable arm, and a power source is fixedly connected to the outside of the fixed arm. The power source is electrically connected to the electric push rod to supply power to the electric push rod.
[0015] Optionally, the movable arm is slidably connected to the fixed arm via pulleys and guide rails.
[0016] Optionally, the cleaning assembly includes a cleaning brush head, which is drivenly connected to a brush head driver, and the brush head driver is detachably drivenly connected to the underwater servo motor.
[0017] Optionally, the cleaning component further includes a mechanical claw, which is connected to a claw arm via a transmission. The mechanical claw is detachably connected to the underwater-specific servo motor, and the underwater-specific servo motor drives the claw arm to open and close to perform a grasping action.
[0018] Optionally, the fixed arm is fixedly connected to the output end of the stepper motor via a flange.
[0019] Optionally, the power supply is a DC power supply.
[0020] Compared with the prior art, the present invention has the following advantages and technical effects:
[0021] The horizontal rotation of the base and the vertical rotation of the telescopic arm driven by the stepper motor create a vertical spatial motion direction. Their coordinated action allows for flexible adjustment of the robotic arm's orientation, easily handling the complex wall structures of nuclear power plant cold source vents and tunnels. This effectively solves the problem of limited coverage of traditional fixed cleaning devices, ensuring that contaminants from different locations can be cleaned. Simultaneously, multiple cleaning components and actuator connecting blocks are detachably connected and driven by underwater-specific servo motors. This design allows the robotic arm to quickly replace the corresponding cleaning components based on the type of contaminants in the cold source vent, such as attached biofilm, small impurities, or larger foreign objects, overcoming the shortcomings of traditional single-mode cleaning methods, which suffer from poor targeting and ineffective cleaning. Furthermore, the overall structure, through the compact connection of components such as the stepper motor, telescopic arm, and actuator connecting blocks, adapts to the stringent size constraints of nuclear power plant cold source vents, enabling stable operation in confined spaces. The configuration of underwater-specific servo motors ensures reliable operation in underwater environments, further enhancing the stability and effectiveness of the cleaning operation. Attached Figure Description
[0022] The accompanying drawings, which form part of this utility model, are used to provide a further understanding of the utility model. The embodiments of the utility model and their descriptions are used to explain the utility model and do not constitute an undue limitation of the utility model. In the drawings:
[0023] Figure 1 A schematic diagram of the multi-degree-of-freedom nuclear power plant cold source port cleaning auxiliary robotic arm equipped with a cleaning brush head according to this utility model;
[0024] Figure 2 Another structural diagram of the multi-degree-of-freedom nuclear power plant cold source port cleaning auxiliary robotic arm structure equipped with a cleaning brush head for this utility model;
[0025] Figure 3 A schematic diagram of the rear angle structure of the multi-degree-of-freedom nuclear power plant cold source port cleaning auxiliary robotic arm equipped with a mechanical claw, according to this utility model;
[0026] Figure 4 A side angle structural diagram of the multi-degree-of-freedom nuclear power plant cold source port cleaning auxiliary robotic arm equipped with a mechanical claw, according to this utility model;
[0027] Figure 5 A schematic diagram of the front angle structure of the multi-degree-of-freedom nuclear power plant cold source port cleaning auxiliary robotic arm equipped with a mechanical claw, according to this utility model.
[0028] In the diagram: 1. Base; 2. Stepper motor; 3. Fixed arm; 4. Power supply; 5. Electric push rod; 6. Movable arm; 7. Underwater servo motor; 8. Cleaning assembly; 9. Actuator connecting block; 10. Cleaning brush head; 11. Mechanical gripper; 12. Brush head driver; 13. Gripper arm. Detailed Implementation
[0029] 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.
[0030] 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.
[0031] Reference Figures 1 to 5 As shown, this embodiment provides a multi-degree-of-freedom nuclear power plant cold source port cleaning auxiliary robotic arm, including:
[0032] Base 1, the top of base 1 can rotate horizontally;
[0033] Stepper motor 2 is fixed to the top of base 1 and can rotate as the top of base 1 rotates;
[0034] The telescopic arm is connected to the stepper motor 2 via a transmission, and the stepper motor 2 drives the telescopic arm to rotate in the vertical direction;
[0035] The actuator connecting block 9 is fixedly connected to the end of the telescopic arm away from the stepper motor 2;
[0036] The underwater-specific servo motor 7 is fixedly connected to the actuator connecting block 9;
[0037] The cleaning component 8 is provided in multiple sets. Each cleaning component 8 is detachably connected to the actuator connecting block 9 and is driven by the underwater special servo motor 7.
[0038] The horizontal rotation of the base 1 and the vertical rotation of the telescopic arm driven by the stepper motor 2 form a vertical direction of movement in space. Their coordinated action allows for flexible adjustment of the robotic arm's orientation, easily handling the complex wall structures of nuclear power plant cold source vents and tunnels. This effectively solves the problem of limited coverage of traditional fixed cleaning devices, ensuring that contaminants from different locations can be cleaned. Simultaneously, multiple cleaning components 8 are detachably connected to the actuator connecting block 9 and driven by a dedicated underwater servo motor 7. This design allows the robotic arm to quickly replace the corresponding cleaning components 8 according to the type of contaminants in the cold source vent, such as attached biofilm, small impurities, or larger foreign objects, overcoming the shortcomings of traditional single-mode cleaning methods, which suffer from poor targeting and ineffective cleaning. Furthermore, the overall structure, through the compact connection of components such as the stepper motor 2, telescopic arm, and actuator connecting block 9, adapts to the stringent size constraints of nuclear power plant cold source vents, enabling stable operation in confined spaces. The configuration of the dedicated underwater servo motor 7 ensures reliable operation in the underwater environment, further enhancing the stability and effectiveness of the cleaning operation.
[0039] In some alternative implementations, the telescopic arm includes a fixed arm 3 and a movable arm 6. The fixed arm 3 is fixedly connected to the output end of the stepper motor 2, and the movable arm 6 is slidably connected within the fixed arm 3 and is pushed to extend and retract within the fixed arm 3 by an electric push rod 5. The end of the movable arm 6 away from the fixed arm 3 is fixedly connected to the actuator connecting block 9.
[0040] This telescopic design, driven by an electric push rod 5, allows the movable arm 6 to slide flexibly within the fixed arm 3. This significantly adjusts the overall length of the robotic arm, effectively solving the problem of limited operating range caused by insufficient telescopic ratio in existing cleaning equipment. It adapts to the cleaning needs of tunnel walls at different depths and distances, ensuring full contact with the distant wall surface even in rotary operation mode. Simultaneously, the sliding connection between the movable arm 6 and the fixed arm 3, combined with the drive of the electric push rod 5, ensures both stability and precision during the telescopic process, while maintaining a compact overall structure that meets the stringent size constraints of nuclear power plant cold source openings. This enables efficient operation in confined spaces, further enhancing the flexibility and coverage of cleaning operations.
[0041] In some alternative implementations, the electric actuator 5 is disposed in the internal space of the fixed arm 3 and the movable arm 6. A power supply 4 is fixedly connected to the outside of the fixed arm 3, and the power supply 4 is electrically connected to the electric actuator 5 to supply power to the electric actuator 5.
[0042] By integrating the electric actuator 5 inside the arm body, space can be effectively utilized, making the overall structure of the robotic arm more compact and avoiding spatial interference problems caused by protruding external components. This makes it suitable for the narrow and complex working environment of nuclear power plant cold source ports. The direct electrical connection between the power supply 4 and the electric actuator 5 ensures stable power supply and continuous and reliable driving force of the electric actuator 5. This, in turn, ensures the smoothness and accuracy of the extension and retraction of the movable arm 6, improves the response speed and work efficiency of the robotic arm when adjusting its length, and the installation method of the power supply 4 on the outside of the fixed arm 3 facilitates inspection and maintenance, taking into account both structural rationality and practicality.
[0043] In some alternative implementations, the movable arm 6 is slidably connected to the fixed arm 3 via pulleys and guide rails.
[0044] The combination of pulleys and guide rails effectively reduces frictional resistance during the extension and retraction of the movable arm 6, making the extension and retraction movements smoother and more stable, reducing mechanical wear, and extending the service life of the equipment. At the same time, this sliding connection method can ensure the guiding accuracy of the movable arm 6 during extension and retraction, avoiding deviation or swaying, and ensuring the stability and accuracy of the robotic arm when adjusting its length. Thus, in the complex and narrow environment of the nuclear power plant cold source port, the cleaning component 8 can be accurately delivered to the target position, improving the reliability and efficiency of the cleaning operation.
[0045] In some alternative implementations, the cleaning component 8 includes a cleaning brush head 10, which is drivenly connected to a brush head driver 12, which is detachably drivenly connected to an underwater-specific servo 7.
[0046] The cleaning brush head 10 is detachably connected to the underwater dedicated servo motor 7 via the brush head driver 12, which allows for quick replacement of the appropriate brush head when facing pollutants of different types, hardness, or adhesion levels, improving the robotic arm's ability to target complex pollutants. At the same time, the brush head driver 12 effectively transmits power to the underwater dedicated servo motor 7, ensuring stable rotation of the cleaning brush head 10, guaranteeing cleaning force and effectiveness, and adapting to the diverse cleaning needs of pollutants on the walls of nuclear power plant cold source tunnels, thus enhancing the practicality and flexibility of the robotic arm.
[0047] In some alternative implementations, the cleaning component 8 also includes a mechanical claw 11, which is driven to a claw arm 13. The mechanical claw 11 is detachably driven to an underwater servo motor 7, which drives the claw arm 13 to open and close to perform a grasping action.
[0048] The detachable connection design between the mechanical claw 11 and the underwater dedicated servo motor 7 allows the robotic arm to handle larger deposits such as rocks and dead branches inside the cold source inlet, in addition to the cleaning brush head 10, by replacing the mechanical claw 11. This compensates for the insufficient ability of a single brush head to clean large pollutants and further broadens the applicability of the robotic arm. At the same time, the way the underwater dedicated servo motor 7 drives the claw arm 13 to open and close can precisely control the gripping force, ensuring stable gripping and removal of large deposits. This avoids pollutants falling off or remaining in the tunnel due to unstable gripping, improving the thoroughness and reliability of the cleaning operation and better adapting to the complex pollutant cleaning needs of nuclear power plant cold source inlets.
[0049] In some alternative implementations, the fixed arm 3 is fixed to the output end of the stepper motor 2 via a flange.
[0050] Flange connections feature high connection strength, good sealing, and easy assembly and disassembly. They ensure a stable and rigid connection between the fixed arm 3 and the stepper motor 2, preventing loosening or wobbling during vertical rotation or telescopic operations of the robotic arm, and ensuring the accuracy and stability of power transmission.
[0051] In some alternative implementations, power supply 4 is a DC power supply 4.
[0052] The DC power supply 4 provides stable power and a stable output voltage, enabling it to provide continuous and reliable power to the electric actuator 5.
[0053] Any aspects of this utility model that are not detailed herein are conventional technical means known to those skilled in the art.
[0054] 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.
[0055] 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 made to the technical solutions of the present utility model by those skilled in the art without departing from the spirit of the present utility model should fall within the protection scope defined by the claims of the present utility model.
Claims
1. A multi-degree-of-freedom nuclear power cold source port cleaning auxiliary robotic arm, characterized in that, include: Base (1), the top of which can rotate horizontally; A stepper motor (2) is fixed to the top of the base (1) and can rotate with the rotation of the top of the base (1); Telescopic arm, the telescopic arm is connected to the stepper motor (2) for transmission, the stepper motor (2) drives the telescopic arm to rotate in the vertical direction; The actuator connecting block (9) is fixed to the end of the telescopic arm away from the stepper motor (2); A dedicated underwater servo motor (7) is fixedly connected to the actuator connecting block (9); The cleaning components (8) are provided in multiple sets. Each set of the cleaning components (8) is detachably connected to the actuator connecting block (9) and driven by the underwater special servo motor (7).
2. The multi-degree-of-freedom nuclear power plant primary coolant outlet cleaning auxiliary robotic arm of claim 1, wherein, The telescopic arm includes a fixed arm (3) and a movable arm (6). The fixed arm (3) is fixedly connected to the output end of the stepper motor (2). The movable arm (6) is slidably connected inside the fixed arm (3) and pushed to extend and retract inside the fixed arm (3) by an electric push rod (5). The end of the movable arm (6) away from the fixed arm (3) is fixedly connected to the actuator connecting block (9).
3. The multi-degree-of-freedom nuclear power plant primary coolant line cleaning auxiliary robotic arm of claim 2, wherein, The electric push rod (5) is disposed in the internal space of the fixed arm (3) and the movable arm (6). A power supply (4) is fixedly connected to the outside of the fixed arm (3). The power supply (4) is electrically connected to the electric push rod (5) to supply power to the electric push rod (5).
4. The multi-degree-of-freedom nuclear power plant cold source port cleaning auxiliary robotic arm according to claim 2, characterized in that, The movable arm (6) is slidably connected to the fixed arm (3) via pulleys and guide rails.
5. The multi-degree-of-freedom nuclear power plant primary coolant outlet cleaning auxiliary robotic arm of claim 1, wherein, The cleaning assembly (8) includes a cleaning brush head (10), which is drivenly connected to a brush head driver (12), and the brush head driver (12) is detachably drivenly connected to the underwater special servo motor (7).
6. The multi-degree-of-freedom nuclear power plant primary coolant outlet cleaning auxiliary robotic arm of claim 1, wherein, The cleaning component (8) also includes a mechanical claw (11), which is connected to a claw arm (13). The mechanical claw (11) is detachably connected to the underwater special servo motor (7). The underwater special servo motor (7) drives the claw arm (13) to open and close to perform a grasping action.
7. The multi-degree-of-freedom nuclear power plant primary coolant outlet cleaning auxiliary robotic arm of claim 2, wherein, The fixed arm (3) is fixedly connected to the output end of the stepper motor (2) via a flange.
8. The multi-degree-of-freedom nuclear power plant primary coolant line cleaning auxiliary robotic arm of claim 3, wherein, The power supply (4) is a DC power supply (4).