CN111347443A - High-radiation-resistant robot control system - Google Patents
High-radiation-resistant robot control system Download PDFInfo
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- CN111347443A CN111347443A CN201811567841.5A CN201811567841A CN111347443A CN 111347443 A CN111347443 A CN 111347443A CN 201811567841 A CN201811567841 A CN 201811567841A CN 111347443 A CN111347443 A CN 111347443A
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- 230000005855 radiation Effects 0.000 claims abstract description 50
- 238000012546 transfer Methods 0.000 claims abstract description 5
- 238000004891 communication Methods 0.000 claims description 6
- 230000003993 interaction Effects 0.000 claims description 2
- 238000012544 monitoring process Methods 0.000 abstract description 6
- 238000007689 inspection Methods 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 5
- 239000013307 optical fiber Substances 0.000 description 5
- 238000000429 assembly Methods 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000010248 power generation Methods 0.000 description 1
- 239000000941 radioactive substance Substances 0.000 description 1
- 239000002901 radioactive waste Substances 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 239000002915 spent fuel radioactive waste Substances 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention relates to the field of robot control, in particular to a high-radiation-resistant robot control system. The nuclear power station inspection work puts high requirements on the radiation resistance level of inspection equipment and a robot, and a robot capable of continuously working in a high radiation environment has not been developed so far. The robot comprises a robot body part, a robot control part and a robot operating part. The robot body part and the robot control part are connected through a main cable; the robot control part is connected with the robot operation part through a network cable; the robot body part comprises an execution component, a sensor and a robot body cable transfer box. The robot control section includes a control box. The robot operating section includes: a control computer, a monitor and a remote control handle. In this patent, the robot body can bear very big radiation dose, and the components and parts of control box etc. sensitive to radiation are placed in low radiation zone, and personnel's operating area is at distant safe region, convenient monitoring control.
Description
Technical Field
The invention relates to the field of robot control, in particular to a high-radiation-resistant robot control system.
Background
Along with the vigorous popularization and application of nuclear power generation, military nuclear power devices and irradiation industries in China. According to the relevant legislation, equipment at different locations needs to be inspected regularly. Meanwhile, the risks of nuclear events or nuclear accidents such as nuclear leakage and loss of strong radioactive substances are increased, and the ecological environment and the personal safety may be seriously damaged. This situation requires special robots for equipment maintenance, radioactive waste disposal, emergency response, etc. Because the radiation dose of some parts is very large, such as fuel assemblies, spent fuel pools, internals and the like, the radiation dose of some parts is huge. Therefore, high requirements are placed on the radiation resistance level of the inspection equipment and the robot.
Generally, high radiation has the greatest impact on the control system of the device, and in high radiation environments, the control system is the first to be damaged. After the occurrence of the nuclear accident in fukushima, tokyo electric power company has sent various robots to the accident core area, but many robots are damaged only by working for hours due to the influence of high-dose nuclear radiation on a control system. To date, a robot capable of continuously operating in a high radiation environment has not been developed.
In designing a robot control system with high radiation resistance, an optimal scheme is generally selected from a system framework and component type selection through a large number of experiments. However, this method requires a lot of effort and cost, and many components belong to products prohibited from being shipped abroad, and finally the radiation dose rate that the robot can bear is limited.
The patent provides a "resistant high radiation robot control system", control system adopts wired control mode, chooses for use on the robot body to radiate insensitive execution components and parts and sensor etc.. Then, a control box of the components of the driver, the controller, the communication unit, the power supply, and the like is placed in an area where the radiation dose is relatively small, and the robot body and the control box are coupled with a main cable. The control computer, the remote control handle, the monitor and the like are placed in a farther area without radiation risk, and the control computer is connected with the control box through a network cable or an optical fiber. The method can ensure that the robot body can bear very large radiation dose, components sensitive to radiation such as a control box and the like are placed in a low radiation area, the influence of radiation is not worried about, a personnel operation area can be placed in a farther safe area, and the monitoring and the control of the robot are facilitated.
Disclosure of Invention
1. The purpose is as follows:
the patent provides a "resistant high radiation robot control system", control system adopts wired control mode, chooses for use on the robot body to radiate insensitive execution components and parts and sensor etc.. Then, a control box of the components of the driver, the controller, the communication unit, the power supply, and the like is placed in an area where the radiation dose is relatively small, and the robot body and the control box are coupled with a main cable. The control computer, the remote control handle, the monitor and the like are placed in a farther area without radiation risk, and the control computer is connected with the control box through a network cable or an optical fiber. The arrangement can ensure that the robot body can bear very large radiation dose, components sensitive to radiation such as a control box and the like are placed in a low radiation area, the radiation influence is not worried about, a personnel operation area can be placed in a farther safe area, and the monitoring and the control of the robot are facilitated.
2. The technical scheme is as follows:
a high-radiation tolerant robot control system, comprising: the robot comprises a robot body part, a robot control part and a robot operating part. The robot body part and the robot control part are connected through a main cable; the robot control part is connected with the robot operation part through a network cable; the robot body part comprises an execution component, a sensor and a robot body cable transfer box; the actuator and the sensor are connected with the cable transfer cabin of the robot body through the sub-cable.
The robot control part comprises a control box, and the elements comprise a power supply part, a communication part, a driver and a controller.
The robot operating section includes: a control computer, a monitor and a remote control handle; the monitor is connected with the control computer through a video cable, and the remote control handle is connected with the control computer through a cable.
The sensor is of the traditional analog quantity type.
The executive component comprises a motor, a pneumatic executive unit and a hydraulic executive unit.
The robot body part is placed in a high radiation area, the robot control part is placed in a low radiation area, and the robot operation part is placed in a safety area.
The control box performs signal interaction with the robot body part and the robot operation part, and comprises a control unit for sending signals to the execution unit of the robot body, receiving signals fed back by various sensors of the robot body and communicating with a control computer.
Drawings
FIG. 1 is a block diagram of a control system of a high-radiation-resistant robot
Detailed Description
The following detailed description of the patent refers to the accompanying drawings and specific embodiments:
as shown in fig. 1, a high-radiation resistant robot control system is divided into three parts: the robot comprises a robot body part, a robot control part and a robot operating part.
The robot body part is located in the high radiation area, and various execution components, such as a motor, a pneumatic execution unit, a hydraulic execution unit or an electromagnetic valve and the like, and various sensors, such as a video sensor, a pressure sensor, a temperature sensor, a depth sensor, an encoder and the like, are arranged on the robot body part. Because each execution unit is an electromagnetic component, the components are wound by coils and basically cannot be influenced by radiation. The sensor part is mostly composed of various semiconductor components and parts at present, so that the influence of radiation is large, and the selected sensor is of a more traditional analog quantity type, so that the sensor can bear large radiation dose. The function of the cable switching cabin of the robot body is the switching function of the main cable and each actuating element and sensor. Each actuator and sensor is connected to the robot body cable adapter bay by a sub-cable.
The robot control part is a lower computer control part of the robot control system, is mainly used for controlling an execution unit of the robot body, receives signals fed back by various sensors of the robot body and communicates with an upper computer. The control box mainly includes: a power supply part, a communication part, a driver, a controller and the like. It is placed in the low radiation area not far away from the robot body, and the components and parts of selecting for use simultaneously are the higher industrial grade product of reliability, therefore the control box can be in low radiation area reliable operation. The robot control box is connected with the robot body cable switching cabin through a main cable. Because various execution units and sensors of the robot body are directly connected with the control box, the number of cores of the main cable is large, and the wire diameter is also large. In order to reduce the voltage drop loss on the main cable and ensure that the influence on the robot body is small, the main cable is as short as possible.
The robot operation part is an upper computer of a robot control system and is used for controlling the robot, setting parameters, displaying sensor states and the like. Mainly comprises the following steps of; control computers, monitors, remote control handles, and the like. The control computer is the main control part, and the monitoring is used for observing the operation of the robot more conveniently, and the remote control handle is used for facilitating the operation of the robot. The control computer and the control box are communicated by network cables or optical fibers, so that the operation area can be placed at a farther and safer position, and the safe operation of personnel is facilitated.
The specific implementation process is as follows:
the implementation process of the high-radiation-resistant robot control system is that a control box and a robot body are placed in a low-radiation area and connected through a main cable. The control computer, the monitor, the remote control handle and the like are arranged at the remote end, and then the control computer and the control box are connected by a network cable or an optical fiber. Then the power supply of the control box, the control computer, the monitoring machine and the like is connected. And then, the operator controls the robot body to enter a high-radiation area, and the robot is controlled remotely to complete related work. And after the work is finished, the robot body and the control box are recovered.
The patent mainly comprises the following technologies:
1. high-radiation-resistant control system layout scheme
This patent has proposed "a resistant high radiation robot control system" scheme, and control system adopts wired control mode, chooses execution components and parts and sensor etc. insensitive to the radiation for use on the robot body. Then, a control box of the components of the driver, the controller, the communication unit, the power supply, and the like is placed in an area where the radiation dose is relatively small, and the robot body and the control box are coupled with a main cable. Control computers, remote control handles and monitors are placed further away from the area where there is no radiation risk. The method can ensure that the robot body can bear very large radiation dose, components sensitive to radiation such as a control box and the like are placed in a low radiation area, the influence of radiation is not worried about, a personnel operation area can be placed in a farther safe area, and the monitoring and the control of the robot are facilitated.
2. High-radiation-resistant control system layout scheme
The patent proposes a 'high radiation resistant robot control system' scheme, and various actuators and sensors in a robot body can bear larger radiation dose. The control box is placed in an area where the radiation dose is relatively small, where the radiation dose is low and the control box can operate reliably. The control computer, the remote control handle, the monitor and the like are placed at a distance and can be communicated with the control box through optical fibers or network cables. Finally, the control system can ensure that personnel can effectively control the robot in a remote way.
Claims (7)
1. A high-radiation tolerant robot control system, comprising: robot body part, robot control part, robot operation part, its characterized in that: the robot body part and the robot control part are connected through a main cable; the robot control part is connected with the robot operation part through a network cable; the robot body part comprises an execution component, a sensor and a robot body cable transfer box; the actuator and the sensor are connected with the cable transfer cabin of the robot body through the sub-cable.
2. The high-radiation-resistant robot control system of claim 1, wherein: the robot control part comprises a control box, and the elements comprise a power supply part, a communication part, a driver and a controller.
3. The high-radiation-resistant robot control system of claim 1, wherein: the robot operating section includes: a control computer, a monitor and a remote control handle; the monitor is connected with the control computer through a video cable, and the remote control handle is connected with the control computer through a cable.
4. The high-radiation-resistant robot control system of claim 1, wherein: the sensor is of the traditional analog quantity type.
5. The high-radiation-resistant robot control system of claim 1, wherein: the executive component comprises a motor, a pneumatic executive unit and a hydraulic executive unit.
6. The high-radiation-resistant robot control system of claim 1, wherein: the robot body part is placed in a high radiation area, the robot control part is placed in a low radiation area, and the robot operation part is placed in a safety area.
7. The high-radiation-resistant robot control system of claim 2, wherein: the control box performs signal interaction with the robot body part and the robot operation part, and comprises a control unit for sending signals to the execution unit of the robot body, receiving signals fed back by various sensors of the robot body and communicating with a control computer.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811567841.5A CN111347443A (en) | 2018-12-21 | 2018-12-21 | High-radiation-resistant robot control system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811567841.5A CN111347443A (en) | 2018-12-21 | 2018-12-21 | High-radiation-resistant robot control system |
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| CN111347443A true CN111347443A (en) | 2020-06-30 |
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| CN201811567841.5A Pending CN111347443A (en) | 2018-12-21 | 2018-12-21 | High-radiation-resistant robot control system |
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Citations (6)
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|---|---|---|---|---|
| CN101774170A (en) * | 2010-01-29 | 2010-07-14 | 华北电力大学 | Nuclear power plant working robot and control system thereof |
| KR20110034287A (en) * | 2009-09-28 | 2011-04-05 | 한국전력공사 | Robot control system for nondestructive aging evaluation of cable |
| CN103606386A (en) * | 2013-11-19 | 2014-02-26 | 中国科学院光电技术研究所 | Robot for checking claw of control rod driving mechanism of nuclear power station |
| CN205068061U (en) * | 2015-10-19 | 2016-03-02 | 浙江核芯监测科技有限公司 | Nuclear and emergent robot system of radiation |
| CN207710776U (en) * | 2017-11-30 | 2018-08-10 | 中核核电运行管理有限公司 | Nuclear power station teleoperation robot based on human-computer interaction |
| CN212146457U (en) * | 2018-12-21 | 2020-12-15 | 核动力运行研究所 | High-radiation-resistant robot control system |
-
2018
- 2018-12-21 CN CN201811567841.5A patent/CN111347443A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20110034287A (en) * | 2009-09-28 | 2011-04-05 | 한국전력공사 | Robot control system for nondestructive aging evaluation of cable |
| CN101774170A (en) * | 2010-01-29 | 2010-07-14 | 华北电力大学 | Nuclear power plant working robot and control system thereof |
| CN103606386A (en) * | 2013-11-19 | 2014-02-26 | 中国科学院光电技术研究所 | Robot for checking claw of control rod driving mechanism of nuclear power station |
| CN205068061U (en) * | 2015-10-19 | 2016-03-02 | 浙江核芯监测科技有限公司 | Nuclear and emergent robot system of radiation |
| CN207710776U (en) * | 2017-11-30 | 2018-08-10 | 中核核电运行管理有限公司 | Nuclear power station teleoperation robot based on human-computer interaction |
| CN212146457U (en) * | 2018-12-21 | 2020-12-15 | 核动力运行研究所 | High-radiation-resistant robot control system |
Non-Patent Citations (2)
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