CN121043099A - Device and method for dismantling equipment in underground high-radiation place - Google Patents
Device and method for dismantling equipment in underground high-radiation placeInfo
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- CN121043099A CN121043099A CN202511160926.1A CN202511160926A CN121043099A CN 121043099 A CN121043099 A CN 121043099A CN 202511160926 A CN202511160926 A CN 202511160926A CN 121043099 A CN121043099 A CN 121043099A
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Abstract
一种拆除地下高辐射场所内设备的装置及方法，包括主承载移动平台、多级伸缩臂、作业机器人及拆解工具组；多级伸缩臂的一端安装于主承载移动平台上，另一端与作业机器人的一端连接，作业机器人的另一端通过快换装置安装拆解工具组。方法包括以下步骤：S1：多级伸缩臂向下伸缩，将作业机器人带至作业区域；S2：三维扫描仪负责对作业区域内的环境进行三维建模；S3：多级伸缩臂向上回收将作业机器人带回地面；S4：作业机器人通过快换装置更换吸取工具。本发明专利适用范围广，可为设备室及强辐射环境的核设施退役提供自动化作业机器人，减少人员受照剂量，加快退役进度。
An apparatus and method for dismantling equipment in underground high-radiation areas includes a main support mobile platform, a multi-stage telescopic arm, a working robot, and a dismantling tool set. One end of the multi-stage telescopic arm is mounted on the main support mobile platform, and the other end is connected to one end of the working robot. The other end of the working robot is equipped with the dismantling tool set via a quick-change device. The method includes the following steps: S1: The multi-stage telescopic arm extends downward, bringing the working robot to the work area; S2: A 3D scanner performs 3D modeling of the environment within the work area; S3: The multi-stage telescopic arm retracts upward, bringing the working robot back to the ground; S4: The working robot changes its suction tool via the quick-change device. This invention has a wide range of applications and can provide automated working robots for the decommissioning of nuclear facilities in equipment rooms and high-radiation environments, reducing personnel radiation exposure and accelerating the decommissioning process.
Description
Technical Field
The invention relates to the technical field of nuclear facility retirement management, in particular to a device and a method for dismantling equipment in an underground high-radiation place.
Background
In the retired treatment stage of nuclear facilities, a concrete shielding small chamber below a '0' plane is retired, demolished, cleaned up by waste and the like, the radiation level is high (the high point is about 20 mSv/h), a liquid raising device, a liquid feeding tank, a liquid filtering tank, a pipeline bundle and the like are arranged in a space, the arrangement of pipelines in an equipment room is relatively dense, the spacing between pipelines in each layer is generally 300-600 mm, the arrangement is complex, the operation space is limited (the size of the equipment room is 2.5X3X7.2 m), and the retired treatment stage is limited by the factors and has extremely high difficulty. According to the actual conditions of retired facilities and referring to the research and development experience of similar robots at home and abroad at present, the intelligent robot suitable for the retired of the underground equipment room of the nuclear facilities and the recovery of pit-type stored wastes in the strong radiation environment is developed by combining the demands of retired work in the future, and technical support is provided for solving the technical problems of retired of the underground equipment room of the strong radiation and recovery of pit-type wastes in the future.
At present, a common nuclear facility retirement treatment robot is generally of a crawler-type or wheel-type vehicle body structure, and a mechanical arm is arranged above a vehicle body to clamp various dismantling tools to execute different work tasks. The robot with the structure has higher requirement on the working space and is suitable for the operation in most areas. However, when the working area is located in the underground space, the structural robot cannot carry the related tools and equipment to the designated position, so that the related work is difficult to develop.
Disclosure of Invention
The invention aims to provide a device and a method for dismantling equipment in an underground high-radiation place aiming at retired requirements such as high radiation level, complex space arrangement, narrow operation space and the like of part of nuclear facilities to be retired.
The technical scheme of the invention is that the device for dismantling equipment in the underground high-radiation place comprises a main bearing moving platform, a multi-stage telescopic arm, an operation robot and a dismantling tool set;
One end of the multi-stage telescopic arm is arranged on the main bearing moving platform, the other end of the multi-stage telescopic arm is connected with one end of the working robot, and the other end of the working robot is provided with the disassembling tool set through the quick-change device.
The multistage telescopic arm is lifted through a cable, is powered by a hoisting servo motor, and is provided with a power-off protection function.
The top of the main bearing mobile platform is provided with a stay wire encoder, the stay wire encoder is connected with the top end of the multi-stage telescopic arm, and the stay wire encoder feeds back the lifting height of the multi-stage telescopic arm.
And a cable winding and unwinding wheel is arranged on the main bearing mobile platform, and cables are synchronously wound and unwound when the multi-stage telescopic arms are lifted.
The disassembling tool set comprises a shearing tool, a sawing tool, a plasma cutting gun, a suction tool and a three-dimensional scanner, the quick-changing device comprises a robot side part and a tool side part, the shearing tool, the sawing tool, the plasma cutting gun, the suction tool and the three-dimensional scanner are all connected with the robot side part through the tool side part, and the robot side part is connected with the operation robot.
The main bearing moving platform is provided with a tool rack, and tools in the disassembling tool set are all positioned on the tool rack.
The working robot comprises a main arm, a second working arm, a third working arm and a fourth working arm, wherein the left end of the main arm is connected with the multistage telescopic arm, the right end of the main arm penetrates through the annular fixing device and is connected with the second fixing device, a second rotating shaft is installed in the second fixing device, the other end of the second rotating shaft is connected with one end of the second working arm, the other end of the second working arm is connected with the third fixing device, one end of the third rotating shaft is installed in the third fixing device, the other end of the third rotating shaft is connected with the third working arm, the other end of the third working arm is connected with the fourth fixing device, the other end of the fourth working arm is connected with the fifth fixing device through the fourth rotating shaft, the fifth fixing device is provided with a fifth rotating shaft, the other end of the fifth rotating shaft is connected with the fifth working arm, the fifth working arm is connected with the sixth fixing device, and the sixth fixing device is connected with the robot side part of the quick-change device.
The working robot is provided with a camera A and a camera B, and the main bearing moving platform is provided with a camera.
A robot control system is also included that interacts with the work robot with data.
A method of demolishing equipment in an underground high emissivity site, comprising the steps of:
The method comprises the following steps that S1, a working robot installs and disassembles a three-dimensional scanner in a tool set through a quick change device, and a multi-stage telescopic arm stretches downwards to bring the working robot to a working area;
And S2, the three-dimensional scanner is responsible for three-dimensional modeling of the environment in the working area.
S3, the multi-stage telescopic arm is upwards recovered to bring the operation robot back to the ground, the operation robot is used for replacing a shearing tool, a sawing tool or a plasma cutting gun through a quick-change device, and then the operation robot is brought to an operation area through downwards telescopic of the multi-stage telescopic arm to disassemble a working object;
S4, the multistage telescopic arm is upwards recovered to bring the operation robot back to the ground, and the operation robot replaces a suction tool through a quick-change device to recover waste scattered on the ground.
The invention has the remarkable effects that the problems of decommissioning and waste cleaning of the concrete shielding small chamber below the '0' plane are solved, the decommissioning problems of high radiation level, complex space arrangement, narrow operation space and the like are solved, the operation radius and the walking radius of the concrete shielding small chamber are enlarged through the multistage telescopic arm 2 and the operation robot 3, the related operation position can be accurately reached under the condition that the underground space arrangement is complex and narrow, the hot spot can be accurately identified by the dismantling tool set, and the radiation level distribution diagram is obtained, so that the decommissioning dismantling work in the underground space is more efficiently carried out. The invention has wide application range, can provide an automatic operation robot for the retirement of nuclear facilities in equipment rooms and strong radiation environments, reduces personnel exposure dose and accelerates retirement progress.
Drawings
FIG. 1 is a schematic overall structure;
FIG. 2 is a schematic diagram of a robot;
FIG. 3 is a schematic view of the structure of a multi-stage telescopic arm;
FIG. 4 is a schematic view of a work robot;
FIG. 5 is a schematic diagram of the overall mechanism of the robot;
FIG. 6 is a schematic view of the configuration of the shear tool;
FIG. 7 is a schematic view of the arrangement of the sawing tool;
FIG. 8 is a schematic view of the arrangement of the plasma cutting gun;
FIG. 9 is a schematic view of the arrangement of the suction tool;
FIG. 10 is a schematic diagram of the setup configuration of the three-dimensional scanner;
In the figure, a main bearing moving platform 1, a multi-stage telescopic arm 2, a working robot 3, a disassembling tool set 4, a camera A6, a camera B7, a camera 8, a stay wire encoder 9 and a cable reel 10;
A tool holder 105;
a second rotation shaft 32 and a fifth rotation shaft 35;
A second fixture 302, a third fixture 303, a fourth fixture 304, a fifth fixture 305, a sixth fixture 306;
a main arm 310, a second arm 312, a third arm 313, a fourth arm 314, and a fifth arm 315;
a shearing tool 401, a sawing tool 402, a plasma cutting gun 403, a suction tool 404, a three-dimensional scanner 405;
A robot-side part 501, and a tool-side part 502.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. The present application may be embodied in many other forms than those herein described, and those skilled in the art will readily appreciate that the present application may be similarly embodied without departing from the spirit or essential characteristics thereof, and therefore the present application is not limited to the specific embodiments disclosed below.
The terminology used in the one or more embodiments of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the one or more embodiments of the application. As used in one or more embodiments of the application and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used in one or more embodiments of the present application refers to and encompasses any or all possible combinations of one or more of the associated listed items.
It should be understood that, although the terms first, second, etc. may be used in one or more embodiments of the application to describe various information, these information should not be limited by these terms. These terms are only used to distinguish one type of information from another. For example, a first may also be referred to as a second, and similarly, a second may also be referred to as a first, without departing from the scope of one or more embodiments of the application.
The following describes the specific technical content of the present invention with reference to the accompanying drawings;
the device and the method for dismantling equipment in the underground high-radiation place are shown in fig. 1, and comprise a main bearing moving platform 1, a multi-stage telescopic arm 2, a working robot 3 and a dismantling tool set 4.
One end of the multi-stage telescopic arm 2 is arranged on the main bearing moving platform 1, the other end of the multi-stage telescopic arm is connected with one end of the working robot 3, and the other end of the working robot 3 is connected with the quick-change device.
Specifically, as shown in fig. 2 and 3, the multi-stage telescopic arm 2 is a structure of a nested multi-stage telescopic cylinder wall, and the linear telescopic arm inside is driven to extend downwards by adopting an electric hoisting cable mode, so that the operation robot 3 is driven to descend.
Specifically, the multistage telescopic boom 2 is lifted through a cable, power is provided by a winch servo motor, the lifting height control precision of the multistage telescopic boom 2 is guaranteed, a power-off protection function is set, the original posture can be stably and effectively maintained in a power-off state, and the winch servo motor is controlled by central control indoor equipment to act.
Specifically, as shown in fig. 1, a wire encoder 9 is arranged at the top of the main bearing moving platform 1, and a wire end of the wire encoder 9 is connected with the top end of the multi-stage telescopic arm 2. The stay wire encoder 9 is connected with the central control indoor equipment and is used for feeding back the lifting height of the multi-stage telescopic boom 2, and the stay wire encoder is in redundant combination with a winch servo motor for driving the multi-stage telescopic boom 2, so that the lifting height control precision of the multi-stage telescopic boom 2 is ensured.
Specifically, as shown in fig. 1, two cable winding and unwinding wheels 10 are installed on the main bearing mobile platform 1, so that cables can be synchronously wound and unwound when the multi-stage telescopic arm 2 is lifted, the cables are prevented from being stretched under stress, and strong and weak cables are separately arranged on the left cable winding and unwinding wheels 10 and the right cable winding and unwinding wheels 10, so that communication signals are prevented from being interfered.
As shown in fig. 6-10, the disassembling tool set 4 comprises a shearing tool 401, a sawing tool 402, a plasma cutting gun 403, a suction tool 404 and a three-dimensional scanner 405, while the quick-change device comprises a robot side part 501 and a tool side part 502, wherein the shearing tool 401, the sawing tool 402, the plasma cutting gun 403, the suction tool 404 and the three-dimensional scanner 405 are all connected with the robot side part 501 through the tool side part 502, and the robot side part 501 is connected with the working robot 3, so that the working robot 3 is quickly connected with or disconnected from each end effector through the quick-change device.
Specifically, the main carrying mobile platform 1 is provided with a tool rack 105, and tools in the disassembling tool set 4 are all positioned on the tool rack 105;
Before or during a certain period of operation, the three-dimensional scanner 405 is responsible for three-dimensional modeling of the environment in the operation area and providing necessary environmental information for the subsequent operation of the operation robot 3, and in the operation, the shearing tool 401, the sawing tool 402 and the plasma cutting gun 403 are responsible for disassembling the working object, so that different working objects and process flows can be executed according to the characteristics of each tool type, and the high efficiency and high reliability of the operation process are realized.
Specifically, as shown in fig. 4 and 5, the working robot includes a main arm 310, a second working arm 312, a third working arm 313, and a fourth working arm 314, wherein the left end of the main arm 310 is connected to the multi-stage telescopic arm 2, the right end passes through the ring-shaped fixing device 301, and is connected to the second fixing device 302, the second rotating shaft 32 is installed in the second fixing device 302, the other end of the second rotating shaft 32 is connected to one end of the second working arm 312, the other end of the second working arm 312 is connected to the third fixing device 303, one end of the third rotating shaft is installed in the third fixing device 303, the other end of the third rotating shaft is connected to the third working arm 313, the other end of the third working arm 313 is connected to the fourth fixing device 304, and is connected to one end of the fourth working arm 314 through the fourth rotating shaft, the other end of the fourth working arm 314 is connected to the fifth fixing device 305, the fifth fixing device 305 has the fifth rotating shaft 35, the other end of the fifth rotating shaft 35 is connected to the fifth working arm 315, the fifth working arm 315 is connected to the sixth fixing device 306, and the sixth fixing device 306 is connected to the robot side portion 501 of the quick-change device.
Specifically, each working arm is arranged in parallel. The second pivot shaft 32, the third pivot shaft, and the fifth pivot shaft 35 are perpendicular to the respective work arms, and the fourth pivot shaft is parallel to the respective work arms.
In this embodiment, the working robot 3 is a six-axis robot developed for a large working range and a high load and light weight, and has a structure in which the operation is controlled by a central control room device in the prior art. The six-dimensional force sensor is arranged at the tail end of the robot working arm, so that the stress condition of the tail end can be measured in real time to carry out force feedback protection. When the end force feedback detection value is larger than a set threshold value (maximum 150 N.m), the force feedback alarm is triggered, and the system scram is triggered.
Specifically, as shown in fig. 4, in this embodiment, a camera A6 is provided on the work robot 3 near the ring-shaped fixing device 301, and a camera B7 is provided on the work robot 3 near the robot side portion 501 of the quick-change device. In this embodiment, the camera A6 and the camera B7 respectively communicate with the indoor equipment in the central control room. The camera A6 and the camera B7 are respectively used for observing the environment, the state and the position of the end effector so as to guide an operator to conduct remote control operation. The central control indoor display equipment is responsible for displaying the acquired real-time images and video information, and the operation terminal is used for operating, monitoring and managing the video data.
Specifically, as shown in fig. 1 and fig. 2, a plurality of cameras 8 for observing the motion condition of the robot above the ground and the equipment state in the environmental space are arranged on the bearing platform frame of the main bearing mobile platform 1, and the cameras 8 can be pan-tilt cameras or straight barrel cameras. In this embodiment, two pan-tilt cameras and two straight-barrel cameras are disposed on the supporting platform frame, and are respectively in video data communication with the central indoor equipment.
The robot control system is mainly used for carrying out data interaction with the robot system and comprises a robot operation instruction, a tool head manual operation instruction, a robot state data display, a robot ginseng number setting and the like, and the information processing system mainly comprises a point cloud data acquisition and modeling function, a digital twin system simulation function and a video monitoring function. And importing the one-site cloud data scanned by the three-dimensional laser scanner into three-dimensional modeling software of the three-dimensional laser scanner, and performing three-dimensional complementation and modeling on the point cloud data. The modeled file is imported into a digital twin system, a robot model is combined, a robot motion track is simulated according to the given target point position, key points on the track are issued to the robot system, and the robot system moves to the target point according to the key point information to perform corresponding operation actions. The video monitoring system collects video information of the operation site in real time and assists an operator to confirm operation.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the invention.
It should be noted that, for the sake of simplicity of description, the foregoing method embodiments are all expressed as a series of combinations of actions, but it should be understood by those skilled in the art that the present application is not limited by the order of actions described, as some steps may be performed in other order or simultaneously in accordance with the present application. Further, those skilled in the art will appreciate that the embodiments described in the specification are all preferred embodiments, and that the acts and modules referred to are not necessarily all required for the present application.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and for parts of one embodiment that are not described in detail, reference may be made to the related descriptions of other embodiments.
The preferred embodiments of the application disclosed above are intended only to assist in the explanation of the application. Alternative embodiments are not intended to be exhaustive or to limit the application to the precise form disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the application and the practical application, to thereby enable others skilled in the art to best understand and utilize the application.
Claims (10)
1. The device for dismantling equipment in the underground high-radiation place is characterized by comprising a main bearing moving platform (1), a multi-stage telescopic arm (2), a working robot (3) and a dismantling tool set (4);
One end of the multistage telescopic arm (2) is arranged on the main bearing moving platform (1), the other end of the multistage telescopic arm is connected with one end of the working robot (3), and the other end of the working robot (3) is provided with the disassembling tool set (4) through the quick-change device.
2. The device for dismantling equipment in an underground high-radiation place according to claim 1, wherein the multistage telescopic arm (2) is lifted through a cable, is powered by a hoisting servo motor and is provided with a power-off protection function.
3. The device for removing equipment in an underground high-radiation place according to claim 2, wherein a stay wire encoder (9) is arranged at the top of the main bearing moving platform (1), the stay wire encoder (9) is connected with the top end of the multi-stage telescopic arm (2), and the stay wire encoder (9) feeds back the lifting height of the multi-stage telescopic arm (2).
4. A device for dismantling equipment in underground high-radiation places according to claim 3 is characterized in that a cable reel (10) is arranged on the main bearing moving platform (1), and cables are synchronously reeled and unreeled when the multi-stage telescopic arm (2) is lifted.
5. An apparatus for demolishing equipment in a high irradiation field underground as claimed in claim 4, wherein the dismantling tool set (4) comprises a shearing tool (401), a sawing tool (402), a plasma cutting gun (403), a suction tool (404) and a three-dimensional scanner (405), and the quick change means comprises a robot side part (501) and a tool side part (502), and the shearing tool (401), the sawing tool (402), the plasma cutting gun (403), the suction tool (404) and the three-dimensional scanner (405) are all connected with the robot side part (501) through the tool side part (502), and the robot side part (501) is connected with the working robot (3).
6. An apparatus for removing equipment from underground high emissivity sites as claimed in claim 5, wherein the main load moving platform (1) has a tool rack (105) and the tools in the dismantling tool set (4) are all located on the tool rack (105).
7. The device for removing equipment in an underground high-emissivity site according to claim 6, wherein the working robot comprises a main arm (310), a second working arm (312), a third working arm (313) and a fourth working arm (314), wherein the left end of the main arm (310) is connected with a multi-stage telescopic arm (2), the right end passes through an annular fixing device (301) and is connected with a second fixing device (302), a second rotating shaft (32) is arranged in the second fixing device (302), the other end of the second rotating shaft (32) is connected with one end of the second working arm (312), the other end of the second working arm (312) is connected with a third fixing device (303), one end of the third rotating shaft is arranged in the third fixing device (303), the other end of the third rotating shaft is connected with the third working arm (313), the other end of the third working arm (313) is connected with a fourth fixing device (304), the other end of the fourth working arm (314) is connected with a fifth fixing device (305) through the fourth rotating shaft, the other end of the fifth working arm (314) is connected with a fifth fixing device (305), the other end of the fifth rotating shaft (35) is connected with the fifth rotating shaft (35), and the fifth rotating arm (35) is connected with the fifth fixing device (306) of the fifth working arm (315) is connected with the fifth working device (306).
8. The device for dismantling equipment in the underground high-radiation place is characterized in that a camera A (6) and a camera B (7) are arranged on a working robot (3), and a camera (8) is arranged on a main bearing moving platform (1).
9. The apparatus for removing equipment from an underground high emissivity site of claim 8, further comprising a robot control system that interacts with the work robot (3).
10. A method of demolishing equipment in an underground high emissivity site, using the apparatus of claim 9, characterized in that:
s1, installing and disassembling a three-dimensional scanner (405) in a tool set (4) by a working robot (3) through a quick-change device, and enabling a multistage telescopic arm (2) to extend downwards to bring the working robot (3) to a working area;
S2, the three-dimensional scanner (405) is responsible for three-dimensional modeling of the environment in the operation area;
S3, the multi-stage telescopic arm (2) is upwards recovered to bring the operation robot (3) back to the ground, the operation robot (3) is used for replacing a shearing tool (401), a sawing tool (402) or a plasma cutting gun (403) through a quick-change device, then the multi-stage telescopic arm (2) is downwards telescopic to bring the operation robot (3) to an operation area, and a work object is disassembled;
S4, the multistage telescopic arm (2) is upwards recovered to bring the operation robot (3) back to the ground, and the operation robot (3) replaces the suction tool (404) through the quick-change device to retrieve the waste scattered on the ground.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202511160926.1A CN121043099A (en) | 2025-08-19 | 2025-08-19 | Device and method for dismantling equipment in underground high-radiation place |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202511160926.1A CN121043099A (en) | 2025-08-19 | 2025-08-19 | Device and method for dismantling equipment in underground high-radiation place |
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| Publication Number | Publication Date |
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| CN121043099A true CN121043099A (en) | 2025-12-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202511160926.1A Pending CN121043099A (en) | 2025-08-19 | 2025-08-19 | Device and method for dismantling equipment in underground high-radiation place |
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| Country | Link |
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| CN (1) | CN121043099A (en) |
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- 2025-08-19 CN CN202511160926.1A patent/CN121043099A/en active Pending
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