The invention provides an oil injection robot capable of moving in all terrains in a complex nuclear environment. The oil injection robot capable of moving in all terrains in the complex nuclear environment comprises a wheel-track combined type moving system, a six-axis mechanical arm, a control system, an oil supplementing system and a camera system. The six-axis mechanical arm, the control system, the oil supplementing system and the camera shooting system are arranged on a supporting plane of the wheel-track combined type moving system. And the oil supplementing system is connected with the six-axis mechanical arm. The wheel-track combined type moving system is used for moving positions. The camera system is used for shooting the surrounding environment and the operation environment of the six-axis mechanical arm. And the six-axis mechanical arm is used for identifying an oil injection hole site. The control system is used for controlling the oil supplementing system to inject oil into the nuclear main pump. According to the robot, all the parts are modularly designed, so that the technical problem of how to do not have a robot in the aspect of nuclear main pump overhaul and maintenance in the prior art is solved.

    本申请提供了一种复杂核环境下全地形移动的注油机器人,该复杂核环境下全地形移动的注油机器人包括轮履复合式移动系统、六轴机械臂、控制系统、补油系统和摄像系统。六轴机械臂、控制系统、补油系统和摄像系统分别布置在轮履复合式移动系统的支撑平面上。补油系统与六轴机械臂相连。轮履复合式移动系统用于移动位置。摄像系统用于拍摄周边环境和六轴机械臂操作环境。六轴机械臂用于识别注油的孔位。控制系统用于控制补油系统对核主泵进行注油。本申请通过模块化设计各部件,以解决如何现有技术暂无核主泵检修维护方面的机器人的技术问题。


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    Title :

    Oiling robot capable of moving on all terrains in complex nuclear environment


    Additional title:

    一种复杂核环境下全地形移动的注油机器人


    Contributors:
    ZHANG CHENGLIANG (author) / JU BINGFENG (author) / HAN PEI (author) / XIA HAO (author) / LIN WEIFENG (author) / CHEN JIANXIN (author) / MENG CHENGSHUI (author) / WU TONG (author) / CHEN YONG (author) / SUN ANYU (author)

    Publication date :

    2025-04-08


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    F16M Rahmen, Gehäuse oder Grundplatten von Kraftmaschinen oder anderen Maschinen oder von Apparaten, nicht auf eine besondere Art von Maschine oder Apparat eingeschränkt, die anderweitig vorgesehen ist , FRAMES, CASINGS, OR BEDS, OF ENGINES OR OTHER MACHINES OR APPARATUS, NOT SPECIFIC TO AN ENGINE, MACHINE, OR APPARATUS PROVIDED FOR ELSEWHERE / F04B Verdrängerkraft- und Verdrängerarbeitsmaschinen für Flüssigkeiten , POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS / B25J Manipulatoren , MANIPULATORS / B62D MOTOR VEHICLES , Motorfahrzeuge



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