Oil injection robot capable of all-terrain movement in complex nuclear environment

Abstract

An oil injection robot capable of all-terrain movement in a complex nuclear environment. The oil injection robot capable of all-terrain movement in a complex nuclear environment comprises a wheel-track hybrid movement system (1), a six-axis robotic arm (2), a control system (3), an oil replenishment system (4), and a camera system (5). The six-axis robotic arm (2), the control system (3), the oil replenishment system (4), and the camera system (5) are separately arranged on a support platform of the wheel-track hybrid movement system (1). The oil replenishment system (4) is connected to the six-axis robotic arm (2). The wheel-track hybrid movement system (1) is used for positional movement. The camera system (5) is used for photographing a surrounding environment and an operating environment of the six-axis robotic arm (2). The six-axis robotic arm (2) is used for identifying the position of an oil injection hole. The control system (3) is used for controlling the oil replenishment system (4) to inject oil into a nuclear main pump. By means of modular design of components, the oil injection robot solves the technical problem in the prior art of the absence of robots for the inspection and maintenance of nuclear main pumps.

Description

An oil injection robot capable of moving across all terrains in complex nuclear environments Technical Field

[0001] This application belongs to the field of mobile robot technology, specifically relating to an oil injection robot that moves across all terrains in complex nuclear environments. Background Technology

[0002] Nuclear safety is the lifeline of nuclear power development. As the "heart" of the primary loop system in the nuclear island, the safe, stable, and reliable operation of the main nuclear pump throughout its service life directly impacts the safety of the entire nuclear power unit. During long-term operation, the main nuclear pump faces several challenges. First, the high-temperature, high-pressure, multi-condition coupling environment and complex, variable operating conditions increase the probability of component-level damage and even major accidents. Second, due to its complex and interconnected structure, the main nuclear pump's components are highly coupled, meaning damage to one component can lead to damage to another, thus increasing the risk of minor faults causing major malfunctions or even shutdowns. Therefore, regular maintenance and repair of the main nuclear pump are essential.

[0003] The internal equipment of a nuclear power plant's nuclear island is densely packed. During refueling overhauls and routine maintenance, when personnel enter the nuclear island to inspect and maintain the main nuclear pumps, the limited space requires them to work in an irradiated environment for extended periods. This not only threatens the health and lives of personnel and makes it difficult to control collective and individual doses, but also wastes a significant amount of mainline maintenance time, manpower costs, and introduces personnel safety risks.

[0004] As the installed capacity of nuclear power plants continues to expand, the demand for robot applications will become increasingly urgent. How to design robots for the maintenance and repair of nuclear main pumps has become a technical problem that urgently needs to be solved. Summary of the Invention

[0005] In view of this, this application aims to provide an all-terrain mobile oil injection robot in complex nuclear environments. By modularly designing each component, it addresses the technical problem of the lack of robots for the maintenance and repair of nuclear main pumps in the current technology.

[0006] This application provides an all-terrain mobile oil injection robot for complex nuclear environments. The robot comprises a wheel-tracked hybrid mobility system, a six-axis robotic arm, a control system, an oil replenishment system, and a camera system. The six-axis robotic arm, control system, oil replenishment system, and camera system are respectively arranged on the support plane of the wheel-tracked hybrid mobility system. The oil replenishment system is connected to the six-axis robotic arm. The wheel-tracked hybrid mobility system is used for positional movement. The camera system is used to capture images of the surrounding environment and the operating environment of the six-axis robotic arm. The six-axis robotic arm is used to identify the oil injection port locations. The control system is used to control the oil replenishment system to inject oil into the nuclear main pump.

[0007] In one specific embodiment of this application, the six-axis robotic arm and camera system are configured to have highly adjustable functionality.

[0008] In one specific embodiment of this application, the six-axis robotic arm is a six-axis robotic arm with 2 prismatic joints and 4 revolute joints.

[0009] In one specific embodiment of this application, the wheel-track composite mobile system, the six-axis robotic arm, the control system, the oil replenishment system, and the camera system are all designed to withstand radiation.

[0010] In one specific embodiment of this application, the wheel-track composite mobility system includes a chassis, a pickaxe, a front shock absorber column, a front shock absorber sleeve, a front wheel suspension, a front wheel bogie, a wheel, a front swingarm, a track body, a middle wheel bogie, a middle wheel side bogie, a rising column, a rear shock absorber column, a rear shock absorber sleeve, a rear wheel suspension, a rear swingarm, a rear wheel bogie, a rear wheel side bogie, and a battery pack. The pickaxe is connected to the chassis via a motor-driven rotating joint. The front shock absorber column is connected to the chassis via a rotating joint. The front shock absorber sleeve is connected to the front wheel suspension via a rotating joint. The front shock absorber column is connected to the front shock absorber sleeve via a spring-driven sliding joint. The front wheel suspension is connected to the chassis via a motor-driven rotating joint. The front wheel bogie is connected to the front wheel suspension via a motor-driven rotating joint. The wheel is connected to the front wheel bogie via a motor-driven rotating joint. The front swingarm is connected to the track body via a motor-driven rotating joint. The track body is fixedly connected to the rising column. The rising column is connected to the chassis via a motor-driven sliding joint. The rear wheel suspension is connected to the chassis via a motor-driven rotating joint. The rear shock absorber is connected to the rear wheel suspension via a rotating joint. The rear shock absorber column is connected to the chassis via a rotating joint. The rear shock absorber column is connected to the rear shock absorber sleeve via a spring-driven sliding joint. The middle wheel side bogie is connected to the rear wheel suspension via a motor-driven rotating joint. The middle wheel bogie is connected to the middle wheel side bogie via a motor-driven rotating joint. The rear wheel side bogie is connected to the rear wheel suspension via a motor-driven rotating joint. The rear wheel bogie is connected to the rear wheel side bogie via a motor-driven rotating joint. The rear swingarm is connected to the track body via a motor-driven rotating joint. The battery pack is fixedly connected to the chassis.

[0011] In one specific embodiment of this application, a six-axis robotic arm includes a base, a large arm sleeve, a large arm, a small arm sleeve, a support cylinder, a support rod, a small arm, a first end effector wrist joint, a second end effector wrist joint, an end effector support frame, a 3D vision sensor, and an oil gun. The large arm sleeve is connected to the base via a motor-driven revolute joint. The large arm is connected to the large arm sleeve via a motor-driven prismatic joint. The small arm sleeve is connected to the large arm via a motor-driven revolute joint. The support cylinder is connected to the small arm sleeve via a revolute joint. The support rod is connected to the small arm via a revolute joint. The support rod is connected to the support cylinder via a prismatic joint. The small arm is connected to the small arm sleeve via a motor-driven prismatic joint. The first end effector wrist joint is connected to the small arm via a motor-driven revolute joint. The second end effector wrist joint is connected to the first end effector wrist joint via a motor-driven revolute joint. The end effector support frame is connected to the second end effector wrist joint via a motor-driven revolute joint. The 3D vision sensor is fixedly connected to the end effector support frame. The oil gun is fixedly connected to the end effector support frame.

[0012] In one specific embodiment of this application, the oil replenishment system includes an oil tank, an oil circuit control valve, an oil pump, an oil pipe interface, an oil pipe, and an oil tank cap. The oil circuit control valve is fixedly connected to the oil tank; the oil pump is fixedly connected to the oil circuit control valve and the oil tank; the oil pipe interface is fixedly connected to the oil pump; the oil pipe is fixedly connected to the oil pipe interface; and the oil tank cap is fixedly connected to the oil tank.

[0013] In one specific embodiment of this application, the camera system includes a camera system lifting sleeve, a camera system lifting column, a two-degree-of-freedom gimbal, and a robotic camera. The camera system lifting column is connected to the camera system lifting sleeve via a motor-driven sliding joint; the two-degree-of-freedom gimbal is fixedly connected to the camera system lifting column; and the robotic camera is fixedly connected to the two-degree-of-freedom gimbal.

[0014] The beneficial effects of this technical solution are as follows: The modular design of each component in this all-terrain mobile oil injection robot for complex nuclear environments allows for the inspection and maintenance of the main nuclear pump equipment through the coordinated operation of a wheel-tracked hybrid mobility system, a six-axis robotic arm, a control system, an oil replenishment system, and a camera system. This reduces both the cost of protective equipment and management costs for personnel, as well as the radiation dose and labor intensity for workers. Furthermore, the robot's wheel-tracked hybrid mobility system provides high flexibility and strong obstacle-crossing ability, enabling it to traverse various terrains such as stairs, ditches, and slopes, making it suitable for the complex and varied terrain inside nuclear islands. Attached Figure Description

[0015] Figure 1 shows a schematic diagram of the overall structure of an oil injection robot that moves across all terrains in a complex nuclear environment, according to an embodiment of this application.

[0016] Figure 2 shows a schematic diagram of the wheel-tracked composite mobility system in an oil injection robot that moves across all terrains in a complex nuclear environment, according to an embodiment of this application.

[0017] Figure 3 shows a schematic diagram of the structure of a six-axis robotic arm in an oil injection robot that moves across all terrains in a complex nuclear environment, according to an embodiment of this application.

[0018] Figure 4 shows a schematic diagram of the oil replenishment system in an oiling robot that moves across all terrains in a complex nuclear environment, according to an embodiment of this application.

[0019] Figure 5 shows a schematic diagram of the camera system in an oil injection robot that moves across all terrains in a complex nuclear environment, according to an embodiment of this application.

[0020] Figure 6 shows a schematic diagram of the first working principle of a wheel-tracked composite mobility system in an oil injection robot that moves across all terrains in a complex nuclear environment, according to an embodiment of this application.

[0021] Figure 7 shows a schematic diagram of the second working principle of a wheel-tracked composite mobility system in an oil injection robot that moves across all terrains in a complex nuclear environment, according to an embodiment of this application.

[0022] Figure 8 shows a schematic diagram of the third working principle of a wheel-tracked composite mobility system in an oil injection robot that moves across all terrains in a complex nuclear environment, according to an embodiment of this application.

[0023] Figure 9 shows a schematic diagram of the fourth working principle of a wheel-tracked composite mobility system in an oil injection robot that moves across all terrains in a complex nuclear environment, according to an embodiment of this application.

[0024] Figure 10 shows a schematic diagram of the fifth working principle of a wheel-tracked composite mobile system in an oil injection robot that moves across all terrains in a complex nuclear environment, according to an embodiment of this application.

[0025] Figure 11 shows a schematic diagram of the working principle of the oil replenishment system, camera system and six-axis robotic arm in an oiling robot that moves across all terrains in a complex nuclear environment, according to an embodiment of this application.

[0026] Figure 12 shows a schematic diagram of the first working process of an oil injection robot that moves across all terrains in a complex nuclear environment, according to an embodiment of this application.

[0027] Figure 13 shows a schematic diagram of the second working process of an oil injection robot that moves across all terrains in a complex nuclear environment, according to an embodiment of this application.

[0028] Figure 14 shows a schematic diagram of the third working process of an oil injection robot that moves across all terrains in a complex nuclear environment, according to an embodiment of this application.

[0029] Figure 15 shows a schematic diagram of the fourth working process of an oil injection robot that moves across all terrains in a complex nuclear environment, according to an embodiment of this application. Detailed Implementation

[0030] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0031] At least one embodiment of this application provides an all-terrain mobile oil injection robot for complex nuclear environments. This robot is mainly used in the nuclear power industry, for example, to inspect and inject oil into the main pumps of nuclear power plants to ensure their normal operation. Referring to Figures 1, 2, 3, 4, and 5, this all-terrain mobile oil injection robot for complex nuclear environments includes a wheel-tracked composite mobile system 1, a six-axis robotic arm 2, a control system 3, an oil replenishment system 4, and a camera system 5. The six-axis robotic arm 2, control system 3, oil replenishment system 4, and camera system 5 are respectively arranged on the support plane of the wheel-tracked composite mobile system 1. The oil replenishment system 4 is connected to the six-axis robotic arm 2. The wheel-tracked composite mobile system 1 is used for positional movement. The camera system 5 is used to capture images of the surrounding environment and the operating environment of the six-axis robotic arm 2. The six-axis robotic arm 2 is used to identify the oil injection holes. The control system 3 is used to control the oil replenishment system 4 to inject oil into the nuclear main pump.

[0032] According to the technical solution provided in this application, the various parts of this all-terrain mobile oil injection robot in a complex nuclear environment adopt a modular design. The robot utilizes the cooperation between a wheeled-tracked composite mobile system 1, a six-axis robotic arm 2, a control system 3, an oil replenishment system 4, and a camera system 5 to perform tasks such as inspection and maintenance of the nuclear main pump equipment. This reduces the cost and management costs of protective equipment for personnel, and also reduces the radiation dose and labor intensity of workers. Furthermore, the robot employs a wheeled-tracked composite mobile system, offering high flexibility and strong obstacle-crossing ability, allowing it to traverse various terrains such as stairs, ditches, and slopes, making it suitable for the complex and varied terrain inside the nuclear island.

[0033] In at least one embodiment of this application, the six-axis robotic arm 2 and the camera system 5 are configured to have height adjustable functionality. Thus, when the robot travels on uneven terrain or crosses obstacles, the six-axis robotic arm 2 and the camera system 5 can adjust their height to ensure the overall balance of the robot's center of gravity.

[0034] In at least one embodiment of this application, the six-axis robotic arm 2 is a six-axis robotic arm with 2 prismatic joints and 4 revolute joints. Thus, by adopting a six-axis robotic arm with 2 prismatic joints and 4 revolute joints, the unique robotic arm design can avoid product homogenization and effectively reduce singularities in robot movement. Its unique kinematic structure can endow the robotic arm with extremely high flexibility.

[0035] In at least one embodiment of this application, the wheel-tracked composite mobile system 1, the six-axis robotic arm 2, the control system 3, the oil replenishment system 4, and the camera system 5 are all designed to withstand radiation. Thus, by adopting an overall radiation-resistant design, selecting radiation-resistant electrical components, and assembling the electrical control modules within an isolation enclosure, the system exhibits excellent radiation and corrosion resistance, effectively meeting the operational requirements of complex nuclear environments and significantly improving the reliability and safety of performing oil replenishment tasks under special conditions.

[0036] In at least one embodiment of this application, the wheel-track composite mobility system 1 includes a chassis 11, a pickaxe 12, a front shock absorber 13, a front shock absorber sleeve 14, a front wheel suspension 15, a front wheel bogie 16, a wheel 17, a front rocker arm 18, a track body 19, a middle wheel bogie 110, a middle wheel side bogie 111, a lifting column 112, a rear shock absorber 113, a rear shock absorber sleeve 114, a rear wheel suspension 115, a rear rocker arm 116, a rear wheel bogie 117, a rear wheel side bogie 118, and a battery pack 119. The pickaxe 12 is connected to the chassis 11 via a motor-driven revolute joint. The front shock absorber 13 is connected to the chassis 11 via a revolute joint. The front shock absorber sleeve 14 is connected to the front wheel suspension 15 via a revolute joint. The front shock absorber 13 is connected to the front shock absorber sleeve 14 via a spring-driven sliding joint. The front wheel suspension 15 is connected to the chassis 11 via a motor-driven revolute joint. The front wheel bogie 16 is connected to the front wheel suspension 15 via a motor-driven revolute joint. The wheel 17 is connected to the front wheel bogie 16 via a motor-driven revolute joint. The front rocker arm 18 is connected to the track body 19 via a motor-driven revolute joint. The track body 19 is fixedly connected to the lifting column 112. The lifting column 112 is connected to the chassis 11 via a motor-driven sliding joint. The rear wheel suspension 115 is connected to the chassis 11 via a motor-driven revolute joint. The rear shock absorber 114 is connected to the rear wheel suspension 115 via a revolute joint. The rear shock absorber column 113 is connected to the chassis 11 via a revolute joint. The rear shock absorber column 113 is connected to the rear shock absorber sleeve 114 via a spring-driven sliding joint. The middle wheel side bogie 111 is connected to the rear wheel suspension 115 via a motor-driven revolute joint. The middle wheel bogie 110 is connected to the middle wheel side bogie 111 via a motor-driven revolute joint. The rear wheel side bogie 118 is connected to the rear wheel suspension 115 via a motor-driven revolute joint. The rear wheel bogie 117 is connected to the rear wheel side bogie 118 via a motor-driven revolute joint. The rear swing arm 116 is connected to the track body 19 via a motor-driven revolute joint. The battery pack 119 is fixedly connected to the chassis 11.

[0037] In at least one embodiment of this application, the six-axis robotic arm 2 includes a base 21, a large arm sleeve 22, a large arm 23, a small arm sleeve 24, a support cylinder 25, a support rod 26, a small arm 27, a first end effector wrist joint 28, a second end effector wrist joint 29, an end effector support frame 210, a 3D vision sensor 211, and an oil gun 312. The large arm sleeve 22 is connected to the base 21 via a motor-driven revolute joint. The large arm 23 is connected to the large arm sleeve 22 via a motor-driven prismatic joint. The small arm sleeve 24 is connected to the large arm 23 via a motor-driven revolute joint. The support cylinder 25 is connected to the small arm sleeve 24 via a revolute joint. The support rod 26 is connected to the small arm 27 via a revolute joint. The support rod 26 is connected to the support cylinder 25 via a prismatic joint. The small arm 27 is connected to the small arm sleeve 24 via a motor-driven prismatic joint. The first end effector wrist joint 28 is connected to the small arm 27 via a motor-driven revolute joint. The second distal wrist joint 29 is connected to the first distal wrist joint 28 via a motor-driven revolute joint. The distal support frame 210 is connected to the second distal wrist joint 29 via a motor-driven revolute joint. The 3D vision sensor 211 is fixedly connected to the distal support frame 210. The oil gun 312 is fixedly connected to the distal support frame 210.

[0038] In the above embodiments, by integrating 3D vision sensors, oiling guns and other equipment into the end of the six-axis robotic arm 2, and in conjunction with the oiling system, the surrounding environment can be well observed to avoid obstacles, successfully reach the designated position, and perform operations such as inspection and oiling of the nuclear main pump surface, thereby reducing the risks faced by traditional manual operations in a nuclear radiation environment.

[0039] In at least one embodiment of this application, the oil replenishment system 4 includes an oil tank 41, an oil circuit control valve 42, an oil pump 43, an oil pipe interface 44, an oil pipe 45, and an oil tank cap 46. The oil circuit control valve 42 is fixedly connected to the oil tank 41; the oil pump 43 is fixedly connected to the oil circuit control valve 42 and the oil tank 41; the oil pipe interface 44 is fixedly connected to the oil pump 43; the oil pipe 45 is fixedly connected to the oil pipe interface 44; and the oil tank cap 46 is fixedly connected to the oil tank 41.

[0040] In at least one embodiment of this application, the camera system 5 includes a camera system lifting sleeve 51, a camera system lifting column 52, a two-degree-of-freedom gimbal 53, and a robot camera 54. The camera system lifting column 52 is connected to the camera system lifting sleeve 51 via a motor-driven sliding joint; the two-degree-of-freedom gimbal 53 is fixedly connected to the camera system lifting column 52; and the robot camera 54 is fixedly connected to the two-degree-of-freedom gimbal 53.

[0041] The connections between the various parts are as follows: the base 21 of the six-axis robotic arm 2 is fixedly connected to the chassis 11 of the wheel-tracked composite mobile system 1; the control system 3 is fixedly connected to the chassis 11 of the wheel-tracked composite mobile system 1; the oil tank 41 of the oil replenishment system 4 is fixedly connected to the chassis 11 of the wheel-tracked composite mobile system 1; the camera system lifting sleeve 51 of the camera system 5 is fixedly connected to the chassis 11 of the wheel-tracked composite mobile system 1; and the oil pipe 45 of the oil replenishment system 4 is fixedly connected to the oil gun 312 of the six-axis robotic arm 2.

[0042] The working principle of the oil injection robot that moves across all terrains in this complex nuclear environment will be illustrated below with specific implementation examples.

[0043] Referring to Figures 1, 2, 6, 7, and 12, this oiling robot, capable of all-terrain movement in complex nuclear environments, primarily uses wheels for locomotion in relatively flat environments without significant large obstacles, exhibiting efficient mobility, flexible operation, and steering. When the robot encounters small obstacles, the motor in the wheel-track hybrid mobility system 1 drives the front wheel suspension 15 to rotate at a certain angle, causing the front wheel bogie 16 and wheels 17 to lift upwards to a certain height. Wheels 17 can then rest on the upper surface of the obstacle. After traveling a certain distance forward, the motor drives the rear wheel suspension 115 to rotate at a certain angle, thereby adjusting the height of the middle and rear wheels to maintain constant contact between the wheels and the obstacle, ensuring the robot smoothly passes through it. When traversing uneven terrain, the spring-driven front shock absorber 13 and front shock absorber sleeve 14, and the spring-driven rear shock absorber 113 and rear shock absorber sleeve 114 absorb and buffer the impact force transmitted from the road surface to the robot body, protecting critical components from vibration and impact damage, allowing the robot to pass smoothly. When the robot needs to turn, the motor drives the front wheel bogie 16 and the rear wheel bogie 117 to rotate at a certain angle, causing the front and rear wheels to turn to one side, while the middle wheel maintains a straight-line driving state. This allows the robot to turn 360 degrees on the spot, exhibiting extremely high flexibility.

[0044] Referring to Figures 1, 2, 8, and 13, an oiling robot capable of all-terrain movement in complex environments requires a wheel-tracked hybrid mobility system 1 to switch from wheeled to tracked movement when facing uneven terrain. First, the motor drives the lifting column 112, which in turn moves the track body 19, the front rocker arm 18, and the rear rocker arm 116 downwards in a straight line until...

[0045] The track body 19 is in contact with the ground, while the wheels 17 are suspended in the air. To ensure that the wheel suspension, wheel bogie, wheel side bogie, and wheels do not interfere with obstacles during forward movement, the motor drives the front wheel suspension 15 to rotate at a certain angle, causing the front wheel bogie 16 and wheels 17 to rise to a certain height. The motor also drives the middle wheel side bogie 111 and the rear wheel side bogie 118 to rotate at a certain angle, causing the middle and rear wheels to rise to both sides, thus lifting the wheels off the ground.

[0046] Referring to Figures 1, 2, 9, 10, and 14, an oil-filling robot capable of all-terrain movement in complex nuclear environments is described. Using tracked movement on complex terrain and rugged surfaces provides greater traction and adhesion, exhibiting excellent environmental adaptability. In tracked movement mode, the robot's posture changes through the coordinated operation of the front rocker arm 18, the grabber 12, and the rear rocker arm 116, enabling obstacle crossing across all terrains. For example, when traversing large obstacles, the grabber 12 assists, while the front and rear rocker arms act as the primary means, with all three working in concert to overcome the obstacle. First, in the wheel-tracked composite movement system 1, the motor drives the grabber 12 to rotate at a certain angle, bringing it into contact with the upper surface of the obstacle. The motor continues to apply pressure, causing the grabber 12 to lift the entire robot upwards to a certain height. Then, the motor drives the front rocker arm 18 to rotate at a certain angle, lifting it upwards and placing it on the obstacle, allowing it to move forward with strong traction provided by the tracks. Subsequently, the motor drives the rear rocker arm 116 to rotate at a certain angle, lowering it to support the entire robot, ensuring contact between the tracks and the obstacle, ultimately enabling the robot to successfully pass through the large obstacle. Meanwhile, during obstacle crossing, the large arm 23 and the small arm 27 of the six-axis robotic arm 2 extend and retract to their minimum distance under the drive of the motor; the camera system lifting column 52 of the camera system 5 also extends and retracts to its minimum distance under the drive of the motor, so as to achieve the overall center of gravity balance of the control robot.

[0047] Referring to Figures 1, 3, 4, 5, and 11, during the robot's movement, the various components of the six-axis robotic arm 2 and the camera system 5 continuously change their postures, allowing it to observe the surrounding environment from all angles and ensuring it successfully reaches the designated position for tasks such as inspection and oiling. The 3D vision sensor 211 mounted at the end of the six-axis robotic arm 2 is primarily used to identify the location of the oil hole and simultaneously collect near-field environmental information. The robot camera 54 mounted at the end of the camera system 5 is mainly used to observe the surrounding environment of the vehicle and the operating environment of the six-axis robotic arm 2, providing video evidence for the operator. When the robot travels on uneven surfaces or crosses obstacles, the six-axis robotic arm 2 and the camera system 5 can adjust their height to ensure the robot's overall center of gravity balance.

[0048] Referring to Figures 1, 2, 3, 4, 5, 11, 14, and 15, a six-axis robotic arm 2 with a unique configuration of two prismatic joints and four revolute joints, and with its large extension ratio of the upper arm 23 and lower arm 27, avoids singularities, improves flexibility, and expands the working range. Furthermore, the oil pipe 45 in the oil replenishment system 4 is connected to the oil gun 312 in the six-axis robotic arm 2, allowing for oil filling operations simply by controlling the oil circuit control valve 42. In addition, the large-capacity oil tank 41 enables continuous operation of multiple main pumps. For example, when the robot reaches the designated position, the various parts of the six-axis robotic arm 2 work together to bring the 3D vision sensor 211 at the end of the arm close to the main pump. The 3D vision sensor 211 detects the surface of the main pump and identifies the oil filling hole position, guiding the robotic arm to automatically complete the oil filling operation. When the end oil gun 312 is aligned with the oil filling hole on the main pump, the main pump can be filled with oil simply by controlling the oil circuit control valve 42 in the oil replenishment system 4 to ensure the operation of the main pump.

[0049] The above-described embodiment presents an all-terrain mobile oil filling robot for complex nuclear environments. It possesses excellent adaptability to complex terrains and features automatic oil filler port identification. Primarily, it performs oil changes and replenishments to the upper and lower dual tanks of the nuclear main pump motor, either automatically or through human-machine collaboration. This creates an oil film between high-speed rotating components, enhancing lubrication, reducing friction, extending component lifespan, and ensuring stable and efficient main pump operation. Simultaneously, it dissipates heat generated by motor operation and mechanical friction, preventing component damage due to high temperatures. Furthermore, it enhances sealing performance, preventing coolant leakage and impurity entry, and forms a protective film on component surfaces to prevent corrosion and oxidation, thereby ensuring the normal service life of the main pump and the entire nuclear power plant.

[0050] It should be noted that the combination of the technical features in the embodiments of this application is not limited to the combination methods described in the embodiments of this application or the combination methods described in specific embodiments. All technical features described in this application can be freely combined or combined in any way, unless they contradict each other.

[0051] As indicated in this application and claims, unless the context clearly indicates otherwise, the words "a," "an," and / or "the" do not specifically refer to the singular and may also include the plural. Generally speaking, the term "comprising" only indicates that it includes the explicitly identified steps and elements, which do not constitute an exclusive list, and the method or apparatus may also include other steps or elements.

[0052] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications or equivalent substitutions made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. An oil injection robot capable of all-terrain movement in complex nuclear environments, characterized in that, Includes a wheel-tracked composite mobility system, a six-axis robotic arm, a control system, an oil replenishment system, and a camera system. The six-axis robotic arm, control system, oil replenishment system, and camera system are respectively arranged on the support plane of the wheel-tracked composite mobile system. The oil replenishment system is connected to the six-axis robotic arm. The wheel-tracked composite mobile system is used to move the position. The camera system is used to capture the surrounding environment and the operating environment of the six-axis robotic arm. The six-axis robotic arm is used to identify the oil injection hole position. The control system is used to control the oil replenishment system to inject oil into the nuclear main pump.

2. The oil injection robot capable of all-terrain movement in a complex nuclear environment according to claim 1, characterized in that, The six-axis robotic arm and camera system are configured to be highly adjustable.

3. The oil injection robot capable of all-terrain movement in a complex nuclear environment according to claim 1, characterized in that, The six-axis robotic arm uses two prismatic joints and four revolute joints.

4. The oil injection robot capable of all-terrain movement in a complex nuclear environment according to claim 1, characterized in that, The wheel-tracked composite mobile system, the six-axis robotic arm, the control system, the lubrication system, and the camera system are all designed to withstand radiation.

5. The oil injection robot capable of all-terrain movement in a complex nuclear environment according to claim 1, characterized in that, The wheel-track composite mobility system includes a chassis, a front shock absorber, a front shock absorber sleeve, a front wheel suspension, a front wheel bogie, wheels, a front swingarm, track body, a middle wheel bogie, a middle wheel side bogie, a rising column, a rear shock absorber, a rear shock absorber sleeve, a rear wheel suspension, a rear swingarm, a rear wheel bogie, a rear wheel side bogie, and a battery pack. The front shock absorber is connected to the chassis via a motor-driven rotating joint. The front shock absorber is connected to the chassis via a rotating joint. The front shock absorber sleeve is connected to the front wheel suspension via a rotating joint. The front shock absorber is connected to the front shock absorber sleeve via a spring-driven sliding joint. The front wheel suspension is connected to the chassis via a motor-driven rotating joint. The front wheel bogie is connected to the front wheel suspension via a motor-driven rotating joint. The wheels are connected to the front wheel bogie via a motor-driven rotating joint. The front swingarm... The boom is connected to the track body via a motor-driven rotating joint. The track body is fixedly connected to the lifting column. The lifting column is connected to the chassis via a motor-driven sliding joint. The rear wheel suspension is connected to the chassis via a motor-driven rotating joint. The rear shock absorber is connected to the rear wheel suspension via a rotating joint. The rear shock absorber column is connected to the chassis via a rotating joint. The rear shock absorber column is connected to the rear shock absorber sleeve via a spring-driven sliding joint. The middle wheel side bogie is connected to the rear wheel suspension via a motor-driven rotating joint. The middle wheel bogie is connected to the middle wheel side bogie via a motor-driven rotating joint. The rear wheel side bogie is connected to the rear wheel suspension via a motor-driven rotating joint. The rear wheel bogie is connected to the rear wheel side bogie via a motor-driven rotating joint. The rear rocker arm is connected to the track body via a motor-driven rotating joint. The battery pack is fixedly connected to the chassis.

6. The oil injection robot capable of all-terrain movement in a complex nuclear environment according to claim 1, characterized in that, The six-axis robotic arm includes a base, a large arm sleeve, a large arm, a small arm sleeve, a support cylinder, a support rod, a small arm, a first end effector wrist joint, a second end effector wrist joint, an end effector support frame, a 3D vision sensor, and an oil gun. The large arm sleeve is connected to the base via a motor-driven revolute joint; the large arm is connected to the large arm sleeve via a motor-driven prismatic joint; the small arm sleeve is connected to the large arm via a motor-driven revolute joint; the support cylinder is connected to the small arm sleeve via a revolute joint; the support rod is connected to the small arm via a revolute joint; the support rod is connected to the support cylinder via a prismatic joint; the small arm is connected to the small arm sleeve via a motor-driven prismatic joint; the first end effector wrist joint is connected to the small arm via a motor-driven revolute joint; the second end effector wrist joint is connected to the first end effector wrist joint via a motor-driven revolute joint; the end effector support frame is connected to the second end effector wrist joint via a motor-driven revolute joint; the 3D vision sensor is fixedly connected to the end effector support frame; and the oil gun is fixedly connected to the end effector support frame.

7. The oil injection robot capable of all-terrain movement in a complex nuclear environment according to claim 1, characterized in that, The oil replenishment system includes an oil tank, an oil circuit control valve, an oil pump, an oil pipe interface, oil pipes, and an oil tank cover. The oil circuit control valve is fixedly connected to the oil tank; the oil pump is fixedly connected to the oil circuit control valve and the oil tank; the oil pipe interface is fixedly connected to the oil pump; the oil pipes are fixedly connected to the oil pipe interface; and the oil tank cover is fixedly connected to the oil tank.

8. An oil injection robot capable of all-terrain movement in a complex nuclear environment according to any one of claims 1 to 7, characterized in that, The camera system includes a camera system lifting sleeve, a camera system lifting column, a two-degree-of-freedom gimbal, and a robot camera. The camera system lifting column is connected to the camera system lifting sleeve via a motor-driven sliding joint; the two-degree-of-freedom gimbal is fixedly connected to the camera system lifting column; and the robot camera is fixedly connected to the two-degree-of-freedom gimbal.

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