CN120734991A - Sinking cylinder foreign matter detection pickup robot - Google Patents
Sinking cylinder foreign matter detection pickup robotInfo
- Publication number
- CN120734991A CN120734991A CN202511276463.5A CN202511276463A CN120734991A CN 120734991 A CN120734991 A CN 120734991A CN 202511276463 A CN202511276463 A CN 202511276463A CN 120734991 A CN120734991 A CN 120734991A
- Authority
- CN
- China
- Prior art keywords
- foreign matter
- matter detection
- mechanical arm
- sinking cylinder
- control terminal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a sinking cylinder foreign matter detection pickup robot, and relates to the technical field of foreign matter pickup robots. A sinking cylinder foreign matter detection pickup robot comprises a suspension mechanism and a fixed platform, wherein the fixed platform is suspended on the suspension mechanism, a plurality of electric push rods are arranged at intervals on the fixed platform, the electric push rods are horizontally arranged, an abutting block is arranged at the telescopic end of each electric push rod, a rotary platform is arranged at the bottom of the fixed platform, a mechanical arm is arranged at the bottom of the rotary platform, an electric clamping jaw of the mechanical arm is arranged on the mechanical arm, and the sinking cylinder foreign matter detection pickup robot further comprises a control terminal, and the electric push rods, the mechanical arm and the electric clamping jaw of the mechanical arm are all electrically connected with the control terminal. By adopting the invention, the robot can replace a worker to descend to the bottom of the sinking cylinder to check the foreign matter, and identify and grasp the foreign matter at the bottom of the sinking cylinder, thereby improving the working efficiency and the safety of the sinking cylinder in the foreign matter detection and pickup working process and reducing the working risk.
Description
Technical Field
The invention relates to the technical field of foreign matter pickup robots, in particular to a sinking cylinder foreign matter detection pickup robot.
Background
The nuclear power station in China is developed gradually and gradually, plays an important role in various industries, is one of main clean energy sources in China, and provides relatively stable base load power.
The construction of nuclear power plants and the inspection of related equipment require a lot of manpower and material resources, in addition, nuclear power plant staff can be arranged to work under various complex environments, especially for the foreign matters at the bottom of a CEX (condensate extraction system (Condensate Extraction System)) sinking cylinder, the staff is required to go down to the bottom of the CEX sinking cylinder to inspect the foreign matters, and the foreign matters at the bottom of the sinking cylinder are identified and grabbed, and the operation process is not only inefficient, but also has a certain potential safety hazard, and has high operation risk.
Disclosure of Invention
The invention aims to provide a sinking barrel foreign matter detection pickup robot, which can replace a worker to sink to the bottom of a sinking barrel to check the condition of the foreign matter and identify and grasp the foreign matter at the bottom of the sinking barrel, thereby improving the working efficiency and the safety of the sinking barrel foreign matter detection pickup working process and reducing the working risk.
The invention adopts the technical scheme that:
The embodiment of the application provides a sinking cylinder foreign matter detection pickup robot which comprises a suspension mechanism and a fixed platform, wherein the fixed platform is suspended on the suspension mechanism, a plurality of electric push rods are arranged at intervals on the fixed platform, the electric push rods are horizontally arranged, a telescopic end of each electric push rod is provided with a butt block, a rotary platform is arranged at the bottom of the fixed platform, a mechanical arm is arranged at the bottom of the rotary platform, a mechanical arm electric clamping jaw is arranged at the mechanical arm, and the sinking cylinder foreign matter detection pickup robot further comprises a control terminal, and the electric push rods, the mechanical arm and the mechanical arm electric clamping jaw are electrically connected with the control terminal.
Further, in some embodiments of the present invention, the fixed platform is provided with a rotary driving motor, the rotary driving motor is vertically arranged, the rotary platform is arranged on a transmission shaft of the rotary driving motor, and the rotary driving motor is electrically connected with the control terminal.
Further, in some embodiments of the present invention, a pressure sensor is disposed at an end of the abutment block away from the electric putter, and the pressure sensor is electrically connected to the control terminal.
Further, in some embodiments of the present invention, the stationary platform is provided with a distance sensor, which is electrically connected to the control terminal.
Further, in some embodiments of the present invention, an angle sensor is disposed at the bottom of the rotary platform, and the angle sensor is electrically connected to the control terminal.
Further, in some embodiments of the present invention, a dual-axis tilt sensor is disposed at the bottom of the rotating platform, and the dual-axis tilt sensor is electrically connected to the control terminal.
Further, in some embodiments of the present invention, a binocular camera is disposed at the bottom of the rotary platform, and the binocular camera is electrically connected to the control terminal.
Further, in some embodiments of the present invention, a foreign matter receiving box is provided at the bottom of the rotating platform.
Further, in some embodiments of the present invention, the suspension mechanism includes a moving vehicle body and a suspension mount provided to the moving vehicle body, the suspension mount being provided with a hoist, and the fixed platform being suspended from a hoist rope.
Further, in some embodiments of the invention, the movable vehicle body is rotatably provided with two mounting shafts which are arranged at intervals and vertically, the two mounting shafts are provided with auxiliary supporting arms and first bevel gears, the movable vehicle body is provided with two auxiliary supporting driving motors, the transmission shafts of the auxiliary supporting driving motors are provided with second bevel gears, and the second bevel gears are meshed with the first bevel gears.
Compared with the prior art, the embodiment of the invention has at least the following advantages or beneficial effects:
The embodiment of the invention provides a sinking cylinder foreign matter detection pickup robot which comprises a suspension mechanism and a fixed platform, wherein the fixed platform is suspended on the suspension mechanism, a plurality of electric push rods are arranged at intervals on the fixed platform, the electric push rods are horizontally arranged, a telescopic end of each electric push rod is provided with a butt block, a rotary platform is arranged at the bottom of the fixed platform, a mechanical arm is arranged at the bottom of the rotary platform, a mechanical arm electric clamping jaw is arranged at the mechanical arm, and the sinking cylinder foreign matter detection pickup robot further comprises a control terminal, and the electric push rods, the mechanical arm and the mechanical arm electric clamping jaw are electrically connected with the control terminal. The robot can replace a worker to descend to the bottom of the sinking cylinder to check the condition of the foreign matters, and can identify and grasp the foreign matters at the bottom of the sinking cylinder, so that the operation efficiency is improved, the safety of the sinking cylinder in the foreign matter detection and pickup working process is improved, and the operation risk is reduced.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of a robot according to an embodiment of the present invention;
FIG. 2 is a schematic view of a top portion of a fixed platform according to an embodiment of the present invention;
FIG. 3 is a schematic view of a structure of a bottom of a fixed platform according to an embodiment of the present invention;
Fig. 4 is a schematic structural view of a suspension mechanism according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of an auxiliary support arm according to an embodiment of the present invention.
The icons comprise a 1-fixed platform, a 2-mechanical arm, a 3-mechanical arm electric clamping jaw, a 4-rotating platform, a 5-rotating driving motor, a 6-electric push rod, a 7-abutting block, an 8-pressure sensor, a 9-distance sensor, a 10-angle sensor, an 11-double-shaft inclination sensor, a 12-binocular camera, a 13-foreign matter storage box, a 14-moving car body, a 15-hanging fixing frame, a 16-winch, a 17-lifting rope, an 18-auxiliary supporting arm, a 19-mounting rotating shaft, a 20-first conical gear, a 21-auxiliary supporting driving motor, a 22-second conical gear and a 23-moving wheel.
Detailed Description
Embodiments of the present application will be described in detail below with reference to the accompanying drawings in which embodiments of the present application are shown.
Examples
Referring to fig. 1-5, the embodiment provides a robot for detecting and picking up foreign matters in a sinking cylinder, which comprises a suspension mechanism and a fixed platform 1, wherein the fixed platform 1 is suspended on the suspension mechanism, a plurality of electric push rods 6 are arranged at intervals on the fixed platform 1, the electric push rods 6 are horizontally arranged, abutting blocks 7 are arranged at telescopic ends of the electric push rods 6, and the number of the electric push rods 6 in the embodiment is four and distributed in a rectangular shape as shown in fig. 2.
The mechanical arm comprises a fixed platform 1, a mechanical arm 2, an electric clamping jaw 3, a control terminal, an electric push rod 6, the mechanical arm 2 and the mechanical arm electric clamping jaw 3, wherein the bottom of the fixed platform 1 is provided with a rotary platform 4, the bottom of the rotary platform 4 is provided with the mechanical arm 2, and the mechanical arm 2 is provided with the mechanical arm electric clamping jaw 3. The mechanical arm 2 and the mechanical arm electric clamping jaw 3 of the embodiment adopt the existing products, for example, the mechanical arm 2 can adopt a mechanical arm with the model of you ao UR3e, and the control terminal of the embodiment can adopt a processor or control equipment with processing functions such as a computer.
The fixed platform 1 is provided with a rotary driving motor 5, the rotary driving motor 5 is vertically arranged, the rotary platform 4 is arranged on a transmission shaft of the rotary driving motor 5, and the rotary driving motor 5 is electrically connected with a control terminal. The rotation driving motor 5 is used to drive the rotation platform 4 to rotate in the horizontal direction to adjust the position of the robot arm 2.
In some embodiments, the end of the abutment block 7 remote from the electric push rod 6 is provided with a pressure sensor 8, the pressure sensor 8 being electrically connected to the control terminal. The fixed platform 1 is provided with a distance sensor 9, and the distance sensor 9 is electrically connected with the control terminal. The pressure sensor 8 is used for detecting the extrusion force between the abutting block 7 and the side wall of the sinking cylinder when in use, and the distance sensor 9 is used for detecting the distance of the robot in the sinking cylinder.
In some embodiments, the bottom of the rotary platform 4 is provided with an angle sensor 10, and the angle sensor 10 is electrically connected to a control terminal. The bottom of the rotary platform 4 is provided with a double-shaft inclination angle sensor 11, and the double-shaft inclination angle sensor 11 is electrically connected with a control terminal. The bottom of the rotary platform 4 is provided with a binocular camera 12, and the binocular camera 12 is electrically connected with a control terminal. The bottom of the rotary platform 4 is provided with a foreign matter storage box 13.
When in actual use, the suspension mechanism is positioned outside the top end of the sinking barrel, the robot with the fixed platform 1 is integrally suspended into the sinking barrel through the suspension mechanism, and the robot is integrally driven to ascend and descend in the sinking barrel through the suspension mechanism. When the robot reaches the target position of the sinking cylinder, each electric push rod 6 is started, each abutting block 7 is stretched and pushed to move towards the inner side wall of the sinking cylinder until each abutting block 7 is tightly abutted against the inner side wall of the sinking cylinder, after the pressure value detected by the pressure sensor 8 reaches the preset pressure value, the electric push rod 6 is stopped, and at the moment, the robot can stably stop at the target position of the sinking cylinder.
Then the rotary driving motor 5 drives the rotary platform 4 to rotate in the horizontal direction so as to adjust the position of the mechanical arm 2, meanwhile, the angle sensor 10 accurately judges the rotation angle of the rotary platform 4, the double-shaft inclination sensor 11 judges whether the rotary platform 4 keeps horizontal to finish rotation, the accuracy of the movement of the mechanical arm 2 is ensured, and the binocular camera 12 shoots and detects the foreign matters of the sinking cylinder. Finally, after the foreign matter is detected by the sinking barrel foreign matter detection pickup robot, the mechanical arm 2, the mechanical arm electric clamping jaw 3 and the rotary platform 4 are mutually matched to move to pick up the foreign matter at the bottom of the sinking barrel, and the picked-up foreign matter can be placed in the foreign matter storage box 13. After the foreign matter is picked up, the electric push rod 6 is shortened, and then the robot is lifted out of the sinking cylinder through the suspension mechanism. The sinking cylinder foreign matter detection pickup robot provided by the application can replace a worker to descend to the bottom of the sinking cylinder to check the foreign matter condition, and identify and grasp the foreign matter at the bottom of the sinking cylinder, so that the working efficiency and the safety of the sinking cylinder foreign matter detection pickup working process are improved, and the working risk is reduced.
As shown in fig. 1 to 5, in some embodiments, the suspension mechanism includes a moving vehicle body 14 and a suspension mount 15 provided to the moving vehicle body 14, the suspension mount 15 being provided with a hoist 16, and the fixed platform 1 being suspended from a suspension rope 17 of the hoist 16. The lifting rope 17 can be driven to move through the winch 16, so that the robot can be pulled to ascend and descend through the lifting rope 17, and the operation is convenient.
As shown in fig. 1 to 5, in some embodiments, the moving vehicle body 14 is rotatably provided with two mounting shafts 19, the two mounting shafts 19 are spaced and vertically arranged, the two mounting shafts 19 are provided with an auxiliary supporting arm 18 and a first bevel gear 20, one end of the auxiliary supporting arm 18 away from the mounting shaft 19 is provided with a moving wheel 23, the moving vehicle body 14 is provided with two auxiliary supporting driving motors 21, a transmission shaft of each auxiliary supporting driving motor 21 is provided with a second bevel gear 22, and the second bevel gear 22 is meshed with the first bevel gear 20.
According to the invention, as shown in fig. 1 and 4, the auxiliary support arms 18 and the auxiliary support driving motor 21 are arranged, when in use, the second bevel gear 22 can be driven by the auxiliary support driving motor 21, and the first bevel gear 20 and the mounting rotating shaft 19 are driven to rotate by the second bevel gear 22, so that the two auxiliary support arms 18 can be rotated and unfolded for auxiliary support, and the stability of the suspended robot is improved.
In addition, unless explicitly stated or limited otherwise, in embodiments of the application, the terms "mounted" and "connected" should be interpreted broadly, for example, the terms "connected" and "connected" may be either a removable connection or a non-removable connection, or may be a direct connection or an indirect connection via an intermediary. If the terms "upper," "lower," "left," "right," "inner," "outer," "side," and the like are used in a direction referring to the drawings or to an orientation in which the product is conventionally used, they are merely used in order to clearly describe the present application, and do not indicate or imply that the apparatus or element being referred to must have a specific orientation, be constructed and operated in a specific orientation, and are not to be construed as limiting the present application. The terms "first," "second," and the like are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance, and "a plurality" refers to at least two. In the embodiments of the present application, the definitions of the positional relationship, such as parallel, perpendicular, and Ji Dengxiang, are all made with respect to the state of the art, not strictly defined, allowing for small deviations, approximately parallel, approximately perpendicular, approximately aligned, etc. For example, a is parallel to B, meaning that a is parallel or approximately parallel to B, and the angle between a and B may be between 0 degrees and 10 degrees.
The foregoing is merely a part of examples and implementation manners of the present application, and the protection scope of the present application is not limited thereto, and the examples and features in the examples may be combined with each other without conflict, any combination of features in different examples is also within the protection scope of the present application, and any changes or substitutions that are easily conceivable by those skilled in the art within the technical scope of the present application are intended to be covered in the protection scope of the present application.
Claims (10)
1. The sinking cylinder foreign matter detection pickup robot is characterized by comprising a suspension mechanism and a fixed platform, wherein the fixed platform is suspended on the suspension mechanism, a plurality of electric push rods are arranged on the fixed platform at intervals, the electric push rods are horizontally arranged, an abutting block is arranged at the telescopic end of each electric push rod, a rotating platform is arranged at the bottom of the fixed platform, a mechanical arm is arranged at the bottom of the rotating platform, an electric clamping jaw of the mechanical arm is arranged on the mechanical arm, and the sinking cylinder foreign matter detection pickup robot further comprises a control terminal, and the electric push rods, the mechanical arm and the electric clamping jaw of the mechanical arm are electrically connected with the control terminal.
2. The sinking cylinder foreign matter detection pickup robot according to claim 1, wherein the fixed platform is provided with a rotary driving motor, the rotary driving motor is vertically arranged, the rotary platform is arranged on a transmission shaft of the rotary driving motor, and the rotary driving motor is electrically connected with the control terminal.
3. The sinking cylinder foreign matter detection pickup robot of claim 1, wherein a pressure sensor is arranged at one end of the abutting block far away from the electric push rod, and the pressure sensor is electrically connected with the control terminal.
4. The heavy section of thick bamboo foreign matter detection pickup robot of claim 1, wherein the fixed platform is equipped with distance sensor, distance sensor with control terminal electricity is connected.
5. The sinking cylinder foreign matter detection pickup robot of claim 1, wherein an angle sensor is arranged at the bottom of the rotary platform and is electrically connected with the control terminal.
6. The heavy section of thick bamboo foreign matter detection pickup robot of claim 1, wherein be equipped with biax inclination sensor in rotary platform bottom, biax inclination sensor is connected with the control terminal electricity.
7. The heavy section of thick bamboo foreign matter detection pickup robot of claim 1, wherein be equipped with binocular camera in rotary platform bottom, binocular camera with control terminal electricity is connected.
8. The heavy section of thick bamboo foreign matter detection pick-up robot of claim 1 wherein be equipped with the foreign matter receiver in rotary platform bottom.
9. The detecting and picking robot for foreign matters in a sinking cylinder according to claim 1, wherein the suspension mechanism comprises a movable vehicle body and a suspension fixing frame arranged on the movable vehicle body, the suspension fixing frame is provided with a winch, and the fixed platform is suspended on a suspension rope of the winch.
10. The sinking cylinder foreign matter detection pickup robot according to claim 9, wherein the moving vehicle body is rotatably provided with two installation rotating shafts, the two installation rotating shafts are arranged at intervals and vertically, the two installation rotating shafts are provided with an auxiliary supporting arm and a first conical gear, the moving vehicle body is provided with two auxiliary supporting driving motors, a transmission shaft of each auxiliary supporting driving motor is provided with a second conical gear, and the second conical gears are meshed with the first conical gears.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202511276463.5A CN120734991A (en) | 2025-09-08 | 2025-09-08 | Sinking cylinder foreign matter detection pickup robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202511276463.5A CN120734991A (en) | 2025-09-08 | 2025-09-08 | Sinking cylinder foreign matter detection pickup robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN120734991A true CN120734991A (en) | 2025-10-03 |
Family
ID=97180718
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202511276463.5A Pending CN120734991A (en) | 2025-09-08 | 2025-09-08 | Sinking cylinder foreign matter detection pickup robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN120734991A (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08197009A (en) * | 1995-01-27 | 1996-08-06 | Hitachi Ltd | Method and apparatus for cleaning reactor pressure vessel and reactor internals |
| JP2005300266A (en) * | 2004-04-08 | 2005-10-27 | Toshiba Corp | Reactor inspection / repair robot positioning device |
| JP2012042378A (en) * | 2010-08-20 | 2012-03-01 | Kayaba Ind Co Ltd | Nuclear reactor dismantling robot |
| CN106112999A (en) * | 2016-07-04 | 2016-11-16 | 安徽理工大学 | Six degree of freedom multi-functional shipment robot |
| US20170014992A1 (en) * | 2014-01-30 | 2017-01-19 | Waelischmiller Engineering Gmbh | Device with a manipulator unit |
| CN109366481A (en) * | 2018-12-21 | 2019-02-22 | 核动力运行研究所 | A kind of device suitable for underwater narrow space crawl foreign matter |
| US20190224846A1 (en) * | 2016-07-15 | 2019-07-25 | Fastbrick Ip Pty Ltd | Dynamic compensation of a robot arm mounted on a flexble arm |
| CN111700549A (en) * | 2020-06-05 | 2020-09-25 | 广东技术师范大学天河学院 | A suspended wall cleaning robotic arm |
| CN215884030U (en) * | 2021-08-11 | 2022-02-22 | 天津开发区鑫昌达船舶工程有限公司 | Caisson grabbing robot structure based on underwater salvage and cleaning |
| CN114408782A (en) * | 2021-12-21 | 2022-04-29 | 国家电投集团雄安能源有限公司 | Heat supply network pipeline inspection robot lowering and recycling device for ventilation shaft |
-
2025
- 2025-09-08 CN CN202511276463.5A patent/CN120734991A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08197009A (en) * | 1995-01-27 | 1996-08-06 | Hitachi Ltd | Method and apparatus for cleaning reactor pressure vessel and reactor internals |
| JP2005300266A (en) * | 2004-04-08 | 2005-10-27 | Toshiba Corp | Reactor inspection / repair robot positioning device |
| JP2012042378A (en) * | 2010-08-20 | 2012-03-01 | Kayaba Ind Co Ltd | Nuclear reactor dismantling robot |
| US20170014992A1 (en) * | 2014-01-30 | 2017-01-19 | Waelischmiller Engineering Gmbh | Device with a manipulator unit |
| CN106112999A (en) * | 2016-07-04 | 2016-11-16 | 安徽理工大学 | Six degree of freedom multi-functional shipment robot |
| US20190224846A1 (en) * | 2016-07-15 | 2019-07-25 | Fastbrick Ip Pty Ltd | Dynamic compensation of a robot arm mounted on a flexble arm |
| CN109366481A (en) * | 2018-12-21 | 2019-02-22 | 核动力运行研究所 | A kind of device suitable for underwater narrow space crawl foreign matter |
| CN111700549A (en) * | 2020-06-05 | 2020-09-25 | 广东技术师范大学天河学院 | A suspended wall cleaning robotic arm |
| CN215884030U (en) * | 2021-08-11 | 2022-02-22 | 天津开发区鑫昌达船舶工程有限公司 | Caisson grabbing robot structure based on underwater salvage and cleaning |
| CN114408782A (en) * | 2021-12-21 | 2022-04-29 | 国家电投集团雄安能源有限公司 | Heat supply network pipeline inspection robot lowering and recycling device for ventilation shaft |
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