CN115890611A

CN115890611A - Nuclear power station iodine filter inspection robot

Info

Publication number: CN115890611A
Application number: CN202211441632.2A
Authority: CN
Inventors: 朱厚耀; 翁润庭; 朱大昌; 林港凯; 王亚东
Original assignee: Guangzhou University
Current assignee: Guangzhou University
Priority date: 2022-11-17
Filing date: 2022-11-17
Publication date: 2023-04-04

Abstract

The invention provides a nuclear power station iodine filter inspection robot which comprises a base, a moving device, a tail end lifting device, a conveying device, an external rubbing conveying device and a suction device, wherein the moving device is arranged at the bottom of the base; the tail end lifting device, the conveying device and the external rubbing conveying device are respectively arranged on the base, and the tail end lifting device, the conveying device and the external rubbing conveying device are sequentially arranged from front to back; the suction device is arranged on the tail end lifting device. The nuclear power station iodine filter inspection robot provided by the invention realizes the intelligentization of the nuclear power station iodine filter inspection, solves the problems of high labor intensity and high risk coefficient of manually recycling the iodine filter, reduces the manual labor intensity, improves the working efficiency and reduces the operation risk.

Description

Nuclear power station iodine filter inspection robot

Technical Field

The invention relates to the technical field of robots, in particular to a nuclear power station iodine filter inspection robot.

Background

In the nuclear reaction, nuclear fuel can fission a large amount of radioactive iodine, and the radioactive iodine is very easy to volatilize, so the radioactive iodine can be emitted to cause serious environmental pollution, and therefore, the nuclear power station adopts an iodine filter filled with a large amount of activated carbon to filter and adsorb radioactive iodine elements. The iodine filter for the nuclear power station has high adsorption efficiency, high active carbon content and high temperature resistance, but after a period of use, the adsorption capacity of the active carbon is weakened at different levels, the adsorption effect is reduced, and the iodine filter needs to be replaced at the moment.

The replacement of the iodine filter has an important value on the safety of the nuclear power station, however, the replacement of the iodine filter of the existing nuclear power station is usually completed by manual operation, and an operator needs to wear a paper cover, a paper cap, a plastic shoe cover and an iodine mask, take out the overdue iodine filter from a storage rack, transport the overdue iodine filter to the room door of the iodine filter, and then carry the iodine filter away through a special vehicle. Because the iodine filter weight that needs the transport is big, and operational environment is comparatively abominable, and the radiation risk is very high, and operating personnel's healthy is received harm easily, influences operating personnel's personal safety. Therefore, how to design a nuclear power station iodine filter inspection robot to replace manual operation has become a technical problem which needs to be solved urgently by technical personnel in the field.

Disclosure of Invention

The invention aims to provide a nuclear power station iodine filter inspection robot which can solve the problems of high labor intensity and high risk coefficient of manually recycling iodine filters, reduce the labor intensity of workers, improve the working efficiency and reduce the operation risk.

The invention provides a nuclear power station iodine filter inspection robot which comprises a base, a moving device, a tail end lifting device, a conveying device, an external rubbing conveying device and a suction device, wherein the moving device is arranged at the bottom of the base; the tail end lifting device, the conveying device and the external rubbing conveying device are respectively arranged on the base, and the tail end lifting device, the conveying device and the external rubbing conveying device are sequentially arranged from front to back; the suction device is arranged on the tail end lifting device.

According to the inspection robot for the iodine filter of the nuclear power station, the mobile device is arranged at the bottom of the base, so that the inspection robot can be driven to move integrally, and inspection work in the nuclear power station is realized; the tail end lifting device is arranged on the base, the suction device is arranged on the tail end lifting device, so that the height of the suction device can be adjusted, the suction device can be used for sucking and grabbing the iodine filter, and the iodine filter can be replaced; the conveying device is arranged on the base, so that the directional conveying of the iodine filter can be realized; the inspection robot can be effectively connected with an on-site iodine filter conveying line by arranging the external rubbing conveying device on the base, so that the iodine filter on the iodine filter conveying line can be transferred to the conveying device of the inspection robot through the external rubbing conveying device. Therefore, the inspection robot for the iodine filter of the nuclear power station can replace manual work to replace the iodine filter in the nuclear power station, effectively solves the problems of high labor intensity and high radiation risk of traditional manual inspection and iodine filter replacement, effectively reduces the labor intensity of manual work, ensures the health and safety of workers, reduces the operation risk and improves the working efficiency.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

FIG. 1 is a schematic structural diagram of a nuclear power station iodine filter inspection robot of the invention;

FIG. 2 is a schematic diagram of the installation of a travelling wheel in the iodine filter inspection robot of the nuclear power station;

FIG. 3 is a schematic view of the installation of a steering wheel in the iodine filter inspection robot of the nuclear power station;

FIG. 4 is a schematic structural diagram of a impurity removal guide rail in the iodine filter inspection robot of the nuclear power station;

FIG. 5 is a schematic structural diagram of a impurity removing device in the iodine filter inspection robot of the nuclear power station;

FIG. 6 is a top view structural diagram of the overturn preventing device in the iodine filter inspection robot of the nuclear power station;

FIG. 7 is an isometric view of an anti-rollover device in the nuclear power plant iodine filter inspection robot of the present invention;

FIG. 8 is a schematic structural diagram of a forward overturn prevention mechanism in the iodine filter inspection robot for the nuclear power station;

FIG. 9 is a schematic structural diagram of an external extension conveying device in the nuclear power station iodine filter inspection robot according to the invention;

FIG. 10 is a schematic structural diagram of a cloth rolling mechanism in the iodine filter inspection robot of the nuclear power station;

FIG. 11 is a schematic structural diagram of a conveying device in the nuclear power station iodine filter inspection robot according to the invention;

FIG. 12 is a schematic structural diagram of an ash prevention device in the iodine filter inspection robot of the nuclear power station according to the invention;

FIG. 13 is an isometric view of a terminal platform assembly of the nuclear power plant iodine filter inspection robot of the present invention;

FIG. 14 is a top view of a terminal platform assembly of the nuclear power plant iodine filter inspection robot of the present invention;

FIG. 15 is a schematic structural diagram of a rotary adjusting mechanism in the iodine filter inspection robot of the nuclear power station;

FIG. 16 is a schematic structural diagram of an absorption device in the inspection robot for the iodine filter of the nuclear power station;

fig. 17 is a schematic structural diagram of an absorption mechanism in the nuclear power station iodine filter inspection robot.

Description of reference numerals:

100: a mobile device; 200: a terminal lifting device; 300: a conveying device; 400: an external rubbing transmission device; 500: a suction device; 600: a impurity removing device; 700: an anti-toppling device; 800: an ash prevention device; 900: a terminal platform device;

1: a first stepper motor; 2: a first driven gear; 3: a travel wheel; 4: a first drive gear; 5: a first steering engine; 6: an ultrasonic sensor; 7: clearing the impurity rod; 8: an angle adjusting mechanism of the impurity removing rod; 9: a impurity removing rod rotating mechanism; 10: removing impurities by using a moving wheel; 11: cleaning the impurity guide rail; 12: a second stepping motor; 13: a guide bar; 14: a sliding platform; 15: laterally overturning-preventing the substrate; 16: a movable hinge rod; 17: a rotating plate; 18: a horizontal electric push rod; 19: a first vertical electric push rod; 20: a forward overturning prevention mechanism; 21: a finished automobile level meter; 22: a third step motor; 23: a coupling; 24: a screw rod; 25: a first slider; 26: a first guide rail; 27: rotating the sliding rack; 28: a fixed base; 29: a rotary base; 30: a first conveyor belt mechanism; 31: a bit block; 32: an elastic buffer ring; 33: a first direct current motor; 34: a side cloth rolling rod; 35: a second direct current motor; 36: a height cloth rolling rod; 37: a frame; 38: a movable cloth spreading rack; 39: an intermediate connection plate; 40: a second guide rail; 41: a second conveyor belt mechanism; 42: uploading a conveyor belt table; 43: a third conveyor belt mechanism; 44: a lower conveyor table; 45: a right rear electric telescopic supporting rod; 46: a right front electric telescopic supporting rod; 47: a left rear electric telescopic supporting rod; 48: a left front electric telescopic supporting rod; 50: a left lifting slide rail; 51: a second linear motor; 52: a right lifting slide rail; 53: a fifth stepping motor; 54: a camera; 55: a laser radar; 56: a fourth stepping motor; 57: a transmission gear; 58: rotating the disc; 59: a fourth conveyor belt mechanism; 60: a terminal platform; 61: a lifting platform; 62: a push rod is linked; 63: a terminal level; 64: a guide spool; 65: connecting blocks; 66: a mobile station; 67: an anti-collision block; 68: a lower hinge rod; 69: an active hinge rod; 70: a driven hinge lever; 71: an upper hinge rod; 72: a second driving gear; 73: a second driven gear; 74: a lower sucker; 75: a lower suction hole; 76: a third linear motor; 77: an upper sucker; 78: an upper air suction hole; 79: an upper suction plate turnover mechanism; 80: an upper suction plate rotating mechanism; 82: a fourth linear motor; 83: a second steering engine; 84: an isolation cover; 85: a steering wheel; 86: a chassis; 87: a base; 88: a first hinge lever; 89: a second hinge lever; 90: a third hinge rod; 91: a fourth hinge lever; 92: a lower suction plate; 93: an upper suction plate; 94: a suction device guide rail; 941: a first limit guide rail; 942: a second limit guide rail; 943: a third limit guide rail; 95: an electrically controlled winding rod; 96: a rolling screen spacer fabric; 97: a limiting chute; 98: and (7) mounting the plate.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations or positional relationships based on those shown in the drawings, merely for convenience of description and simplification of the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise. Furthermore, the terms "mounted," "connected," and "coupled" are to be construed broadly and may include, for example, fixed connections, removable connections, or integral connections; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

The following describes a specific embodiment of the iodine filter inspection robot for a nuclear power plant according to the present invention with reference to fig. 1 to 17.

As shown in fig. 1, the nuclear power plant iodine filter inspection robot according to the embodiment of the present invention includes a base 87, a moving device 100, a terminal lifting device 200, a conveying device 300, an external grinding conveying device 400, and a suction device 500, wherein the moving device 100 is installed at the bottom of the base 87. The end lifting device 200, the conveying device 300 and the external rubbing conveyer 400 are respectively installed on the base 87, and the end lifting device 200, the conveying device 300 and the external rubbing conveyer 400 are sequentially arranged from front to back. The suction device 500 is installed on the tip elevating device 200.

When the inspection robot is used, the moving device 100 is arranged at the bottom of the base 87, so that the inspection robot can be driven to move integrally, and inspection work of the inspection robot in a nuclear power station is realized. Through set up terminal elevating gear 200 on base 87, can realize the altitude mixture control to suction means 500 to can realize snatching the absorption of the iodine filter of co-altitude department through suction means 500, and then realize the change operation to the iodine filter. By providing the transport device 300 on the base 87, directional transfer of the iodine filter can be achieved. By arranging the external-rubbing conveying device 400 on the base 87, the inspection robot can be effectively connected with an on-site iodine filter conveying line, so that an iodine filter on the iodine filter conveying line can be transferred to the conveying device 300 of the inspection robot through the external-rubbing conveying device 400.

Therefore, the inspection robot for the iodine filter of the nuclear power station can replace manpower to replace the iodine filter in the nuclear power station, effectively solves the problems of high labor intensity and high radiation risk in the traditional manual inspection and iodine filter replacement, effectively reduces the labor intensity of the manpower, ensures the health and safety of workers, reduces the operation risk and improves the working efficiency.

As shown in fig. 2 and 3, in some embodiments of the present invention, the moving device 100 includes a first stepping motor 1, a first driving gear 4, a first driven gear 2, a traveling wheel 3, a first steering gear 5, a steering wheel 85, and a chassis 86, wherein a base 87 is fixedly installed above the chassis 86. The number of the traveling wheels 3 is two, two traveling wheels 3 are positioned at the rear end of the chassis 86, the number of the steering wheels 85 is two, and two steering wheels 85 are positioned at the front end of the chassis 86. The first stepping motor 1 and the first steering engine 5 are respectively and fixedly installed on the chassis 86, the first stepping motor 1 is installed on the chassis 86 at a position corresponding to the traveling wheels 3, and the first steering engine 5 is installed on the chassis 86 at a position corresponding to the steering wheels 85. First driving gear 4 fixed mounting is on the output shaft of first step motor 1, and two advancing wheels 3 are connected through the pivot, and first driven gear 2 fixed mounting is in advancing wheel 3's pivot, and first driving gear 4 is connected with the meshing of first driven gear 2. Can drive two travelling wheels 3 through first step motor 1 and rotate, and then drive the directive wheel 85 rotation of front end to the realization patrols and examines the global movement of robot. First steering wheel 5 is equipped with two, and two first steering wheel 5's pivot respectively with two directive wheel 85 fixed connection for control directive wheel 85 turns to, thereby realize patrolling and examining the steering motion of robot. That is, the inspection robot can smoothly run by the cooperative engagement of the traveling wheels 3 and the steering wheels 85.

This robot is patrolled and examined to nuclear power station iodine filter still includes controller (not shown in the figure), first step motor 1 and first steering wheel 5 respectively with controller electric connection, controller and remote terminal wireless connection. Can realize the remote control to first step motor 1 and first steering wheel 5 through the controller, and then realize patrolling and examining the remote control of robot running state, realize patrolling and examining the intelligent control of robot process of patrolling and examining.

As shown in fig. 2 and 3, in some embodiments of the present invention, the nuclear power plant iodine filter inspection robot further includes an ultrasonic sensor 6 mounted on the chassis 86, and the ultrasonic sensor 6 includes a plurality of first ultrasonic sensors disposed at a front end of the chassis 86 and a plurality of second ultrasonic sensors disposed at a rear end of the chassis 86. Wherein, each ultrasonic sensor 6 is respectively and electrically connected with the controller. Through ultrasonic sensor 6, can realize patrolling and examining the range finding of robot in the removal in-process and keep away the barrier to ensure patrolling and examining stable, the reliable operation of robot.

As shown in fig. 4 and 5, in some embodiments of the present invention, the nuclear power plant iodine filter inspection robot further includes an impurity removing device 600 for removing impurities from the detecting end of the ultrasonic sensor 6, the impurity removing device 600 includes an impurity removing rod 7, an impurity removing rod angle adjusting mechanism 8, an impurity removing rod rotating mechanism 9, an impurity removing moving wheel 10, an impurity removing guide rail 11, and a second stepper motor 12, wherein the impurity removing guide rail 11 is disposed on the lower surface of the base 87, the impurity removing guide rail 11 includes a front end guide rail, a rear end guide rail, and a connecting guide rail, the front end guide rail is disposed in front of the first ultrasonic sensor, the rear end guide rail is disposed behind the second ultrasonic sensor, and two ends of the connecting guide rail are vertically connected to the front end guide rail and the rear end guide rail, respectively, so that an i-shaped structure is formed between the front end guide rail, the connecting guide rail, and the rear end guide rail.

The impurity cleaning moving wheel 10 is arranged in the impurity cleaning guide rail 11 in a sliding mode, the second stepping motor 12 is in driving connection with the impurity cleaning moving wheel 10, the impurity cleaning moving wheel 10 can be driven to move along the impurity cleaning guide rail 11 through the second stepping motor 12, and therefore the second stepping motor 12 is driven to move along with the impurity cleaning moving wheel 10.

Wherein, a cleaning brush (not shown) is arranged on the impurity cleaning rod 7 and is used for cleaning the detection end of the ultrasonic sensor 6. The upper end of the impurity removing rod 7 is connected with the bottom of the impurity removing rod angle adjusting mechanism 8, the top of the impurity removing rod angle adjusting mechanism 8 is connected with the bottom of the impurity removing rod rotating mechanism 9, and the top of the impurity removing rod rotating mechanism 9 is connected with the bottom of the second stepping motor 12. That is, the swing angle of the impurity removing rod 7 can be adjusted by the impurity removing rod angle adjusting mechanism 8, so that the impurity removing rod 7 is close to or separated from the detection end of the ultrasonic sensor 6. The impurity cleaning rod 7 can be driven to rotate through the impurity cleaning rod rotating mechanism 9, so that the impurity cleaning rod 7 can rotate to clean the detection end of the ultrasonic sensor 6. Wherein, clear miscellaneous pole angular adjustment mechanism 8 can adopt swing motor, links to each other swing motor's output and the upper end of clear miscellaneous pole 7. The impurity removing rod rotating mechanism 9 can adopt a rotating motor, and the output end of the rotating motor is connected with the top of the swing motor.

Wherein, clear miscellaneous pole angle adjustment mechanism 8, clear miscellaneous pole rotary mechanism 9 and second step motor 12 respectively with controller electric connection, can control clear miscellaneous pole angle adjustment mechanism 8, clear miscellaneous pole rotary mechanism 9 and the operating condition of second step motor 12 respectively through the controller to control clear miscellaneous device 600 along the in-process of the orbit operation of clear miscellaneous guide rail 11, can clean each ultrasonic sensor 6's detection end respectively, thereby ensure each ultrasonic sensor 6's normal work.

As shown in fig. 6 to 8, in some embodiments of the present invention, the nuclear power plant iodine filter inspection robot further includes an overturn prevention device 700, the overturn prevention device includes two guide rods 13, two sliding platforms 14, four lateral overturn prevention base plates 15, two movable hinge rods 16, a rotating plate 17, a horizontal electric push rod 18, and four first vertical electric push rods 19, the two guide rods 13 are parallel to each other and fixedly installed at the middle of the upper surface of the chassis 86, and each guide rod 13 extends along the width direction of the chassis 86. One of the sliding platforms 14 is slidably connected to the first ends of the two guide rods 13, and the other sliding platform 14 is slidably connected to the second ends of the two guide rods 13. The rotating plate 17 is an elongated structure, and the rotating plate 17 is disposed between the two sliding platforms 14. The first ends of the two movable hinge rods 16 are respectively and correspondingly rotatably connected with the two ends of the rotating plate 17, and the second ends of the two movable hinge rods 16 are respectively and correspondingly and rotatably connected with the two sliding platforms 14. The horizontal electric push rod 18 extends along the width direction of the chassis 86, the fixed end of the horizontal electric push rod 18 is installed on the upper surface of the chassis 86, and the telescopic end of the horizontal electric push rod 18 is in driving connection with the lower surface of one of the sliding platforms 14. Two first vertical electric push rods 19 are respectively installed on each sliding platform 14, each first vertical electric push rod 19 is respectively arranged on one side, far away from the rotating plate 17, of each sliding platform 14, the telescopic end of each first vertical electric push rod 19 respectively penetrates through the corresponding sliding platform 14 to extend to the lower side of the chassis 86, and the telescopic end of each first vertical electric push rod 19 is respectively and fixedly connected with each lateral overturn-preventing base plate 15 correspondingly.

This anti-overturning device still includes two preceding mechanisms 20 that prevent overturning, and two preceding mechanisms 20 that prevent overturning are installed respectively in the left and right sides of base 87 front end, and each preceding mechanism 20 that prevent overturning all includes mount pad, the perpendicular electric putter of second and preceding anti-overturning plate, the stiff end and the mount pad fixed connection of the perpendicular electric putter of second, mount pad and base 87 fixed connection, the flexible end and the preceding anti-overturning base plate fixed connection of the perpendicular electric putter of second.

The horizontal electric push rod 18, each first vertical electric push rod 19 and each second vertical electric push rod are respectively electrically connected with the controller, and the controller can respectively control the working states of the horizontal electric push rod 18, each first vertical electric push rod 19 and each second vertical electric push rod, so that the overturn prevention device is controlled.

Because the ground of nuclear power station has materials such as carbon dust, can lead to ground more smooth and frictional force not enough, consequently guarantee to patrol and examine the security and the stability of robot in whole repacking working process through setting up the device of preventing overturning to guarantee to patrol and examine the robot and can not appear overturning and the problem of skidding in the repacking working process. When the robot that needs to patrol and examine carries out the repacking of iodine filter, start horizontal electric putter 18 to make two slip platforms 14 keep away from each other under the effect of rotor plate 17 and two articulated arms 16, thereby drive the base plate 15 that prevents toppling of corresponding side direction and remove to both sides, then start each perpendicular electric putter 19, for control each side direction prevents toppling base plate 15 and supports ground, thereby prevent toppling control to the left and right sides of patrolling and examining the robot. Meanwhile, each second vertical electric push rod is started to control each forward overturn-preventing plate to abut against the ground, so that overturn prevention control is performed on the front side of the inspection robot.

Through the cooperation of each preceding mechanism 20 and each side direction base plate 15 that prevents overturning to increase the frictional force of patrolling and examining robot and ground, prevent to patrol and examine the robot and change the dress in-process and take place to slide, prevent to change dress in-process focus simultaneously and change and lead to patrolling and examining the robot and take place to overturn. Through the cooperation of each first vertical electric push rod 19 and each sliding platform 14, the problem that the occupied space is large in the traditional anti-overturning structure can be solved, and the energy loss is reduced. Further, the lower surfaces of each forward-direction overturn prevention mechanism 20 and each lateral overturn prevention base plate 15 may be respectively provided as rough surfaces, thereby greatly increasing the grip force.

As shown in fig. 9, in some embodiments of the present invention, the external rubbing conveyor 400 includes a third stepping motor 22, a coupling 23, a screw 24, a first slide block 25, a first guide rail 26, a rotating carriage 27, a fixed base 28, a rotating base 29 and a first conveyor mechanism 30, wherein the fixed base 28 includes a left supporting seat and a right supporting seat, two ends of the rotating base 29 are respectively and rotatably connected to an upper end of the left supporting seat and an upper end of the right supporting seat, and an upper end of the first conveyor mechanism 30 is fixedly connected to the rotating base 29. That is, the first belt conveying mechanism 30 can be reversed between the upper end of the left support base and the right support base by the rotary base 29. The first belt conveyor mechanism 30 is a belt conveyor mechanism of the related art, and can realize belt conveyance of the iodine filter.

Wherein, the right side support seat is equipped with and is vertical to the first guide rail 26 that extends, and lead screw 24 sets up in first guide rail 26, and third step motor 22 sets up in the bottom of first guide rail 26, and the output shaft of third step motor 22 passes through shaft coupling 23 and lead screw 24's lower extreme fixed connection, and the upper end of lead screw 24 rotates with the top of first guide rail 26 and is connected. First sliding block 25 is equipped with the screw hole with lead screw 24 looks adaptation, and first sliding block 25 passes through the screw hole suit on lead screw 24, and first sliding block 25 and first guide rail 26 sliding fit. The first sliding block 25 is rotatably connected with the rotating sliding frame 27 through a connecting shaft, a limiting sliding groove 97 is arranged on one side of the rotating sliding frame 27 facing the first belt conveying mechanism 30, a second sliding block (not shown) is arranged on the right side of the first belt conveying mechanism 30, and the second sliding block is in sliding fit with the limiting sliding groove 97. That is, the screw rod 24 can be driven to rotate by the third stepping motor 22, so as to drive the first sliding block 25 to move up and down along the screw rod 24, and in the up-and-down moving process of the first sliding block 25, the first sliding block 25 is in sliding fit with the first guide rail 26, and simultaneously the first sliding block 25 drives the rotating carriage 27 to turn up and down, so that the first conveying belt mechanism 30 is driven to turn up and down under the sliding fit action of the second sliding block and the rotating carriage 27. When the first sliding block 25 moves from the bottom to the top of the screw rod 24, the first belt conveying mechanism 30 can be driven to turn from the vertical direction to the horizontal direction. Conversely, when the first sliding block 25 moves from the top to the bottom of the screw rod 24, the first belt conveying mechanism 30 can be driven to turn from the horizontal direction to the vertical direction.

Wherein, the lower end of the left side of the first conveyor belt mechanism 30 is provided with a clamping block 31, and the bottom of the left side supporting seat is provided with an elastic buffer ring 32 matched with the clamping block 31. By arranging the clamping block 31 and the elastic buffer ring 32, when the first conveyor belt mechanism 30 is overturned from the horizontal direction to the vertical direction, the overturning position of the first conveyor belt mechanism 30 can be limited, so that the clamping block 31 is in elastic contact with the elastic buffer ring 32, the overturning action of the first conveyor belt mechanism 30 is buffered, the damage to the first conveyor belt mechanism 30 is reduced, and the stability and the reliability of the overturning process of the first conveyor belt mechanism 30 are ensured.

When the first belt conveying mechanism 30 is turned over to the horizontal direction, it can be connected to the iodine filter conveying line on site, so that the new iodine filter on the iodine filter conveying line is transferred to the first belt conveying mechanism 30, and then is conveyed to the conveying device 300 through the first belt conveying mechanism 30. The external-expansion conveying device 400 adopting the structural form is used for an external goods conveying line, so that the space can be greatly saved, the flexibility of equipment is improved, the inclination angle precision and the stability of the first conveying belt mechanism 30 in overturning are also improved, the structural form can replace the traditional manual goods transferring, the additional access to an industrial line is not needed, and the time and the labor are saved.

The third stepping motor 22 and the first belt conveying mechanism 30 are electrically connected to the controller, and the controller can control the operating states of the third stepping motor 22 and the first belt conveying mechanism 30, so as to control the external grinding conveyor 400.

As shown in fig. 10 and 11, in some embodiments of the present invention, the conveying device 300 includes four electric telescopic support rods, a second conveying belt mechanism 41, an upper conveying belt table 42, a third conveying belt mechanism 43, a lower conveying belt table 44 and a cloth winding mechanism, the upper conveying belt table 42 is located above the lower conveying belt table 44, each electric telescopic support rod is respectively installed on the upper surface of the base 87, the telescopic end of each electric telescopic support rod is respectively fixedly connected with the upper conveying belt table 42, the second conveying belt mechanism 41 is installed on the upper conveying belt table 42, the third conveying belt mechanism 43 is installed on the lower conveying belt table 44, and the lower conveying belt table 44 is respectively correspondingly connected with the lower portion of each electric telescopic support rod. Wherein, the four electric telescopic support rods are respectively a right rear electric telescopic support rod 45, a right front electric telescopic support rod 46, a left rear electric telescopic support rod 47 and a left front electric telescopic support rod 48. That is, the height of the upper conveyor table 42 can be adjusted by the telescopic operation of each electric telescopic bracket rod so as to be matched with the terminal lifting device 200. Wherein, the second conveyor belt mechanism 41 and the third conveyor belt mechanism 43 adopt the conveyor belt mechanism of the prior art and are used for realizing the belt conveying of the iodine filter.

Wherein, batching mechanism installs and passes on table 42, batching mechanism includes frame 37 and portable draw cloth frame 38, frame 37 includes the left side support frame, right side support frame and upper portion support frame, left side support frame and right side support frame correspond fixed mounting and pass on the left and right sides of table 42, it installs side batching pole 34 to rotate respectively on left side support frame and the right side support frame, rotate on the upper portion support frame and install high batching pole 36, the lower extreme of each side batching pole 34 is connected with first direct current motor 33 drive respectively, the one end and the second direct current motor 35 drive of high batching pole 36 are connected. The movable cloth spreading frame 38 comprises a left cloth spreading frame and a right cloth spreading frame, side cloth spreading rods are respectively arranged on the left cloth spreading frame and the right cloth spreading frame, and a height cloth spreading rod is connected between the upper end of the left cloth spreading frame and the upper end of the right cloth spreading frame. The left side and the right side of the upper conveying belt table 42 are respectively provided with a second guide rail 40, the lower ends of the left side cloth spreading rack and the right side cloth spreading rack are respectively in corresponding sliding connection with the two second guide rails 40 through sliding blocks, and the sliding blocks are respectively in driving connection with a cloth spreading rack driving motor. That is, the movable type tenter frame 38 can be moved forward and backward along the second guide rail 40 by the tenter frame driving motor. Be connected with left side radiation protection cover cloth between the side granny rag pole of left side granny rag frame and the side batching pole 34 of left side support frame, be connected with right side radiation protection cover cloth between the side granny rag pole of right side granny rag frame and the side batching pole 34 of right side support frame, be connected with high radiation protection cover cloth between high batching pole 36 and high granny rag pole, can shelter from the protection to second conveyor means 41 through left side radiation protection cover cloth, right side radiation protection cover cloth and high radiation protection cover cloth. The expansion and collection work of the left radiation shield cloth, the right radiation shield cloth and the high radiation shield cloth can be realized by the back and forth movement of the movable type cloth spreading frame 38. By the rotation of each first dc motor 33, the left radiation shield cloth and the right radiation shield cloth can be automatically wound around the corresponding side cloth winding rods 34. By the rotation of the second dc motor 35, the high radiation protection cover cloth can be automatically wound around the high cloth winding bar 36.

From this, through setting up batching mechanism, can be according to actual use condition detachable installation radiation protection cover cloth, avoid iodine filter to be destroyed by strong radiation, scraped badly by the sand blown by the wind, scraped badly by the thing on the road of traveling when the operation, avoid iodine filter to be insolated simultaneously.

Wherein, the electric telescopic supporting rod, the second conveyor belt mechanism 41, the third conveyor belt mechanism 43, the first direct current motor 33, the second direct current motor 35 and the cloth drawing frame driving motor are respectively electrically connected with the controller, and the controller can respectively control the working states of the electric telescopic supporting rod, the second conveyor belt mechanism 41, the third conveyor belt mechanism 43, the first direct current motor 33, the second direct current motor 35 and the cloth drawing frame driving motor, thereby realizing the control of the conveying device 300.

As shown in fig. 2, 3 and 12, in some embodiments of the present invention, the nuclear power plant iodine filter inspection robot further includes two dust prevention devices 800 disposed on the base 87, wherein one dust prevention device 800 is disposed in front of the first ultrasonic sensor and the other dust prevention device 800 is disposed behind the second ultrasonic sensor. Each dustproof device 800 comprises a second steering engine 83, a separation cover 84, an electric control winding rod 95 and a rolling screen isolation cloth 96, the rolling screen isolation cloth 96 is wound on the electric control winding rod 95, and the electric control winding rod 95 is installed on the lower surface of the base 87, so that the rolling screen isolation cloth 96 can shield the corresponding ultrasonic sensor 6. The isolation cover 84 is arranged on the periphery of the roller shutter isolation cloth 96, the upper end of the isolation cover 84 is in driving connection with the second steering engine 83 through the turnover shaft, and the second steering engine 83 is installed on the base 87. Each second steering engine 83 and each electrically controlled winding rod 95 are electrically connected to the controller, respectively. The rolling and unrolling operation of the rolling screen isolation cloth 96 can be controlled through the electric control rolling rod 95, and when the rolling screen isolation cloth 96 is put down, a first-level shielding protection can be formed outside the ultrasonic sensor 6. The turning on and off of the isolation cover 84 can be controlled through the second steering engine 83, and when the isolation cover 84 is turned over and closed, a second-stage shielding protection can be formed outside the ultrasonic sensor 6. The isolation cover 84 and the rolling screen isolation cloth 96 are in a state of shielding the ultrasonic sensor 6 when the iodine filter of the nuclear power station is not used; when the nuclear power station iodine filter inspection robot is required to be in a working state, the rolling curtain isolation cloth 96 is folded upwards, the isolation cover 84 is turned over and opened, and the ultrasonic sensor 6 is ensured to be in a non-shielding state. When nuclear power station iodine filter patrols and examines robot and is in non-user state, through setting up dustproof device 800, can prevent that ultrasonic sensor 6 from falling the ash on the one hand, prevent better simultaneously that the sensor from arousing because of the collision damages, on the other hand can prevent that ultrasonic sensor 6 from receiving nuclear radiation for a long time and disturbing.

Wherein, second steering wheel 83 and automatically controlled winding rod 95 respectively with controller electric connection, can control second steering wheel 83 and automatically controlled winding rod 95's operating condition respectively through the controller to the realization is to dustproof device 800's control.

As shown in fig. 12, in some embodiments of the present invention, the nuclear power plant iodine filter inspection robot further includes an end platform assembly 900, and the end platform assembly 900 is disposed on the end elevating device 200. The terminal lifting device 200 includes a first linear motor (not shown), a left lifting slide rail 50, a second linear motor 51, a right lifting slide rail 52 and a lifting platform 61, the left lifting slide rail 50 and the right lifting slide rail 52 are respectively disposed at the left and right sides of the lifting platform 61 and near the position of the conveying device 300, the left and right sides of the lifting platform 61 are respectively provided with a limiting slide block, and the two limiting slide blocks are respectively in sliding fit with the left lifting slide rail 50 and the right lifting slide rail 52. The first linear motor and the second linear motor 51 are correspondingly installed on the left lifting slide rail 50 and the right lifting slide rail 52, and the left side and the right side of the lifting platform 61 are respectively and correspondingly and fixedly connected with the driving slide block of the first linear motor and the driving slide block of the second linear motor 51. That is, the first and second linear motors 51 can drive the elevating platform 61 to adjust the height thereof, and the end platform device 900 can be engaged with the second conveyor mechanism 41 or the third conveyor mechanism 43.

As shown in fig. 13 to 15, the terminal platform device 900 includes a terminal platform 60 and two rotation adjusting mechanisms, the two rotation adjusting mechanisms are disposed on the terminal platform 60 from front to back at intervals, the terminal platform 60 is disposed above the lifting platform 61, and four linkage push rods 62 are connected between the terminal platform 60 and the lifting platform 61. That is, the end platform 60 can be leveled by the respective link pushers 62, thereby ensuring that the end platform 60 is maintained in a horizontal state. Wherein, each linkage push rod 62 can adopt an electric push rod.

Each rotary adjusting mechanism comprises a rotary disc 58, a fourth stepping motor 56, a transmission gear 57 and a fourth conveyor belt mechanism 59, a circular mounting groove is formed in the upper end of the tail end platform 60, the rotary disc 58 is rotatably mounted in the circular mounting groove, and the upper surface of the rotary disc 58 is flush with the upper surface of the tail end platform 60. The fourth stepping motor 56 is installed on the end platform 60 at a position close to the rotary disk 58, and a motor installation groove for installing the fourth stepping motor 56 is provided on the end platform 60, and the motor installation groove is communicated with the circular installation groove. Outer ring teeth are provided on the outer peripheral surface of the rotary disk 58, a transmission gear 57 is fixedly mounted on the output shaft of the fourth stepping motor 56, the transmission gear 57 is engaged with the outer ring teeth of the rotary disk 58, and a fourth belt mechanism 59 is mounted on the rotary disk 58. Wherein, the fourth conveyor belt mechanism 59 adopts the conveyor belt mechanism of the prior art and is used for realizing the belt conveying of the iodine filter. That is, the rotation disc 58 can be driven by the fourth stepping motor 56 to perform rotation adjustment, so that the direction of the fourth conveyor mechanism 59 can be changed by the rotation disc 58, and the conveyance of the iodine filter can be realized by the fourth conveyor mechanism 59, thereby facilitating the suction transfer of the suction device 500.

The iodine filter transferred by the second transfer belt mechanism 41 of the transfer device 300 can be transferred to the fourth transfer belt mechanism 59 of the rotation adjusting mechanism located at the rear end, and then transferred to the fourth transfer belt mechanism 59 of the rotation adjusting mechanism located at the front end.

The first linear motor, the second linear motor 51, the linkage push rods 62, the fourth stepping motors 56 and the fourth conveyor belt mechanisms 59 are electrically connected with the controller respectively, and the controller can control the working states of the first linear motor, the second linear motor 51, the linkage push rods 62, the fourth stepping motors 56 and the fourth conveyor belt mechanisms 59 respectively, so that the lifting control of the lifting platform 61 and the control of the rotation adjusting mechanisms are realized.

As shown in fig. 13 and 14, a suction device guide 94 for limiting a movement track of the suction device 500 is provided on the end platform 60, and the suction device 500 can move along the suction device guide 94, thereby facilitating suction of the iodine filter at different positions. A plurality of guiding sliding columns 64 are further disposed on the end platform 60, the guiding sliding columns 64 extend along the length direction of the end platform 60, and the guiding sliding columns 64 are disposed on the same side of the suction device guide rail 94. Each guide sliding column 64 is respectively connected with the end platform 60 in a rotating manner, that is, each guide sliding column 64 can respectively rotate on the end platform 60, so that the iodine filter can be guided and limited in the process of conveying the iodine filter through the fourth conveyor belt mechanism 59.

Specifically, the suction device guide rail 94 includes first limit guide rail 941, second limit guide rail 942 and third limit guide rail 943, and first limit guide rail 941 is parallel to each other with second limit guide rail 942, and first limit guide rail 941 and second limit guide rail 942 are perpendicular with third limit guide rail 943 respectively to be connected, so that suction device guide rail 94 forms the F-shaped structure. Wherein, first limit guide 941 and second limit guide 942 all extend the setting along the width direction of terminal platform 60, and third limit guide 943 extends the setting along the length direction of terminal platform 60, and first limit guide 941 sets up the position department that is close to conveyor 300 on terminal platform 60, and second limit guide 942 sets up between two rotation regulation mechanisms.

As shown in fig. 13, 16 and 17, the suction device 500 includes a universal moving wheel, a moving stage 66, a mounting plate 98, a connecting block 65, a link transmission mechanism and a suction mechanism, the universal moving wheel is rotatably mounted at the bottom of the moving stage 66, and the universal moving wheel is in rolling fit with the suction device guide rail 94, so that the position of the suction device 500 along the suction device guide rail 94 is moved. Wherein the universal moving wheel is connected with a moving table driving motor, and the universal moving wheel can be driven to roll along the suction device guide rail 94 by the moving table driving motor. The mobile station driving motor is electrically connected with the controller, and the controller can control the working state of the mobile station driving motor, so that the control of the overall moving state of the suction device 500 is realized. Wherein, mounting panel 98 is vertical to setting up, and mounting panel 98 fixed mounting is in the top of mobile station 66, and connecting block 65 fixed mounting is in the one end bottom of suction means, and connecting rod drive mechanism connects between mounting panel 98 and connecting block 65.

Specifically, the link transmission mechanism includes a lower hinge rod 68, a driving hinge rod 69, a driven hinge rod 70, an upper hinge rod 71, a second driving gear 72, a second driven gear 73, a first hinge rod 88, a second hinge rod 89, a third hinge rod 90 and a fourth hinge rod 91, wherein the lower hinge rod 68 is fixedly mounted on one side of the mounting plate 98 through a connecting column, a lower end of the driving hinge rod 69 and a lower end of the driven hinge rod 70 are respectively hinged to two ends of the lower hinge rod 68, two ends of the upper hinge rod 71 are respectively hinged to an upper end of the driving hinge rod 69 and an upper end of the driven hinge rod 70, and thus a four-link structure is formed among the lower hinge rod 68, the driving hinge rod 69, the driven hinge rod 70 and the upper hinge rod 71. The fourth hinge rod 91 is fixedly installed on the connecting block 65, the lower end of the first hinge rod 88 and the lower end of the third hinge rod 90 are correspondingly hinged to the two ends of the fourth hinge rod 91, the upper end of the first hinge rod 88 and the upper end of the third hinge rod 90 are correspondingly hinged to the two ends of the second hinge rod 89, and therefore a four-bar linkage structure is formed among the first hinge rod 88, the second hinge rod 89, the third hinge rod 90 and the fourth hinge rod 91.

The second driving gear 72 is mounted at a position where the driving hinge rod 69 is connected to the upper hinge rod 71, the second driven gear 73 is mounted at a position where the first hinge rod 88 is connected to the second hinge rod 89, and the second driving gear 72 is engaged with the second driven gear 73. In order to ensure the reliability of the engagement connection between the second driving gear 72 and the second driven gear 73, the upper end of the driving hinge rod 69 and the upper end of the first hinge rod 88 are rotatably connected to the intermediate connection plate 39, respectively.

Wherein, the link transmission mechanism further includes a link driving motor (not shown), the link driving motor is installed on the mounting plate 98, and an output shaft of the link driving motor is connected with the lower end of the driving hinge rod 69 in a driving manner, so that the driving hinge rod 69 can be driven to swing back and forth, and in the process, the connecting block 65 can be driven to be far away from or close to the mounting plate 98, and further the suction mechanism can be extended outwards or retracted. The connecting rod driving motor is electrically connected with the controller, and the working state of the connecting rod driving motor can be controlled through the controller, so that the stretching or withdrawing control of the suction mechanism is realized.

Wherein, be equipped with anticollision piece 67 respectively in the front and back both sides of mobile station 66, anticollision piece 67 can adopt the block rubber to make the universal moving wheel drive mobile station 66 along the in-process that suction means guide rail 94 removed, thereby prevent that the border direct collision of mobile station 66 and suction means guide rail 94 from causing great impact to link drive mechanism and suction means, ensure the stability and the reliability of suction means 500 moving process.

Specifically, the suction mechanism includes a lower suction plate 92, an upper suction plate 93, two lower suction cups 74, two upper suction cups 77, an upper suction plate turning mechanism 79, and an upper suction plate rotating mechanism 80, the two lower suction cups 74 are provided correspondingly on the left and right sides of the lower suction plate 92, and the two lower suction cups 74 are provided correspondingly on the left and right sides of the upper suction plate 93. The left and right sides of the lower suction plate 92 are respectively provided with a third linear motor 76, and the two lower suction cups 74 are correspondingly mounted on the driving sliders of the two third linear motors 76 to drive the lower suction cups 74 to move up and down. Wherein, a plurality of lower suction holes 75 are arranged on the lower suction disc 74 in a circular ring shape, and the lower suction holes 75 are connected with a suction device through a suction pipeline for providing suction force to the iodine filter. The center of the lower suction cup 74 may be fixedly connected to an output shaft of a lower suction cup steering gear, so as to realize the rotation driving control of the lower suction cup 74, and the lower suction cup steering gear is fixedly mounted on the driving slider of the third linear motor 76.

Wherein, the top of the lower suction plate 92 is provided with a fourth linear motor 82, the upper suction plate rotating mechanism 80 is installed on the driving slider of the fourth linear motor 82, the upper suction plate turning mechanism 79 is installed on the upper suction plate rotating mechanism 80, and the upper suction plate 93 is installed on the upper suction plate turning mechanism 79. That is, the upper suction plate rotating mechanism 80, the upper suction plate reversing mechanism 79, and the upper suction plate 93 can be driven to horizontally move simultaneously by the fourth linear motor 82.

The upper suction plate rotating mechanism 80 may adopt a rotating motor, and the rotating motor is in driving connection with the upper suction plate turnover mechanism 79 to drive the upper suction plate turnover mechanism 79 and the upper suction plate 93 to rotate simultaneously. Wherein, the upper suction plate turnover mechanism 79 can adopt a turnover motor, and the turnover motor is connected with the upper suction plate 93 in a driving manner, so as to drive the upper suction plate 93 to turn over from top to bottom, and enable the upper suction plate 93 to turn over to a horizontal state or a vertical state. Wherein, a plurality of upper suction holes 78 are arranged on the upper suction cup 77 in a circular ring shape, and the upper suction holes 78 are connected with a suction device through a suction pipeline for providing suction force to the iodine filter. Wherein, can be with the output shaft fixed connection of the center of upper sucking disc 77 and upper sucking disc steering wheel to the realization is to the rotary drive control of upper sucking disc 77, this upper sucking disc steering wheel fixed mounting is on upper suction plate 93.

Wherein, the third linear electric motor 76, the fourth linear electric motor 82, the lower sucking disc steering gear, the upper sucking disc steering gear, upper sucking plate tilting mechanism 79, upper sucking plate rotary mechanism 80 and each air suction equipment respectively with controller electric connection, can control the operating condition of third linear electric motor 76, fourth linear electric motor 82, the lower sucking disc steering gear through the controller respectively, upper sucking plate steering gear, upper sucking plate tilting mechanism 79, upper sucking plate rotary mechanism 80 and each air suction equipment, thereby realize the control to absorbing the mechanism.

In some embodiments of the invention, the iodine filter inspection robot for the nuclear power plant further comprises a sensing device, the sensing device comprises a fifth stepping motor 53, a camera 54, a laser radar 55, a whole vehicle level gauge 21 and a tail end level gauge 63, and the laser radar 55 is fixedly installed at the top of the second steering engine 83. As shown in fig. 12, the fifth stepping motor 53 is fixedly installed at the front end of the bottom of the elevating platform 61, and the camera 54 is fixedly connected to the rotating shaft of the fifth stepping motor 53. The angle of the control camera 54 can be adjusted through the fifth stepping motor 53, so that the image information inside the iodine of the nuclear power station can be acquired more flexibly and accurately. Wherein the fifth stepping motor 53 and the camera 54 are both electrically connected to the controller. As shown in fig. 8, the whole vehicle level 21 is fixedly installed at the top of the base 87, and the levelness of the base 87 can be measured through the whole vehicle level 21, so that the whole vehicle level is matched with the overturn-preventing device 700, and the overturn of the inspection robot can be effectively prevented. As shown in fig. 13, the end level 63 is fixedly installed on the top of the lifting platform 61, and the levelness of the end platform 60 can be measured by the end level 63, and further, the end platform 60 can be ensured to be kept horizontal by being matched with the four linkage push rods 62. Wherein, the whole vehicle level meter 21 and the tail end level meter 63 are electrically connected with the controller.

The operating principle of the nuclear power station iodine filter inspection robot provided by the embodiment of the invention is as follows:

before the inspection work, the worker needs to mount a brand new iodine filter on the on-site iodine filter transportation line in advance, and then controls the third stepping motor 22 to start up, so that the first conveyor mechanism 30 is driven to turn over to the horizontal state by the turnover base 29, so that the first conveyor mechanism 30 is connected with the on-site iodine filter transportation line, so that the brand new iodine filter is transferred to the first conveyor mechanism 30, and then the first conveyor mechanism 30 is started up, so that the brand new iodine filter is transferred to the second conveyor mechanism 41 by using the conveyor belt of the first conveyor mechanism 30.

After the iodine filters on the first conveyor belt mechanism 30 are completely conveyed, the third stepping motor 22 is started, so that the first conveyor belt mechanism 30 is driven to be turned over to a vertical state through the turning base 29, and loading of a brand new iodine filter on the inspection robot is completed.

After the iodine filter is loaded and the turnover base station 29 is reset stably, the isolation cover 84 is controlled to turn over and open through the second steering engine 83, then the electric control winding rod 95 is started, the roller shutter isolation cloth 96 is retracted, and the isolation cover 84 and the roller shutter isolation cloth 96 do not shield the ultrasonic sensor 6 any more. Meanwhile, the first direct current motor 33, the second direct current motor 35 and the cloth-pulling frame driving motor are started, and the left radiation-proof cover cloth, the right radiation-proof cover cloth and the high radiation-proof cover cloth are respectively folded.

Treat left side radiation protection cover cloth, right side radiation protection cover cloth and high radiation protection cover cloth and packed up the back, start second step motor 12 to make clear miscellaneous device along clear miscellaneous guide rail 11 removal, thereby clean each ultrasonic sensor 6's detection mouth, thereby ensure that ultrasonic sensor 6 can not be because of on the levitate carbon dust accumulates ultrasonic sensor 6's detection mouth in the nuclear power station when using, ensure ultrasonic sensor 6's range finding precision, prolonged ultrasonic sensor 6's life moreover.

After each ultrasonic sensor 6 finishes removing impurities and interference, each ultrasonic sensor 6 is started for the inspection robot to make reasonable position adjustment when the robot is positioned, parked and the obstacle avoidance movement is carried out, so that the parking position for replacing the iodine filter is more reasonable. The fifth stepper motor 53 is activated for controlling the steering of the camera 54 for real-time, full-scale surveying of the terrain within the nuclear power plant and for routing inspection of the operational status of the iodine filter. Laser radar 55 is started, and point cloud information is formed through scanning, so that the working personnel can effectively judge the surrounding environment of the inspection robot. The whole car spirit level 21 work of start for detect the levelness of upper base 87, prevent to patrol and examine the robot and take place to empty in iodine filter when removing, collide even, make the security and the reliability of whole work of patrolling and examining higher. The tail end level gauge 63 is started to work and is used for being matched with each linkage push rod 62 to enable the tail end platform 60 to be kept horizontal, and high replacing precision is achieved in the replacing process of the iodine filter.

The inspection robot travels by moving the moving device 100. When the robot runs to a complex road condition, the unstable road condition in the running process can be detected through the whole vehicle level gauge 21, and at the moment, the lifting of four sides of the upper conveying belt table 42 can be adjusted in real time by adjusting the right rear electric telescopic supporting rod 45, the right front electric telescopic supporting rod 46, the left rear electric telescopic supporting rod 47 and the left front electric telescopic supporting rod 48, so that the inspection robot can be kept stable all the time in the running process, and the safety and the efficient reloading of the whole inspection work are further ensured.

When the workstation needing to be inspected is reached, the iodine filter is checked to see whether it needs to be replaced by the camera 54. During the viewing process, the height of the camera 54 can be adjusted by adjusting the height of the lifting platform 61, so that the camera 54 can view the states of the iodine filters at different heights.

If the iodine filter needs to be replaced, the lifting platform 61 is controlled to lift to a corresponding level, and each linkage push rod 62 is adjusted according to detection data of a tail end level 63 arranged at the top of the lifting platform 61, so that the tail end platform 60 is kept horizontal, the replacement process of the iodine filter is kept horizontal, and the iodine filter which cannot be used continuously can be horizontally transferred out.

Before transferring the iodine filter which can not be used, the overturn prevention device 700 is used for preventing the overturn of the inspection robot, so that the stability and the posture correction of the inspection robot during the reloading operation are ensured. After the overturn preventing device 700 is in position, the fourth stepping motor 56 is started to enable the rotating disc 58 to rotate, and after the rotating disc 58 rotates, the fourth stepping motor 56 stops working and the fourth conveyor belt mechanism 59 is started. Suction device 500 is then driven along suction device rail 94 to the operating position.

After the suction device 500 reaches the operation position, the link transmission mechanism is started to work, so as to drive the suction mechanism to extend towards the iodine filter workstation, and the lower suction plate 92 is positioned beside the iodine filter. Then, the third linear motor 76 is started to slide the lower suction cup 74 up and down, so as to adjust the up-and-down position of the lower suction cup 74, and at the same time, the lower suction cup 74 is driven to rotate, so as to adjust the suction pose of the lower suction cup 74 better, and at the same time, the suction device matched with the lower suction hole 75 is controlled to work, so that the lower suction cup 74 can suck the iodine filter better. The fourth linear motor 82 is then activated to bring the upper suction cup 77 into position. Then start upper suction plate tilting mechanism 79, make upper sucking disc 77 upset reach iodine filter's top, then start upper suction plate rotary mechanism 80 and finely tune upper sucking disc 77's angle for the upper suction hole 78 that sets up at upper sucking disc 77 can aim at iodine filter's suction position, control simultaneously and upper suction hole 78 matched with suction apparatus work, make the absorption iodine filter that upper sucking disc 77 can be better. The iodine filter will now be fully adsorbed on the suction means. The link mechanism is then activated again to retract the suction mechanism so that the iodine filter on the suction mechanism can be transferred to the fourth conveyor belt mechanism 59.

After the iodine filter is smoothly transferred to the fourth conveyor belt mechanism 59, the fourth conveyor belt mechanism 59 stops conveying, and then the fourth stepping motor 56 is started to drive the rotating disc 58 to rotate, so that the fourth conveyor belt mechanism 59 keeps the same direction with the third conveyor belt mechanism 43 on the lower conveyor belt table 44. The lifting platform 61 is then controlled by the first and second linear motors 51 to slide downward so that the fourth conveyor mechanism 59 on the end platform 60 is flush with the third conveyor mechanism 43 on the lower conveyor table 44. The fourth conveyor 59 and the third conveyor mechanism 43 are then activated to transfer the iodine filter, which cannot be used further, to the third conveyor mechanism 43.

After the iodine filter which can not be used continuously is conveyed to the third conveyor belt mechanism 43, the fourth conveyor belt mechanism 59 and the third conveyor belt mechanism 43 are stopped, and simultaneously the lifting platform 61 is controlled by the first linear motor and the second linear motor 51 to slide upwards, so that the fourth conveyor belt mechanism 59 on the tail end platform 60 is kept flush with the second conveyor belt mechanism 41 of the upper conveyor belt table 42. The second conveyor mechanism 41 and the fourth conveyor mechanism 59 are then activated to transport the new iodine filter onto the fourth conveyor mechanism 59 on the end platform 60. Because the end platform 60 is provided with the guiding slide 64, the new iodine filter will be transported along the guiding slide 64 to the fourth conveyor belt mechanism 59 on the end platform 60.

After the completely new iodine filter is conveyed to the fourth conveyor mechanism 59, the second conveyor mechanism 41 and the fourth conveyor mechanism 59 are stopped, and the fourth stepping motor 56 is started to rotate the rotating disk 58 by 90 degrees, so that the fourth conveyor mechanism 59 can keep the same direction as the station position of the iodine filter workstation. Then under the cooperation of the upper sucker 77, the lower sucker 74 and the connecting rod transmission mechanism, the brand new iodine filter can be replaced smoothly. After the reloading is completed, the fourth conveyor belt 59 is stopped, the upper suction cups 77 and the lower suction cups 74 are reset, and the anti-toppling device 700 is retracted. The cage 84 and the rolling screen spacer 96 are then repositioned.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and these modifications or substitutions do not depart from the spirit of the corresponding technical solutions of the embodiments of the present invention.

Claims

1. A nuclear power station iodine filter inspection robot is characterized by comprising a base (87), a moving device (100), a tail end lifting device (200), a conveying device (300), an external rubbing conveying device (400) and a suction device (500), wherein the moving device (100) is installed at the bottom of the base (87); the tail end lifting device (200), the conveying device (300) and the external rubbing conveying device (400) are respectively installed on the base (87), and the tail end lifting device (200), the conveying device (300) and the external rubbing conveying device (400) are sequentially arranged from front to back; the suction device (500) is installed on the end lifting device (200).

2. The nuclear power plant iodine filter inspection robot according to claim 1, wherein the moving device (100) comprises a first stepping motor (1), a first driving gear (4), a first driven gear (2), a traveling wheel (3), a first steering engine (5), a steering wheel (85) and a chassis (86), the first stepping motor (1) and the first steering engine (5) are fixedly installed on the chassis (86) respectively, and a base (87) is fixedly installed above the chassis (86); the steering wheel (85) is arranged at the front end of the chassis (86), and the travelling wheel (3) is arranged at the rear end of the chassis (86); the first driving gear (4) is fixedly arranged on an output shaft of the first stepping motor (1), the first driven gear (2) is fixedly arranged on a rotating shaft of the traveling wheel (3), and the first driving gear (4) is meshed and connected with the first driven gear (2); and a rotating shaft of the first steering engine (5) is fixedly connected with the steering wheel (85) and used for controlling the steering of the steering wheel (85).

3. The nuclear power plant iodine filter inspection robot according to claim 2, further comprising an ultrasonic sensor (6) and a controller mounted on the chassis (86), the ultrasonic sensor (6) including a first plurality of ultrasonic sensors disposed at a front end of the chassis (86) and a second plurality of ultrasonic sensors disposed at a rear end of the chassis (86); each ultrasonic sensor (6) is electrically connected with the controller, the first stepping motor (1) and the first steering engine (5) are electrically connected with the controller, and the controller is wirelessly connected with a remote terminal;

the impurity removing device comprises an impurity removing device (600) used for removing impurities and cleaning the detection end of the ultrasonic sensor (6), wherein the impurity removing device (600) comprises an impurity removing rod (7), an impurity removing rod angle adjusting mechanism (8), an impurity removing rod rotating mechanism (9), an impurity removing moving wheel (10), an impurity removing guide rail (11) and a second stepping motor (12), the impurity removing guide rail (11) is arranged on the lower surface of the base (87), the impurity removing guide rail (11) comprises a front end guide rail, a rear end guide rail and a connecting guide rail, the front end guide rail is positioned in front of the first ultrasonic sensor, the rear end guide rail is positioned behind the second ultrasonic sensor, and two ends of the connecting guide rail are respectively and vertically connected with the front end guide rail and the rear end guide rail so as to form an I-shaped structure among the front end guide rail, the connecting guide rail and the rear end guide rail; the impurity removing moving wheel (10) is arranged in the impurity removing guide rail (11) in a sliding mode, and the second stepping motor (12) is in driving connection with the impurity removing moving wheel (10); the upper end of the impurity removing rod (7) is connected with the bottom of the impurity removing rod angle adjusting mechanism (8), the top of the impurity removing rod angle adjusting mechanism (8) is connected with the bottom of the impurity removing rod rotating mechanism (9), and the top of the impurity removing rod rotating mechanism (9) is connected with the bottom of the second stepping motor (12); the impurity cleaning rod (7) is provided with a cleaning brush; the impurity removing rod angle adjusting mechanism (8), the impurity removing rod rotating mechanism (9) and the second stepping motor (12) are electrically connected with the controller respectively.

4. The nuclear power plant iodine filter inspection robot according to claim 3, further comprising an overturn prevention device (700), wherein the overturn prevention device comprises two guide rods (13), two sliding platforms (14), four lateral overturn prevention base plates (15), two movable hinge rods (16), a rotating plate (17), a horizontal electric push rod (18) and four first vertical electric push rods (19), the two guide rods (13) are parallel to each other and fixedly mounted in the middle of the upper surface of the chassis (86), and the guide rods (13) extend along the width direction of the chassis (86); one of the sliding platforms (14) is respectively connected with the first ends of the two guide rods (13) in a sliding manner, and the other sliding platform (14) is respectively connected with the second ends of the two guide rods (13) in a sliding manner; the rotating plate (17) is of a long strip structure, and the rotating plate (17) is arranged between the two sliding platforms (14); the first ends of the two movable hinge rods (16) are respectively and correspondingly and rotatably connected with the two ends of the rotating plate (17), and the second ends of the two movable hinge rods (16) are respectively and correspondingly and rotatably connected with the two sliding platforms (14); the horizontal electric push rod (18) extends along the width direction of the chassis (86), the fixed end of the horizontal electric push rod (18) is installed on the upper surface of the chassis (86), and the telescopic end of the horizontal electric push rod (18) is in driving connection with the lower surface of one of the sliding platforms (14); the sliding platforms (14) are respectively provided with two first vertical electric push rods (19), the first vertical electric push rods (19) are respectively arranged on one side, far away from the rotating plate (17), of the sliding platform (14), the telescopic ends of the first vertical electric push rods (19) respectively penetrate through the corresponding sliding platforms (14) and extend out to the lower side of the chassis (86), and the telescopic ends of the first vertical electric push rods (19) are respectively and correspondingly and fixedly connected with the lateral overturn-preventing base plates (15).

5. The nuclear power plant iodine filter inspection robot according to claim 1, wherein the outer rubbing conveyor (400) comprises a third stepping motor (22), a coupler (23), a screw rod (24), a first sliding block (25), a first guide rail (26), a rotating sliding frame (27), a fixed base (28), a rotating base (29) and a first conveyor belt mechanism (30), the fixed base (28) comprises a left supporting seat and a right supporting seat, two ends of the rotating base (29) are respectively and correspondingly and rotatably connected with the upper ends of the left supporting seat and the right supporting seat, and the upper end of the first conveyor belt mechanism (30) is fixedly connected with the rotating base (29); the right support seat is provided with a first guide rail (26) which vertically extends, the screw rod (24) is arranged in the first guide rail (26), the third stepping motor (22) is arranged at the bottom of the first guide rail (26), an output shaft of the third stepping motor (22) is fixedly connected with the lower end of the screw rod (24) through the coupler (23), and the upper end of the screw rod (24) is rotatably connected with the top of the first guide rail (26); the first sliding block (25) is provided with a threaded hole matched with the screw rod (24), the first sliding block (25) is sleeved on the screw rod (24) through the threaded hole, and the first sliding block (25) is in sliding fit with the first guide rail (26); the first sliding block (25) is rotatably connected with the rotating sliding frame (27) through a connecting shaft, a limiting sliding groove (97) is formed in one side, facing the first conveying mechanism (30), of the rotating sliding frame (27), a second sliding block is arranged on the right side of the first conveying mechanism (30), and the second sliding block is in sliding fit with the limiting sliding groove (97); the lower end of the left side of the first conveying belt mechanism (30) is provided with a clamping block (31), and the bottom of the left side supporting seat is provided with an elastic buffer ring (32) matched with the clamping block (31).

6. The nuclear power plant iodine filter inspection robot according to claim 1, wherein the conveying device (300) comprises four electric telescopic support rods, a second conveying belt mechanism (41), an upper conveying belt table (42), a third conveying belt mechanism (43), a lower conveying belt table (44) and a cloth rolling mechanism, the upper conveying belt table (42) is located above the lower conveying belt table (44), the electric telescopic support rods are respectively installed on the upper surface of the base (87), the telescopic ends of the electric telescopic support rods are respectively fixedly connected with the upper conveying belt table (42), the second conveying belt mechanism (41) is installed on the upper conveying belt table (42), the third conveying belt mechanism (43) is installed on the lower conveying belt table (44), and the lower conveying belt table (44) is respectively correspondingly connected with the lower portions of the electric telescopic support rods;

the cloth rolling mechanism is installed on the upper conveying belt table (42), the cloth rolling mechanism comprises a frame (37) and a movable cloth drawing frame (38), the frame (37) comprises a left side supporting frame, a right side supporting frame and an upper supporting frame, the left side supporting frame and the right side supporting frame are correspondingly and fixedly installed on the left side and the right side of the upper conveying belt table (42), side cloth rolling rods (34) are respectively installed on the left side supporting frame and the right side supporting frame in a rotating mode, a high cloth rolling rod (36) is installed on the upper supporting frame in a rotating mode, the lower end of each side cloth rolling rod (34) is respectively in driving connection with a first direct current motor (33), and one end of each high cloth rolling rod (36) is in driving connection with a second direct current motor (35); the movable cloth spreading frame (38) comprises a left cloth spreading frame and a right cloth spreading frame, side cloth spreading rods are respectively arranged on the left cloth spreading frame and the right cloth spreading frame, and a height cloth spreading rod is connected between the upper end of the left cloth spreading frame and the upper end of the right cloth spreading frame; second guide rails (40) are respectively arranged on the left side and the right side of the upper conveying belt table (42), and the lower ends of the left side cloth spreading frame and the right side cloth spreading frame are respectively in sliding connection with the two second guide rails (40) correspondingly.

7. The nuclear power plant iodine filter inspection robot according to claim 3, further comprising two ash prevention devices (800) disposed on the base (87), wherein one of the ash prevention devices (800) is disposed in front of the first ultrasonic sensor, and the other ash prevention device (800) is disposed behind the second ultrasonic sensor; each ash prevention device (800) comprises a second steering engine (83), a separation cover (84), an electric control winding rod (95) and a rolling screen separation cloth (96), the rolling screen separation cloth (96) is wound on the electric control winding rod (95), and the electric control winding rod (95) is installed on the lower surface of the base (87) so that the rolling screen separation cloth (96) can shield the corresponding ultrasonic sensor (6); the isolation cover (84) is arranged on the periphery of the roller shutter isolation cloth (96), the upper end of the isolation cover (84) is in driving connection with the second steering engine (83) through a turnover shaft, and the second steering engine (83) is installed on the base (87); each second steering engine (83) and each electric control winding rod (95) are electrically connected with the controller respectively.

8. The nuclear power plant iodine filter inspection robot according to claim 7, further comprising an end platform assembly (900), the end platform assembly (900) being disposed on the end lift assembly (200); the tail end lifting device (200) comprises a first linear motor, a left lifting slide rail (50), a second linear motor (51), a right lifting slide rail (52) and a lifting platform (61), the left lifting slide rail (50) and the right lifting slide rail (52) are respectively arranged on the left side and the right side of the lifting platform (61) and close to the conveying device (300), limiting slide blocks are respectively arranged on the left side and the right side of the lifting platform (61), and the two limiting slide blocks are respectively in corresponding sliding fit with the left lifting slide rail (50) and the right lifting slide rail (52); the first linear motor and the second linear motor (51) are correspondingly installed on the left lifting slide rail (50) and the right lifting slide rail (52), and the left side and the right side of the lifting platform (61) are respectively and correspondingly and fixedly connected with a driving slide block of the first linear motor and a driving slide block of the second linear motor (51);

the tail end platform device (900) comprises a tail end platform (60) and two rotary adjusting mechanisms, the two rotary adjusting mechanisms are respectively arranged on the tail end platform (60) from front to back, the tail end platform (60) is arranged above the lifting platform (61), and four linkage push rods (62) are connected between the tail end platform (60) and the lifting platform (61); each rotary adjusting mechanism comprises a rotary disc (58), a fourth stepping motor (56), a transmission gear (57) and a fourth conveyor belt mechanism (59), a circular mounting groove is formed in the upper end of the tail end platform (60), and the rotary disc (58) is rotatably mounted in the circular mounting groove; outer ring teeth are arranged on the peripheral surface of the rotating disc (58), the fourth stepping motor (56) is installed on the tail end platform (60), the transmission gear (57) is fixedly installed on an output shaft of the fourth stepping motor (56), and the transmission gear (57) is meshed with the outer ring teeth; the fourth conveyor mechanism (59) is mounted on the rotating disc (58).

9. The nuclear power plant iodine filter inspection robot according to claim 8, wherein a suction device guide rail (94) for limiting a movement track of the suction device (500) is provided on the end platform (60), a plurality of guide sliding columns (64) are further provided on the end platform (60), the plurality of guide sliding columns extend along the length direction of the end platform (60), and each guide sliding column is rotatably connected with the end platform (60);

the suction device (500) comprises universal moving wheels, a moving platform (66), a mounting plate (98), a connecting block (65), a connecting rod transmission mechanism and a suction mechanism, wherein the universal moving wheels are rotatably mounted at the bottom of the moving platform (66), the universal moving wheels are in rolling fit with the suction device guide rails (94), the mounting plate (98) is fixedly mounted on the moving platform (66), the connecting block (65) is fixedly mounted on the suction mechanism, and the connecting rod transmission mechanism is connected between the mounting plate (98) and the connecting block (65);

the connecting rod transmission mechanism comprises a lower hinged rod (68), a driving hinged rod (69), a driven hinged rod (70), an upper hinged rod (71), a second driving gear (72), a second driven gear (73), a first hinged rod (88), a second hinged rod (89), a third hinged rod (90) and a fourth hinged rod (91), the lower hinged rod (68) is fixedly installed on the installation plate (98), the lower end of the driving hinged rod (69) and the lower end of the driven hinged rod (70) are correspondingly hinged with the two ends of the lower hinged rod (68) respectively, and the two ends of the upper hinged rod (71) are correspondingly hinged with the upper end of the driving hinged rod (69) and the upper end of the driven hinged rod (70) respectively; the fourth hinged rod (91) is fixedly arranged on the connecting block (65), the lower end of the first hinged rod (88) and the lower end of the third hinged rod (90) are correspondingly hinged with the two ends of the fourth hinged rod (91) respectively, and the upper end of the first hinged rod (88) and the upper end of the third hinged rod (90) are correspondingly hinged with the two ends of the second hinged rod (89) respectively; the second driving gear (72) is installed at a position where the driving hinge lever (69) is connected with the upper hinge lever (71), the second driven gear (73) is installed at a position where the first hinge lever (88) is connected with the second hinge lever (89), and the second driving gear (72) is engaged with the second driven gear (73);

the suction mechanism comprises a lower suction plate (92), an upper suction plate (93), a lower suction cup (74), an upper suction cup (77), an upper suction plate turnover mechanism (79) and an upper suction plate rotating mechanism (80), wherein a third linear motor (76) is arranged on the lower suction plate (92), and the lower suction cup (74) is arranged on a driving slide block of the third linear motor (76) to drive the lower suction cup (74) to move up and down; a plurality of lower air suction holes (75) are annularly arranged on the lower sucker (74); a fourth linear motor (82) is arranged at the top of the lower suction plate (92), the upper suction plate rotating mechanism (80) is installed on a driving slide block of the fourth linear motor (82), the upper suction plate overturning mechanism (79) is installed on the upper suction plate rotating mechanism (80), and the upper suction plate (93) is installed on the upper suction plate overturning mechanism (79); a plurality of upper suction holes (78) are arranged in a circular shape on the upper suction cup (77).

10. The nuclear power plant iodine filter inspection robot according to claim 9, further comprising a sensing device, wherein the sensing device comprises a fifth stepping motor (53), a camera (54), a laser radar (55), a whole vehicle level gauge (21) and a tail end level gauge (63), and the laser radar (55) is fixedly mounted at the top of the second steering engine (83); the fifth stepping motor (53) is fixedly arranged at the front end of the bottom of the lifting platform (61), and the camera (54) is fixedly connected with a rotating shaft of the fifth stepping motor (53); the whole vehicle level meter (21) is fixedly arranged at the top of the base (87), and the tail end level meter (63) is fixedly arranged at the top of the lifting platform (61); the fifth stepping motor (53), the camera (54), the laser radar (55), the whole vehicle level gauge (21) and the tail end level gauge (63) are respectively electrically connected with the controller.