CN111660304A - Emergency robot of nuclear power plant - Google Patents
Emergency robot of nuclear power plant Download PDFInfo
- Publication number
- CN111660304A CN111660304A CN202010447841.2A CN202010447841A CN111660304A CN 111660304 A CN111660304 A CN 111660304A CN 202010447841 A CN202010447841 A CN 202010447841A CN 111660304 A CN111660304 A CN 111660304A
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- nuclear power
- power plant
- robot
- driving wheel
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0091—Shock absorbers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Monitoring And Testing Of Nuclear Reactors (AREA)
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Abstract
The invention discloses an emergency robot of a nuclear power plant, which comprises a moving part and a detection assembly, wherein a detection element is arranged at the upper part of the moving part; the moving part comprises a driving unit, a track unit, a driving wheel, bearing wheels and guide wheels, the driving wheel is arranged at the first transverse end of the track unit, the guide wheels are arranged at the second transverse end of the track unit, a plurality of bearing wheels which are transversely arranged are arranged between the driving wheel and the guide wheels on the track unit, and the driving unit drives the driving wheel to rotate. The invention has the main beneficial effects that: the device is small, exquisite, flexible, convenient to operate and powerful, can be applied to early detection of general operation accidents of a nuclear power plant, and compared with a single radiation detection robot applied to the conventional power station, the device has more detection functions, greatly enhances the flexibility and convenience, facilitates quick response of power station workers after an accident, improves the efficiency, and provides support for further accident handling and decision making.
Description
The technical field is as follows:
the invention belongs to the technical field of application robots of nuclear power plants, and particularly relates to an emergency robot which is particularly applied to detection of environmental parameters (radiation dose, temperature and humidity) of a nuclear power plant.
Background art:
in the field of nuclear industry applications, there are safety risks or restricted operations when personnel operate, due to the radioactivity of the equipment itself or of its operating environment. Therefore under many circumstances, nuclear power plant can use the robot to carry out equipment maintenance, radioactive waste treatment, emergency treatment under the accident situation work such as, can reduce artifical protective equipment's cost and administrative cost on the one hand like this, and on the other hand can make accurate judgement to the factory building environment before personnel's operation, reduces the staff and receives irradiation dose and intensity of labour. With the continuous expansion of installed capacity of nuclear power plants, the demands of the nuclear power plants on robots are also increasingly urgent.
The invention content is as follows:
the invention aims at solving the problem of researching and developing an emergency robot under the accident condition of a power plant, which is specially used for the environment of a nuclear power plant.
The emergency robot has the main functions that when a design basis accident occurs in the nuclear power station, the emergency robot can enter a factory building in advance and detect the environment in the factory building, and data support is provided for manual intervention.
The robot is operated manually and remotely, is provided with the lifting camera, can transmit factory building pictures in real time, and can make preliminary judgment on accident conditions by workers. The robot is provided with a Geiger counter which can detect the radiation dose in the environment, and data is processed and then transmitted back to the mobile terminal in real time. Meanwhile, the temperature and humidity of the factory building environment can be transmitted back to the terminal equipment in real time. Through the advanced detection of the emergency robot, the staff can judge the accident situation, support is provided for intervention, and the safety guarantee of the staff is improved.
The invention aims to provide an emergency robot of a nuclear power plant to solve the problems in the background technology.
In order to achieve the above object, the present invention provides an emergency robot for a nuclear power plant, comprising: the detector comprises a moving part and a detection assembly, wherein a detection element is arranged on the upper part of the moving part; the moving part comprises a driving unit, a track unit, a driving wheel, bearing wheels and guide wheels, the driving wheel is arranged at the transverse first end of the track unit, the guide wheels are arranged at the transverse second end of the track unit, a plurality of bearing wheels which are transversely arranged are arranged between the driving wheel and the guide wheels on the track unit, and the driving unit drives the driving wheel to rotate; the emergency robot further comprises a box body, the detection assembly comprises a camera, a temperature and humidity sensor and a radiation detector, and the radiation detector and the temperature and humidity sensor are arranged on the outer wall of the box body;
the camera can extend out of the box body and then shoot an environment, the temperature and humidity sensor monitors the environment in real time, the humidity range is 0% -100%, and the error is +/-2%; the radiation detector can realize real-time detection of environmental radiation and wireless transmission to the mobile phone end for receiving.
In one embodiment, the temperature and humidity sensor adopts an LKD-RMU-4437 temperature and humidity monitor, a lithium battery is adopted for long-time standby, data are remotely transmitted to a terminal PC, and the temperature measurement range is-40 ℃ to 100 ℃ with the error of +/-0.3 ℃; the humidity range is 0% -100%, and the error is +/-2%.
In one embodiment, the detector employs a geiger tube, and the ionizing radiation intensities of alpha particles, beta particles, gamma rays, and X-rays may be detected.
In one embodiment, the geiger tube is a gas-filled tube or cell as a probe, when the voltage applied to the probe reaches a certain range, each time the ray is ionized in the tube to generate a pair of ions, the ions can be amplified to generate an electric pulse with the same size and processed into a level signal by a circuit, and the level signal becomes radiation dose after being processed and is sent to the mobile phone end to be received by the Bluetooth module.
In one embodiment, the box body provides a protection function, the innermost layer plate is an aluminum plate, a heat insulation plate is arranged outside the aluminum plate, and a shielding coating is arranged outside the heat insulation plate.
In one embodiment, the heat insulation board is made of STP composite polyurethane, the material of the shielding coating is an inorganic zinc-rich coating and an epoxy coating, and the densities of the inorganic zinc-rich coating and the epoxy coating are respectively more than 3000kg/m3 and 1500kg/m 3.
In one embodiment, the device further comprises two spaced-apart track units, and the box body is mounted on the two spaced-apart track units.
In one embodiment, the robot motion control system further comprises a robot motion main control board and a motion sensor; the main control board is provided with a PS2 handle interface and supports PS2 wireless handle control, and workers can remotely control the robot to move by using a mobile phone to detect the factory environment.
In one embodiment, the portable wireless environment-friendly intelligent photographing device further comprises a push rod, a driving end of the push rod pushes the camera to extend out of the box body to photograph an environment, the camera can wirelessly transmit videos/pictures through WIFI signals, a memory card is configured to achieve a storage function, the camera is provided with two 850nm infrared light supplement lamps, has a night vision function and supports sound bidirectional transmission, and an environment sound source can be obtained; and a plurality of damping springs are arranged on the crawler unit, and each loading wheel can adjust the upper position and the lower position along with the undulating terrain in the moving process.
Compared with the prior art, the invention has the main beneficial effects that: the invention is small, flexible, convenient to operate and powerful, can be applied to the advanced detection of general operation accidents of a nuclear power plant, has more detection functions compared with the single radiation detection robot applied to the current power station, can use a mobile phone APP to carry out remote operation and data monitoring, greatly enhances the flexibility and convenience, facilitates quick response of power station workers after an accident, improves the efficiency, and provides support for further accident handling and decision making. Meanwhile, as a small portable device, the invention has lower cost and can well fill the blank of the small accident detection robot of the current nuclear power station.
Description of the drawings:
the above and other features, properties and advantages of the present invention will become more apparent from the following description of the embodiments with reference to the accompanying drawings in which like reference numerals denote like features throughout the several views, wherein:
fig. 1 is a schematic perspective view of an emergency robot of a nuclear power plant according to an embodiment of the present invention.
In the figure, 1 — drive wheel; 2-a bogie wheel; 3-a guide wheel; 4-a crawler belt; 5-a box body; 6-robot control and power supply system; 7-a direct current drive motor; 8-a push rod; 9-a camera; 10-a power supply; 11-geiger counter circuit board; 12-J305 geiger tube; 13-arduino nano development board; 14-HC-06 Bluetooth module; 15-temperature and humidity sensor.
The specific implementation mode is as follows:
in order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those specifically described herein, and thus the present invention is not limited to the specific embodiments disclosed below.
As used in this application and the appended claims, the terms "a," "an," "the," and/or "the" are not intended to be inclusive in the singular, but rather are intended to be inclusive in the plural unless the context clearly dictates otherwise. In general, the terms "comprises" and "comprising" merely indicate that steps and elements are included which are explicitly identified, that the steps and elements do not form an exclusive list, and that a method or apparatus may include other steps or elements.
In the description of the present application, it is to be understood that the orientation or positional relationship indicated by the directional terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc., are generally based on the orientation or positional relationship shown in the drawings, and are used for convenience of description and simplicity of description only, and in the case of not making a reverse description, these directional terms do not indicate and imply that the device or element being referred to must have a particular orientation or be constructed and operated in a particular orientation, and therefore, should not be considered as limiting the scope of the present application; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.
Referring to fig. 1, fig. 1 is a schematic perspective view illustrating an emergency robot of a nuclear power plant according to an embodiment of the present invention. The emergency robot main body can be divided into a moving part and a detection assembly. The moving part can be tracked vehicle, and there are five pairs of bearing wheels 2 bottom, a pair of drive wheel 1 and a pair of guide pulley 3, can adopt monolithic formula track unit 4 to alternate to connect and form, and the automobile body each side respectively has five 304 stainless steel damping springs, totally ten damping springs, and relief fluctuation can all be followed to every bogie wheel 2, can effectively deal with the uncertainty on factory building ground under the accident situation. The box body 5 can be made of industrial aluminum alloy with the thickness of 2 mm, the length, the width and the height of 270 x 220 x 75 mm, and certain impact strength is achieved. The motion main control board of the robot can be a single chip microcomputer of STM32F103RCT6, and the motion sensor comprises an MPU9250, a three-axis gyroscope, a three-axis acceleration and a three-axis electronic compass. The motherboard may have a PS2 handle interface to support PS2 wireless handle manipulation. The staff can move through cell-phone APP long-range operation and control robot, surveys the factory building environment.
The detection part of the emergency robot comprises a camera 9, a temperature and humidity sensor 15 and a radiation detector. The camera 9 can realize visualization of the external driving environment of the emergency robot and realize a shooting function, the resolution of the lens is 1280 multiplied by 720, the visual angle is 340 degrees horizontally, the vertical angle is 105 degrees, the working temperature of the camera is-20 ℃ to 60 ℃, as the local environment temperature possibly exceeds the working temperature of the camera 9 (such as steam leakage of a steam turbine plant) under the accident condition, the camera 9 is connected to the push rod 8 and is positioned inside the box body before working, during working, the direct current driving motor 7 drives the push rod 8, the camera 9 is pushed out of the box body 5 through the lifting push rod 8, and then the environment is shot. The camera 9 can realize the storage function by wireless transmission of WIFI signals and simultaneously configuring a memory card, and the camera 9 is provided with two 850nm infrared light supplement lamps, has the night vision function and simultaneously supports the two-way transmission of sound, and can acquire an environmental sound source.
The temperature and humidity sensor 15 adopts an LKD-RMU-4437 temperature and humidity monitor, a lithium battery is adopted for standby for a long time, data are remotely transmitted to a terminal PC, a worker can monitor in real time, and the temperature measurement range is-40 ℃ to 100 ℃ with the error of +/-0.3 ℃; the humidity range is 0% -100%, and the error is +/-2%.
The radiation detector can realize real-time detection and wireless transmission of the ambient radiation quantity. The detector employs a J305 geiger counter tube 12 that can specifically detect the intensity of ionizing radiation (alpha particles, beta particles, gamma rays, and X-rays). The counting tube 12 can be a gas-filled tube or a small chamber as a probe, when the voltage applied to the probe reaches a certain range, every time the ray is ionized in the tube to generate a pair of ions, an electric pulse with the same size can be amplified and generated, the electric pulse is processed into a level signal by a circuit, the level signal becomes radiation dose after being processed by arduino, and the radiation dose is sent to a mobile phone end for receiving by Bluetooth. Therefore, the working personnel can know the environmental radiation dose in the factory building in real time.
The robot's tank 5 mainly provides a protective function. The innermost layer is a 6061T6 aluminum plate, the aluminum plate is externally provided with a heat insulation plate made of STP composite polyurethane, heat insulation can be effectively realized, the heat insulation plate is externally provided with a shielding coating, and the coating material can improve the corrosion resistance and the abrasion resistance of the surface of the robot under the normal atmosphere or corrosive medium environment, reduce the possibility of the surface being polluted by radioactive substances and improve the capability of removing the radioactive substances. The coating material is an inorganic zinc-rich coating and an epoxy coating, the density of the coating is respectively more than 3000kg/m3 and 1500kg/m3, and the coating can resist gamma irradiation dose of 1 x 109.
In the invention, the radiation detector and the temperature and humidity sensor are arranged on the outer wall of the box body.
In the invention, the circuit board 11 of the Geiger counter is an integrated electronic device, the J305 Geiger tube 12 is a radiation detection element on the circuit board, the circuit board processes radiation signals into level signals, the arduino nano development board 13 processes the level signals and converts the level signals into radiation dose values, and the radiation values are sent to the mobile phone end for receiving through the HC-06 Bluetooth module 14.
The embodiments described above are provided to enable persons skilled in the art to make or use the invention and that modifications or variations can be made to the embodiments described above by persons skilled in the art without departing from the inventive concept of the present invention, so that the scope of protection of the present invention is not limited by the embodiments described above but should be accorded the widest scope consistent with the innovative features set forth in the claims.
Claims (9)
1. An emergency robot of a nuclear power plant, characterized in that: the detector comprises a moving part and a detection assembly, wherein a detection element is arranged on the upper part of the moving part;
the moving part comprises a driving unit, a track unit, a driving wheel, bearing wheels and guide wheels, the driving wheel is arranged at the transverse first end of the track unit, the guide wheels are arranged at the transverse second end of the track unit, a plurality of bearing wheels which are transversely arranged are arranged between the driving wheel and the guide wheels on the track unit, and the driving unit drives the driving wheel to rotate; the emergency robot further comprises a box body, the detection assembly comprises a camera, a temperature and humidity sensor and a radiation detector, and the radiation detector and the temperature and humidity sensor are arranged on the outer wall of the box body;
the camera can extend out of the box body and then shoot an environment, the temperature and humidity sensor monitors the environment in real time, the humidity range is 0% -100%, and the error is +/-2%; the radiation detector can realize real-time detection of environmental radiation and wireless transmission to the mobile phone end for receiving.
2. The emergency robot of a nuclear power plant according to claim 1, characterized in that: the temperature and humidity sensor adopts an LKD-RMU-4437 temperature and humidity monitor, a lithium battery is adopted for standby for a long time, data are remotely transmitted to a terminal PC, and the temperature measurement range is-40 ℃ to 100 ℃ with the error of +/-0.3 ℃; the humidity range is 0% -100%, and the error is +/-2%.
3. The emergency robot of a nuclear power plant according to claim 1, characterized in that: the detector adopts a Geiger tube, and can detect the ionizing radiation intensity of alpha particles, beta particles, gamma rays and X rays.
4. The emergency robot of a nuclear power plant according to claim 3, characterized in that: the cover lattice tube is characterized in that an inflatable tube or a small chamber is used as a probe, when the voltage applied to the probe reaches a certain range, a pair of ions are generated by ionization of rays in the tube, an electric pulse with the same size can be amplified and generated, the electric pulse is processed into a level signal by a circuit, the level signal becomes radiation dose after being processed, and the radiation dose is sent to the mobile phone end for receiving by the Bluetooth module.
5. The emergency robot of a nuclear power plant according to claim 1, characterized in that: the box body provides a protection function, the innermost layer plate is an aluminum plate, a heat insulation plate is arranged outside the aluminum plate, and a shielding coating is arranged outside the heat insulation plate.
6. Of a nuclear power plant according to claim 5Emergent robot, its characterized in that: the heat insulation plate is made of STP composite polyurethane, the shielding coating is made of an inorganic zinc-rich coating and an epoxy coating, and the densities of the inorganic zinc-rich coating and the epoxy coating are respectively more than 3000kg/m3And 1500kg/m3。
7. The emergency robot of a nuclear power plant according to claim 1, characterized in that: the box body is arranged on the two crawler units at intervals, and the box body is arranged on the two crawler units at intervals.
8. The emergency robot of a nuclear power plant according to claim 1, characterized in that: the robot motion main control board and the motion sensor are also included; the main control board is provided with a PS2 handle interface and supports PS2 wireless handle control, and workers can remotely control the robot to move by using a mobile phone to detect the factory environment.
9. The emergency robot of a nuclear power plant according to claim 1, characterized in that: the camera is provided with two 850nm infrared light supplement lamps, has a night vision function, supports sound bidirectional transmission and can acquire an environmental sound source; and a plurality of damping springs are arranged on the crawler unit, and each loading wheel can adjust the upper position and the lower position along with the undulating terrain in the moving process.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010447841.2A CN111660304A (en) | 2020-05-25 | 2020-05-25 | Emergency robot of nuclear power plant |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010447841.2A CN111660304A (en) | 2020-05-25 | 2020-05-25 | Emergency robot of nuclear power plant |
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| CN111660304A true CN111660304A (en) | 2020-09-15 |
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| CN202010447841.2A Pending CN111660304A (en) | 2020-05-25 | 2020-05-25 | Emergency robot of nuclear power plant |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113311840A (en) * | 2021-05-28 | 2021-08-27 | 邵昱博 | Special feed tube inspection robot for broadcast transmitting machine room |
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| CN207509203U (en) * | 2017-09-30 | 2018-06-19 | 岭东核电有限公司 | Nuclear power plant environment monitoring robot |
| CN108313150A (en) * | 2018-01-03 | 2018-07-24 | 中广核核电运营有限公司 | Nuclear power station is met an urgent need land status checkout robot |
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Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101774170A (en) * | 2010-01-29 | 2010-07-14 | 华北电力大学 | Nuclear power plant working robot and control system thereof |
| CN106143657A (en) * | 2015-03-13 | 2016-11-23 | 西北农林科技大学 | A kind of crawler type detection multi-robot system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113311840A (en) * | 2021-05-28 | 2021-08-27 | 邵昱博 | Special feed tube inspection robot for broadcast transmitting machine room |
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Application publication date: 20200915 |
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